+ python -m lidar_slam --no-model /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 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 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters Centerline goodness : 0.218170 Centerline is valid? [0, False] SLAMing on 0.034391418 meters Centerline goodness : 0.223467 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99994187e-01 3.40526744e-03 1.76313103e-04 -4.49264675e-04] [-3.40574126e-03 9.99990390e-01 2.76065240e-03 3.29482635e-03] [-1.66910648e-04 -2.76123683e-03 9.99996174e-01 9.62514246e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06439141799999999 meters Centerline goodness : 0.226613 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99995008e-01 3.15707654e-03 1.32369930e-04 -3.80543254e-04] [-3.15727886e-03 9.99993803e-01 1.55716154e-03 6.97456127e-03] [-1.27453032e-04 -1.55757169e-03 9.99998779e-01 1.51958059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09439141799999999 meters Centerline goodness : 0.226613 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99995008e-01 3.15707654e-03 1.32369930e-04 -3.80543254e-04] [-3.15727886e-03 9.99993803e-01 1.55716154e-03 6.97456127e-03] [-1.27453032e-04 -1.55757169e-03 9.99998779e-01 1.51958059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999999 meters Centerline goodness : 0.228645 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99980361e-01 6.25856877e-03 -3.27131594e-04 7.59428095e-04] [-6.25709023e-03 9.99971004e-01 4.34059099e-03 1.08226577e-02] [ 3.54287996e-04 -4.33845886e-03 9.99990526e-01 1.64591813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.154391418 meters Centerline goodness : 0.235946 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99981462e-01 6.04314817e-03 -7.45727266e-04 2.12724995e-03] [-6.04063041e-03 9.99976199e-01 3.33354251e-03 1.40468364e-02] [ 7.65854608e-04 -3.32897605e-03 9.99994166e-01 1.14108188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.184391418 meters Centerline goodness : 0.252243 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.9999801 0.00614636 -0.00142176 0.00540956] [-0.00614247 0.99997742 0.00272649 0.01779073] [ 0.00143849 -0.0027177 0.99999527 -0.00101236] [ 0. 0. 0. 1. ]] SLAMing on 0.214391418 meters Centerline goodness : 0.252085 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99998044 0.00598488 -0.00181471 0.00693941] [-0.00598092 0.99997974 0.00217895 0.02001097] [ 0.00182771 -0.00216805 0.99999598 -0.00182845] [ 0. 0. 0. 1. ]] SLAMing on 0.244391418 meters Centerline goodness : 0.258121 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99983547e-01 5.39505254e-03 -1.94911137e-03 7.29660639e-03] [-5.39316582e-03 9.99984984e-01 9.71953006e-04 2.34166041e-02] [ 1.95432585e-03 -9.61425133e-04 9.99997628e-01 -1.68628114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274391418 meters Centerline goodness : 0.256030 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99986453e-01 4.71267414e-03 -2.21008076e-03 7.69087903e-03] [-4.71320250e-03 9.99988865e-01 -2.33917791e-04 2.67802697e-02] [ 2.20895377e-03 2.44331181e-04 9.99997530e-01 -1.29455993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30439141799999997 meters Centerline goodness : 0.257895 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998931 0.00381788 -0.00261005 0.00915295] [-0.00382129 0.99999185 -0.00130224 0.03036665] [ 0.00260505 0.0013122 0.99999575 -0.0016526 ] [ 0. 0. 0. 1. ]] SLAMing on 0.33439141799999994 meters Centerline goodness : 0.264415 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998964 0.00344844 -0.0029719 0.01039669] [-0.00345249 0.99999312 -0.00135733 0.0307523 ] [ 0.0029672 0.00136758 0.99999466 -0.00225884] [ 0. 0. 0. 1. ]] SLAMing on 0.36439141799999997 meters Centerline goodness : 0.261979 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99999113 0.00280965 -0.00313655 0.01088065] [-0.00281481 0.99999469 -0.00163992 0.03107329] [ 0.00313193 0.00164873 0.99999374 -0.00233508] [ 0. 0. 0. 1. ]] SLAMing on 0.394391418 meters Centerline goodness : 0.215841 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.9999926 0.00136936 -0.00359558 0.012265 ] [-0.00137625 0.99999722 -0.00191446 0.03151626] [ 0.00359295 0.0019194 0.9999917 -0.00249671] [ 0. 0. 0. 1. ]] SLAMing on 0.42439141799999996 meters Centerline goodness : 0.218750 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99993219e-01 7.80261789e-04 -3.59917991e-03 1.23646275e-02] [-7.87806370e-04 9.99997495e-01 -2.09525328e-03 3.18770623e-02] [ 3.59753605e-03 2.09807453e-03 9.99991328e-01 -2.29377568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45439141799999994 meters Centerline goodness : 0.221434 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99992334e-01 4.40628201e-04 -3.89063485e-03 1.33789207e-02] [-4.48839720e-04 9.99997673e-01 -2.10996503e-03 3.25973833e-02] [ 3.88969609e-03 2.11169513e-03 9.99990205e-01 -2.42437290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48439141799999996 meters Centerline goodness : 0.220698 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99991458e-01 1.75316870e-04 -4.12960962e-03 1.44347321e-02] [-1.84348755e-04 9.99997592e-01 -2.18682455e-03 3.36116632e-02] [ 4.12921628e-03 2.18756716e-03 9.99989082e-01 -2.65303401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514391418 meters Centerline goodness : 0.907205 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 9.99992271e-01 -2.08279808e-04 -3.92610595e-03 1.48960972e-02] [ 1.97195199e-04 9.99995995e-01 -2.82348444e-03 3.70187434e-02] [ 3.92667830e-03 2.82268841e-03 9.99988307e-01 -1.99791495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544391418 meters Centerline goodness : 0.906043 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 9.99991269e-01 -2.03725753e-04 -4.17385750e-03 1.61623083e-02] [ 1.91052189e-04 9.99995371e-01 -3.03658904e-03 3.94431433e-02] [ 4.17445682e-03 3.03576511e-03 9.99986679e-01 -2.21509552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5743914179999999 meters Centerline goodness : 0.903980 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 9.99988427e-01 1.99016502e-03 -4.38000719e-03 1.80616762e-02] [-1.99264231e-03 9.99997857e-01 -5.61298358e-04 4.37821535e-02] [ 4.37888073e-03 5.70019650e-04 9.99990250e-01 -2.35867694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.604391418 meters Centerline goodness : 0.904144 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 0.99998835 0.00129691 -0.00464997 0.01886201] [-0.00130424 0.99999791 -0.00157432 0.04719875] [ 0.00464792 0.00158036 0.99998795 -0.0019191 ] [ 0. 0. 0. 1. ]] SLAMing on 0.634391418 meters Centerline goodness : 0.902081 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 0.99998708 0.00107094 -0.00497017 0.02090847] [-0.00107937 0.99999798 -0.00169299 0.04910917] [ 0.00496835 0.00169834 0.99998622 -0.00299923] [ 0. 0. 0. 1. ]] SLAMing on 0.6643914179999999 meters Centerline goodness : 0.119574 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 9.99985485e-01 -5.05983056e-04 -5.36408804e-03 2.36582436e-02] [ 4.93175267e-04 9.99997025e-01 -2.38874584e-03 5.13291526e-02] [ 5.36528075e-03 2.38606573e-03 9.99982760e-01 -4.19854652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6943914179999999 meters Centerline goodness : 0.227617 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.01 [[ 0.99999128 0.00229434 -0.00348818 0.06143306] [-0.0023052 0.99999249 -0.00311478 0.05383857] [ 0.00348101 0.0031228 0.99998907 -0.00786188] [ 0. 0. 0. 1. ]] SLAMing on 0.724391418 meters Centerline goodness : 0.896017 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.01 [[ 0.99999283 0.0011442 -0.00361118 0.06262126] [-0.00115672 0.99999332 -0.00346667 0.0549511 ] [ 0.00360719 0.00347082 0.99998747 -0.00810227] [ 0. 0. 0. 1. ]] SLAMing on 0.754391418 meters Centerline goodness : 0.894355 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.01 [[ 9.99992906e-01 -3.76426009e-03 1.38884922e-04 7.58375846e-02] [ 3.76377691e-03 9.99987375e-01 3.32910255e-03 5.49335282e-02] [-1.51414777e-04 -3.32855620e-03 9.99994449e-01 -1.36199477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784391418 meters Centerline goodness : 0.117303 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.01 [[ 9.99958659e-01 -9.09236333e-03 -9.48152347e-05 7.60875263e-02] [ 9.09215363e-03 9.99956631e-01 -2.01704605e-03 5.95244802e-02] [ 1.13150838e-04 2.01610059e-03 9.99997961e-01 -1.23129339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8143914179999999 meters Centerline goodness : 0.896482 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.01 [[ 9.99893516e-01 -1.45704160e-02 8.12482702e-04 1.25865389e-01] [ 1.45712721e-02 9.99893274e-01 -1.05787317e-03 6.42367384e-02] [-7.96982337e-04 1.06959943e-03 9.99999110e-01 -1.43845866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.844391418 meters Centerline goodness : 0.895192 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 9.99822427e-01 -1.88388863e-02 4.59025552e-04 1.28631085e-01] [ 1.88406610e-02 9.99813551e-01 -4.22997923e-03 6.72408485e-02] [-3.79251870e-04 4.23787644e-03 9.99990948e-01 -1.52729443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.874391418 meters Centerline goodness : 0.896425 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 9.99795061e-01 -2.02434476e-02 1.99174476e-04 1.30437484e-01] [ 2.02440805e-02 9.99787138e-01 -3.98201902e-03 6.68612419e-02] [-1.18522286e-04 3.98523505e-03 9.99992052e-01 -1.58241572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043914179999999 meters Centerline goodness : 0.897803 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 9.99660973e-01 -2.60362631e-02 -2.26385916e-04 1.33937596e-01] [ 2.60337883e-02 9.99632109e-01 -7.60844645e-03 7.15802701e-02] [ 4.24398144e-04 7.59997330e-03 9.99971030e-01 -1.60107189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9343914179999999 meters Centerline goodness : 0.110288 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.02 [[ 9.99632569e-01 -2.71027605e-02 -4.08598719e-04 1.35155259e-01] [ 2.70987476e-02 9.99602269e-01 -7.80773755e-03 7.32228064e-02] [ 6.20047448e-04 7.79379623e-03 9.99969436e-01 -1.58128598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.964391418 meters Centerline goodness : 0.110693 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 9.99608823e-01 -2.79602802e-02 -6.50440633e-04 1.36507958e-01] [ 2.79541890e-02 9.99577184e-01 -8.00098489e-03 7.51513423e-02] [ 8.73875396e-04 7.97967255e-03 9.99967780e-01 -1.58029923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.994391418 meters Centerline goodness : 0.903638 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 0.99957691 -0.02906182 -0.00118831 0.1403216 ] [ 0.02905129 0.99954525 -0.00808155 0.07965302] [ 0.00142264 0.00804361 0.99996664 -0.01711979] [ 0. 0. 0. 1. ]] SLAMing on 1.024391418 meters Centerline goodness : 0.906362 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 0.99958706 -0.02867785 -0.00181519 0.14366577] [ 0.0286631 0.99955959 -0.00768517 0.08228905] [ 0.00203479 0.00762997 0.99996882 -0.01877604] [ 0. 0. 0. 1. ]] SLAMing on 1.054391418 meters Centerline goodness : 0.903331 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-0.02 [[ 9.99586264e-01 -2.87625594e-02 -1.24392941e-04 1.64766356e-01] [ 2.87620406e-02 9.99581547e-01 -3.07814067e-03 8.56930866e-02] [ 2.12876093e-04 3.07328934e-03 9.99995255e-01 -2.17261063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084391418 meters Centerline goodness : 0.910173 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.02 [[ 9.99665204e-01 -2.58730914e-02 -2.50387407e-04 1.68392887e-01] [ 2.58729346e-02 9.99665053e-01 -6.10357025e-04 9.25589334e-02] [ 2.66095363e-04 6.03674423e-04 9.99999782e-01 -2.36797635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1143914179999999 meters Centerline goodness : 0.105028 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.03 [[ 9.99737167e-01 -2.29185618e-02 -5.79629107e-04 1.71976035e-01] [ 2.29197712e-02 9.99734944e-01 2.17387653e-03 9.52838130e-02] [ 5.29653349e-04 -2.18659013e-03 9.99997469e-01 -2.63512381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1443914179999999 meters Centerline goodness : 0.121428 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.03 [[ 9.99801593e-01 -1.99103866e-02 -5.93330553e-04 1.73563488e-01] [ 1.99131650e-02 9.99788618e-01 5.11705766e-03 9.78226500e-02] [ 4.91322537e-04 -5.12785749e-03 9.99986732e-01 -2.75068805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174391418 meters Centerline goodness : 0.110485 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.03 [[ 9.99836985e-01 -1.80329953e-02 -9.01987578e-04 1.75814099e-01] [ 1.80384371e-02 9.99816549e-01 6.44070954e-03 1.02201433e-01] [ 7.85676822e-04 -6.45593005e-03 9.99978852e-01 -2.85694646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.204391418 meters Centerline goodness : 0.110485 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.03 [[ 9.99836985e-01 -1.80329953e-02 -9.01987578e-04 1.75814099e-01] [ 1.80384371e-02 9.99816549e-01 6.44070954e-03 1.02201433e-01] [ 7.85676822e-04 -6.45593005e-03 9.99978852e-01 -2.85694646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.234391418 meters Centerline goodness : 0.110323 Centerline is valid? [False, False] Translation: X:0.18, Y:0.11, Z:-0.03 [[ 0.99977772 -0.02104071 -0.00133813 0.17781005] [ 0.02104634 0.99976906 0.00434456 0.10523875] [ 0.0012464 -0.00437176 0.99998967 -0.02755536] [ 0. 0. 0. 1. ]] SLAMing on 1.264391418 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.294391418 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.3243914179999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.3543914179999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.3843914179999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.414391418 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.444391418 meters Centerline goodness : 0.714619 Centerline is valid? [False, False] Translation: X:0.26, Y:0.12, Z:-0.03 [[ 0.99897626 -0.04515591 -0.00271731 0.26040503] [ 0.04516362 0.99897555 0.00284533 0.11932363] [ 0.00258604 -0.00296514 0.99999226 -0.03226378] [ 0. 0. 0. 1. ]] SLAMing on 1.474391418 meters Centerline goodness : 0.748657 Centerline is valid? [False, False] Translation: X:0.26, Y:0.12, Z:-0.03 [[ 0.99897627 -0.04513254 -0.00307524 0.26196282] [ 0.04514117 0.9989767 0.00279846 0.12047855] [ 0.00294579 -0.00293442 0.99999136 -0.0328463 ] [ 0. 0. 0. 1. ]] SLAMing on 1.504391418 meters Centerline goodness : 0.116851 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 0.99903451 -0.04390033 0.00167822 0.28695784] [ 0.0438966 0.99903367 0.00219568 0.12732228] [-0.00177299 -0.00211989 0.99999618 -0.03259649] [ 0. 0. 0. 1. ]] SLAMing on 1.534391418 meters Centerline goodness : 0.113241 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 0.99904025 -0.04378068 0.00135541 0.28889762] [ 0.04377802 0.99903941 0.00193193 0.12981143] [-0.00143869 -0.00187074 0.99999722 -0.03360486] [ 0. 0. 0. 1. ]] SLAMing on 1.564391418 meters Centerline goodness : 0.110961 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 0.99904434 -0.04369533 0.00106029 0.29074847] [ 0.04369351 0.99904356 0.0016834 0.13207515] [-0.00113283 -0.00163546 0.99999802 -0.03464469] [ 0. 0. 0. 1. ]] SLAMing on 1.5943914179999998 meters Centerline goodness : 0.110796 Centerline is valid? [False, False] Translation: X:0.29, Y:0.14, Z:-0.04 [[ 0.99904527 -0.04367404 0.00106514 0.29387737] [ 0.04367195 0.99904409 0.00191335 0.13573731] [-0.00114768 -0.00186501 0.9999976 -0.03667629] [ 0. 0. 0. 1. ]] SLAMing on 1.6243914179999999 meters Centerline goodness : 0.852146 Centerline is valid? [False, False] Translation: X:0.30, Y:0.14, Z:-0.04 [[ 9.99044732e-01 -4.36919984e-02 7.95328354e-04 2.96096561e-01] [ 4.36906018e-02 9.99043670e-01 1.69596127e-03 1.37511495e-01] [-8.68667695e-04 -1.65959280e-03 9.99998246e-01 -3.82669822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.654391418 meters Centerline goodness : 0.666757 Centerline is valid? [False, False] Translation: X:0.30, Y:0.14, Z:-0.04 [[ 9.99042899e-01 -4.37376577e-02 5.50701377e-04 2.97688459e-01] [ 4.37366890e-02 9.99041709e-01 1.66285384e-03 1.38450371e-01] [-6.22902977e-04 -1.63717646e-03 9.99998466e-01 -3.93680573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.684391418 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.714391418 meters Centerline goodness : 0.132915 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:-0.05 [[ 9.98985169e-01 -4.50396362e-02 -2.50759547e-04 3.41387481e-01] [ 4.50382307e-02 9.98869223e-01 1.52260874e-02 1.42649912e-01] [-4.35301442e-04 -1.52219292e-02 9.99884045e-01 -4.75901668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.744391418 meters Centerline goodness : 0.948826 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:-0.05 [[ 9.98949501e-01 -4.58170137e-02 -8.33631106e-04 3.42416153e-01] [ 4.58242273e-02 9.98849198e-01 1.41569951e-02 1.45135692e-01] [ 1.84040524e-04 -1.41803237e-02 9.99899437e-01 -4.71048236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.774391418 meters Centerline goodness : 0.950660 Centerline is valid? [False, True] Translation: X:0.34, Y:0.15, Z:-0.05 [[ 0.99878876 -0.04917835 -0.00158159 0.3445984 ] [ 0.04919134 0.99874301 0.00962374 0.14973661] [ 0.00110632 -0.00968988 0.99995244 -0.04702715] [ 0. 0. 0. 1. ]] SLAMing on 1.8043914179999998 meters Centerline goodness : 0.952600 Centerline is valid? [True, True] Translation: X:0.38, Y:0.16, Z:-0.04 [[ 9.98633488e-01 -5.22593308e-02 -3.44675325e-04 3.75602982e-01] [ 5.22593183e-02 9.98633547e-01 -4.50972837e-05 1.58292842e-01] [ 3.46561096e-04 2.70231602e-05 9.99999940e-01 -4.39274528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8343914179999998 meters Centerline goodness : 0.164298 Centerline is valid? [True, False] Translation: X:0.38, Y:0.16, Z:-0.04 [[ 9.98620499e-01 -5.24961663e-02 -1.11855498e-03 3.77656271e-01] [ 5.24962584e-02 9.98621119e-01 5.31479977e-05 1.58102051e-01] [ 1.11422256e-03 -1.11794631e-04 9.99999373e-01 -4.46857360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8643914179999999 meters Centerline goodness : 0.179038 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.05 [[ 9.98617350e-01 -5.25334636e-02 -1.90337595e-03 3.80018748e-01] [ 5.25344184e-02 9.98619010e-01 4.55119908e-04 1.57755452e-01] [ 1.87683838e-03 -5.54483385e-04 9.99998085e-01 -4.59286288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8943914179999999 meters Centerline goodness : 0.183697 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.05 [[ 9.98578847e-01 -5.32383326e-02 -2.44249825e-03 3.82669329e-01] [ 5.32403990e-02 9.98581413e-01 7.88879743e-04 1.57890123e-01] [ 2.39703471e-03 -9.17798205e-04 9.99996706e-01 -4.72625379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.924391418 meters Centerline goodness : 0.165348 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.05 [[ 9.98575410e-01 -5.32637832e-02 -3.18129724e-03 3.84486496e-01] [ 5.32660396e-02 9.98580159e-01 6.28724669e-04 1.59037436e-01] [ 3.14329205e-03 -7.97284099e-04 9.99994742e-01 -4.77521764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.954391418 meters Centerline goodness : 0.168108 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 9.98586800e-01 -5.29940955e-02 -4.00350892e-03 3.86646792e-01] [ 5.29973744e-02 9.98594394e-01 7.17325449e-04 1.60387150e-01] [ 3.95986755e-03 -9.28487186e-04 9.99991729e-01 -4.84600330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.984391418 meters Centerline goodness : 0.165560 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 0.99863874 -0.05195905 -0.00457319 0.38954546] [ 0.05196636 0.99864772 0.00149321 0.16324701] [ 0.00448942 -0.00172883 0.99998843 -0.04964019] [ 0. 0. 0. 1. ]] SLAMing on 2.0143914179999998 meters Centerline goodness : 0.964608 Centerline is valid? [False, True] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 0.99866396 -0.05139674 -0.0053553 0.39175626] [ 0.05140622 0.99867647 0.00164804 0.16463728] [ 0.00526351 -0.00192113 0.9999843 -0.05051293] [ 0. 0. 0. 1. ]] SLAMing on 2.044391418 meters Centerline goodness : 0.965948 Centerline is valid? [True, True] Translation: X:0.41, Y:0.17, Z:-0.06 [[ 9.99080079e-01 -4.25878168e-02 -5.02725240e-03 4.13079706e-01] [ 4.25845559e-02 9.99092582e-01 -7.53964156e-04 1.67258896e-01] [ 5.05480027e-03 5.39187258e-04 9.99987079e-01 -5.51977743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.074391418 meters Centerline goodness : 0.968223 Centerline is valid? [True, True] Translation: X:0.44, Y:0.17, Z:-0.06 [[ 9.99199948e-01 -3.96796929e-02 -4.99855520e-03 4.43985452e-01] [ 3.96753591e-02 9.99212159e-01 -9.63243665e-04 1.68443135e-01] [ 5.03283834e-03 7.64153548e-04 9.99987043e-01 -5.50282163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.104391418 meters Centerline goodness : 0.969779 Centerline is valid? [True, True] Translation: X:0.48, Y:0.17, Z:-0.05 [[ 9.99108660e-01 -4.19153758e-02 -4.99859770e-03 4.78664646e-01] [ 4.19110709e-02 9.99120881e-01 -9.62922764e-04 1.72251965e-01] [ 5.03456461e-03 7.52567890e-04 9.99987043e-01 -5.22381118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.134391418 meters Centerline goodness : 0.971252 Centerline is valid? [True, True] Translation: X:0.50, Y:0.17, Z:-0.06 [[ 9.99197955e-01 -3.97292918e-02 -5.00297559e-03 5.03098124e-01] [ 3.97251241e-02 9.99210213e-01 -9.29715656e-04 1.74812867e-01] [ 5.03596125e-03 7.30226156e-04 9.99987053e-01 -5.68255583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164391418 meters Centerline goodness : 0.972198 Centerline is valid? [True, True] Translation: X:0.53, Y:0.18, Z:-0.06 [[ 9.99243464e-01 -3.85692376e-02 -4.99139438e-03 5.34337736e-01] [ 3.85646264e-02 9.99255591e-01 -1.01684312e-03 1.76575977e-01] [ 5.02689760e-03 8.23582581e-04 9.99987026e-01 -5.73541094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.194391418 meters Centerline goodness : 0.973573 Centerline is valid? [True, True] Translation: X:0.56, Y:0.18, Z:-0.05 [[ 9.99307762e-01 -3.68662346e-02 -4.98766436e-03 5.59743006e-01] [ 3.68614643e-02 9.99319839e-01 -1.04503048e-03 1.77555451e-01] [ 5.02279828e-03 8.60454462e-04 9.99987015e-01 -5.39283559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243914179999997 meters Centerline goodness : 0.974526 Centerline is valid? [True, True] Translation: X:0.59, Y:0.18, Z:-0.05 [[ 9.99321256e-01 -3.64990908e-02 -4.98444074e-03 5.87491877e-01] [ 3.64941920e-02 9.99333292e-01 -1.07028650e-03 1.81274768e-01] [ 5.02018206e-03 8.87656916e-04 9.99987005e-01 -5.00183669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254391418 meters Centerline goodness : 0.974135 Centerline is valid? [True, True] Translation: X:0.62, Y:0.18, Z:-0.05 [[ 9.99369579e-01 -3.51521732e-02 -4.97686417e-03 6.20697942e-01] [ 3.51469632e-02 9.99381515e-01 -1.13049161e-03 1.84284815e-01] [ 5.01352529e-03 9.54857260e-04 9.99986976e-01 -4.56481222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284391418 meters Centerline goodness : 0.976229 Centerline is valid? [True, True] Translation: X:0.65, Y:0.19, Z:-0.04 [[ 9.99199387e-01 -3.96965309e-02 -4.97691427e-03 6.46466184e-01] [ 3.96913772e-02 9.99211348e-01 -1.13008893e-03 1.88454098e-01] [ 5.01784982e-03 9.31643585e-04 9.99986977e-01 -4.37874056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.314391418 meters Centerline goodness : 0.975842 Centerline is valid? [True, True] Translation: X:0.67, Y:0.19, Z:-0.04 [[ 0.99932129 -0.03650028 -0.00496925 0.67355555] [ 0.03649479 0.99933313 -0.00119067 0.18808424] [ 0.00500939 0.00100851 0.99998694 -0.04333691] [ 0. 0. 0. 1. ]] SLAMing on 2.344391418 meters Centerline goodness : 0.979609 Centerline is valid? [True, True] Translation: X:0.71, Y:0.19, Z:-0.04 [[ 0.99908694 -0.04243397 -0.00496532 0.71307033] [ 0.0424284 0.99909876 -0.00122279 0.19469924] [ 0.00501273 0.00101101 0.99998693 -0.04105303] [ 0. 0. 0. 1. ]] SLAMing on 2.374391418 meters Centerline goodness : 0.980260 Centerline is valid? [True, True] Translation: X:0.73, Y:0.20, Z:-0.04 [[ 9.98858426e-01 -4.75084749e-02 -4.97897787e-03 7.30901938e-01] [ 4.75034898e-02 9.98870450e-01 -1.11481498e-03 1.98459158e-01] [ 5.02631703e-03 8.77023508e-04 9.99986983e-01 -4.23394281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404391418 meters Centerline goodness : 0.982578 Centerline is valid? [True, True] Translation: X:0.77, Y:0.20, Z:-0.04 [[ 0.99902907 -0.04377543 -0.00496331 0.7739194 ] [ 0.04376979 0.99904088 -0.00123848 0.19610409] [ 0.00501277 0.00102003 0.99998692 -0.04463422] [ 0. 0. 0. 1. ]] SLAMing on 2.4343914179999997 meters Centerline goodness : 0.983422 Centerline is valid? [True, True] Translation: X:0.81, Y:0.20, Z:-0.04 [[ 9.98973227e-01 -4.50302338e-02 -4.97692051e-03 8.06563166e-01] [ 4.50251744e-02 9.98985220e-01 -1.12405127e-03 1.98373685e-01] [ 5.02248632e-03 8.98810409e-04 9.99986983e-01 -4.43161448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.464391418 meters Centerline goodness : 0.984236 Centerline is valid? [True, True] Translation: X:0.84, Y:0.20, Z:-0.04 [[ 9.99093069e-01 -4.22877172e-02 -4.97878739e-03 8.38310516e-01] [ 4.22827023e-02 9.99105072e-01 -1.10828007e-03 1.98278304e-01] [ 5.02119837e-03 8.96758353e-04 9.99986992e-01 -4.35696972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4943914179999997 meters Centerline goodness : 0.985249 Centerline is valid? [True, True] Translation: X:0.87, Y:0.20, Z:-0.04 [[ 9.99072092e-01 -4.27800748e-02 -4.98199595e-03 8.70158055e-01] [ 4.27752040e-02 9.99084138e-01 -1.08022957e-03 2.02224035e-01] [ 5.02364543e-03 8.66121322e-04 9.99987006e-01 -4.40887870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524391418 meters Centerline goodness : 0.985937 Centerline is valid? [True, True] Translation: X:0.90, Y:0.20, Z:-0.04 [[ 9.99232708e-01 -3.88480755e-02 -4.98229623e-03 9.00597206e-01] [ 3.88431702e-02 9.99244738e-01 -1.07758985e-03 2.04344755e-01] [ 5.02039558e-03 8.83234847e-04 9.99987008e-01 -4.35013309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.554391418 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:0.94, Y:0.21, Z:-0.04 [[ 9.99318113e-01 -3.65854557e-02 -4.98135700e-03 9.35234023e-01] [ 3.65804822e-02 9.99330120e-01 -1.08593589e-03 2.10905723e-01] [ 5.01774955e-03 9.02974968e-04 9.99987003e-01 -4.22643197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.584391418 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:0.98, Y:0.22, Z:-0.04 [[ 9.99243871e-01 -3.85590478e-02 -4.98866176e-03 9.79367162e-01] [ 3.85544260e-02 9.99255982e-01 -1.01937992e-03 2.16694314e-01] [ 5.02425643e-03 8.26274148e-04 9.99987037e-01 -3.67885311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.614391418 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:0.99, Y:0.22, Z:-0.04 [[ 9.99608867e-01 -2.75138132e-02 -5.01032852e-03 9.92988864e-01] [ 2.75100550e-02 9.99621193e-01 -8.17477810e-04 2.15576558e-01] [ 5.03092250e-03 6.79323654e-04 9.99987114e-01 -4.06933249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443914179999997 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:1.03, Y:0.22, Z:-0.04 [[ 9.99791590e-01 -1.97968183e-02 -4.98624110e-03 1.02572203e+00] [ 1.97918831e-02 9.99803584e-01 -1.03718187e-03 2.19289830e-01] [ 5.00579462e-03 9.38278605e-04 9.99987031e-01 -3.76899097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.674391418 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:1.06, Y:0.22, Z:-0.03 [[ 9.99743134e-01 -2.21095169e-02 -4.98351940e-03 1.06067384e+00] [ 2.21044865e-02 9.99755102e-01 -1.06224791e-03 2.23066293e-01] [ 5.00578473e-03 9.51816920e-04 9.99987018e-01 -3.01684606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043914179999997 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:1.09, Y:0.23, Z:-0.04 [[ 9.99769204e-01 -2.08958430e-02 -4.99032404e-03 1.09030460e+00] [ 2.08911100e-02 9.99781258e-01 -9.98698696e-04 2.27174829e-01] [ 5.01010109e-03 8.94214792e-04 9.99987050e-01 -3.77421039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.734391418 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:1.11, Y:0.23, Z:-0.04 [[ 9.99710804e-01 -2.35247069e-02 -4.98971738e-03 1.11310152e+00] [ 2.35199791e-02 9.99722863e-01 -1.00410183e-03 2.33629349e-01] [ 5.01195574e-03 8.86453400e-04 9.99987047e-01 -3.63088915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643914179999998 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:1.15, Y:0.24, Z:-0.03 [[ 9.99681844e-01 -2.47261191e-02 -4.98293347e-03 1.14646813e+00] [ 2.47211089e-02 9.99693820e-01 -1.06458471e-03 2.36333040e-01] [ 5.00773085e-03 9.41062365e-04 9.99987018e-01 -2.61356859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.794391418 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:1.18, Y:0.24, Z:-0.04 [[ 9.99594742e-01 -2.80265870e-02 -4.98629305e-03 1.17943000e+00] [ 2.80217643e-02 9.99606778e-01 -1.03443836e-03 2.40414513e-01] [ 5.01332410e-03 8.94294414e-04 9.99987033e-01 -3.54820946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824391418 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:1.22, Y:0.24, Z:-0.03 [[ 9.99703553e-01 -2.38308471e-02 -4.98966240e-03 1.21867746e+00] [ 2.38261247e-02 9.99715614e-01 -1.00376228e-03 2.36232199e-01] [ 5.01216391e-03 8.84580397e-04 9.99987048e-01 -3.37368261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.854391418 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:1.25, Y:0.24, Z:-0.04 [[ 9.99584076e-01 -2.84025411e-02 -4.99706943e-03 1.25306738e+00] [ 2.83982298e-02 9.99596255e-01 -9.31639958e-04 2.38541517e-01] [ 5.02151283e-03 7.89344541e-04 9.99987081e-01 -3.56728713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884391418 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:1.28, Y:0.24, Z:-0.04 [[ 9.99606729e-01 -2.75926122e-02 -5.00347918e-03 1.27592525e+00] [ 2.75885862e-02 9.99618982e-01 -8.71896550e-04 2.41740078e-01] [ 5.02563067e-03 7.33514742e-04 9.99987102e-01 -3.59998917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9143914179999997 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:1.31, Y:0.24, Z:-0.04 [[ 9.99625382e-01 -2.69097474e-02 -4.99602423e-03 1.31209078e+00] [ 2.69053697e-02 9.99637542e-01 -9.41393164e-04 2.44706391e-01] [ 5.01954603e-03 8.06620623e-04 9.99987077e-01 -3.56376637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944391418 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:1.36, Y:0.25, Z:-0.03 [[ 9.99492817e-01 -3.14496468e-02 -5.00275245e-03 1.35673797e+00] [ 3.14456461e-02 9.99505079e-01 -8.76387039e-04 2.49709704e-01] [ 5.02783855e-03 7.18627767e-04 9.99987102e-01 -3.23146265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9743914179999997 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:1.38, Y:0.25, Z:-0.03 [[ 9.99734159e-01 -2.25023997e-02 -5.02534140e-03 1.37928115e+00] [ 2.24993951e-02 9.99746643e-01 -6.53635208e-04 2.45540951e-01] [ 5.03877655e-03 5.40394303e-04 9.99987159e-01 -3.00734722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004391418 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:1.42, Y:0.26, Z:-0.03 [[ 9.99508692e-01 -3.09396539e-02 -5.01125172e-03 1.41715315e+00] [ 3.09360660e-02 9.99521052e-01 -7.91916882e-04 2.55609196e-01] [ 5.03335322e-03 6.36499393e-04 9.99987130e-01 -3.29567013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034391418 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:1.45, Y:0.25, Z:-0.03 [[ 9.99669744e-01 -2.52021851e-02 -5.02529483e-03 1.44602777e+00] [ 2.51992181e-02 9.99682236e-01 -6.52859585e-04 2.54447905e-01] [ 5.04015146e-03 5.26010474e-04 9.99987160e-01 -2.80479910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.064391418 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:1.48, Y:0.26, Z:-0.03 [[ 9.99591200e-01 -2.81461790e-02 -5.02243679e-03 1.47946069e+00] [ 2.81431045e-02 9.99603672e-01 -6.81784011e-04 2.57973988e-01] [ 5.03963587e-03 5.40158335e-04 9.99987155e-01 -2.80646710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094391418 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:1.51, Y:0.26, Z:-0.03 [[ 9.99608230e-01 -2.75340108e-02 -5.02633607e-03 1.51227426e+00] [ 2.75311268e-02 9.99620740e-01 -6.42078770e-04 2.60500430e-01] [ 5.04210878e-03 5.03446527e-04 9.99987162e-01 -2.79141430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.124391418 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:1.55, Y:0.26, Z:-0.02 [[ 9.99462680e-01 -3.23895891e-02 -5.02658900e-03 1.55344629e+00] [ 3.23867789e-02 9.99475206e-01 -6.39495573e-04 2.57971722e-01] [ 5.04466408e-03 4.76356932e-04 9.99987162e-01 -2.15846700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154391418 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:1.58, Y:0.26, Z:-0.03 [[ 9.99488610e-01 -3.15769544e-02 -5.04120036e-03 1.58232927e+00] [ 3.15748889e-02 9.99501269e-01 -4.88804477e-04 2.59165587e-01] [ 5.05412112e-03 3.29379166e-04 9.99987174e-01 -2.53592896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843914179999997 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:1.62, Y:0.26, Z:-0.02 [[ 9.99402767e-01 -3.41868586e-02 -5.03676199e-03 1.61729886e+00] [ 3.41845966e-02 9.99415393e-01 -5.34530235e-04 2.59434121e-01] [ 5.05209138e-03 3.62031318e-04 9.99987173e-01 -2.06192569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:1.65, Y:0.26, Z:-0.02 [[ 9.99200111e-01 -3.96701967e-02 -5.04127957e-03 1.65217181e+00] [ 3.96682386e-02 9.99212787e-01 -4.87846823e-04 2.60494426e-01] [ 5.05666399e-03 2.87477919e-04 9.99987174e-01 -2.15529495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2443914179999997 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:1.68, Y:0.26, Z:-0.02 [[ 9.99222174e-01 -3.91099548e-02 -5.04570956e-03 1.67677790e+00] [ 3.91082209e-02 9.99234883e-01 -4.41878843e-04 2.59824735e-01] [ 5.05913086e-03 2.44206414e-04 9.99987173e-01 -2.35058330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.274391418 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:1.71, Y:0.26, Z:-0.02 [[ 9.99140190e-01 -4.11521891e-02 -5.03767796e-03 1.70899209e+00] [ 4.11500640e-02 9.99152840e-01 -5.24825933e-04 2.60806276e-01] [ 5.05500797e-03 3.17073913e-04 9.99987173e-01 -2.47069649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:1.74, Y:0.26, Z:-0.02 [[ 9.98923206e-01 -4.61199737e-02 -5.03745798e-03 1.74373264e+00] [ 4.61179000e-02 9.98935865e-01 -5.27102618e-04 2.61710172e-01] [ 5.05640740e-03 2.94218054e-04 9.99987173e-01 -2.16244805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.334391418 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:1.77, Y:0.26, Z:-0.02 [[ 9.98662040e-01 -5.14656495e-02 -5.04148103e-03 1.77083415e+00] [ 5.14638541e-02 9.98674740e-01 -4.85310569e-04 2.61387108e-01] [ 5.05977658e-03 2.25207199e-04 9.99987174e-01 -2.43365684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:1.80, Y:0.26, Z:-0.02 [[ 9.98475727e-01 -5.49622910e-02 -5.03681655e-03 1.80371172e+00] [ 5.49602963e-02 9.98488398e-01 -5.33675937e-04 2.62696583e-01] [ 5.05853494e-03 2.56037539e-04 9.99987173e-01 -2.48559142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3943914179999997 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:1.84, Y:0.26, Z:-0.03 [[ 9.98338384e-01 -5.74029186e-02 -5.03754473e-03 1.83576862e+00] [ 5.74009930e-02 9.98351065e-01 -5.26115263e-04 2.64052348e-01] [ 5.05943870e-03 2.36080992e-04 9.99987173e-01 -2.55509977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.424391418 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:1.87, Y:0.26, Z:-0.03 [[ 9.98086157e-01 -6.16332313e-02 -5.03662544e-03 1.86816419e+00] [ 6.16313113e-02 9.98098840e-01 -5.35671588e-04 2.63175331e-01] [ 5.06006518e-03 2.24232567e-04 9.99987173e-01 -2.54533675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4543914179999997 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:1.90, Y:0.26, Z:-0.03 [[ 9.97970310e-01 -6.34814152e-02 -5.03691588e-03 1.90154550e+00] [ 6.34795340e-02 9.97982998e-01 -5.32636446e-04 2.64308460e-01] [ 5.06056892e-03 2.11814287e-04 9.99987173e-01 -2.59183833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:1.94, Y:0.26, Z:-0.02 [[ 9.97858730e-01 -6.52116751e-02 -5.03910731e-03 1.93649658e+00] [ 6.52099334e-02 9.97871437e-01 -5.09343145e-04 2.64602848e-01] [ 5.06159637e-03 1.79652652e-04 9.99987174e-01 -1.79494119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5143914179999998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:1.97, Y:0.27, Z:-0.02 [[ 9.97977534e-01 -6.33673046e-02 -5.04251627e-03 1.96563920e+00] [ 6.33657228e-02 9.97990261e-01 -4.73001263e-04 2.67827833e-01] [ 5.06235495e-03 1.52521945e-04 9.99987175e-01 -2.10890168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.544391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:2.00, Y:0.27, Z:-0.01 [[ 9.97990643e-01 -6.31608761e-02 -5.03789157e-03 2.00122400e+00] [ 6.31590429e-02 9.98003338e-01 -5.22307469e-04 2.69647502e-01] [ 5.06082200e-03 2.03069557e-04 9.99987173e-01 -1.46185799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:2.03, Y:0.27, Z:-0.01 [[ 9.98124708e-01 -6.10052372e-02 -5.04272375e-03 2.03357351e+00] [ 6.10036378e-02 9.98137433e-01 -4.70519315e-04 2.73054022e-01] [ 5.06203548e-03 1.62012460e-04 9.99987175e-01 -1.42115502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:2.07, Y:0.28, Z:-0.01 [[ 9.98190845e-01 -5.99133294e-02 -5.04280857e-03 2.06690731e+00] [ 5.99117207e-02 9.98203569e-01 -4.69608507e-04 2.76327614e-01] [ 5.06188532e-03 1.66635574e-04 9.99987175e-01 -1.43292472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:2.10, Y:0.28, Z:-0.01 [[ 9.98277892e-01 -5.84450118e-02 -5.04285886e-03 2.09940034e+00] [ 5.84433871e-02 9.98290614e-01 -4.69067862e-04 2.79203298e-01] [ 5.06165334e-03 1.73538324e-04 9.99987175e-01 -1.48234551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:2.13, Y:0.28, Z:-0.02 [[ 9.98386228e-01 -5.65642041e-02 -5.04290893e-03 2.12774598e+00] [ 5.65625581e-02 9.98398947e-01 -4.68528845e-04 2.84240476e-01] [ 5.06133693e-03 1.82532916e-04 9.99987175e-01 -1.96513612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:2.16, Y:0.29, Z:-0.02 [[ 9.98703040e-01 -5.06642324e-02 -5.03712748e-03 2.16397040e+00] [ 5.06621988e-02 9.98715705e-01 -5.30572960e-04 2.85745213e-01] [ 5.05753939e-03 2.74692875e-04 9.99987173e-01 -1.59466400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7243914179999997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:2.19, Y:0.29, Z:-0.01 [[ 9.98901768e-01 -4.65813821e-02 -5.04301076e-03 2.19497119e+00] [ 4.65796166e-02 9.98914471e-01 -4.67047539e-04 2.89784786e-01] [ 5.05929215e-03 2.31633105e-04 9.99987175e-01 -1.49028633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.754391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:2.23, Y:0.30, Z:-0.01 [[ 9.99277832e-01 -3.76614209e-02 -5.04303491e-03 2.22704071e+00] [ 3.76595434e-02 9.99290519e-01 -4.66786604e-04 2.95302409e-01] [ 5.05703682e-03 2.76531113e-04 9.99987175e-01 -1.45503819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:2.26, Y:0.30, Z:-0.01 [[ 9.99463469e-01 -3.23626453e-02 -5.04307490e-03 2.25971285e+00] [ 3.23607026e-02 9.99476147e-01 -4.66354167e-04 2.98747254e-01] [ 5.05552552e-03 3.02906507e-04 9.99987175e-01 -1.48177001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.814391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:2.29, Y:0.30, Z:-0.01 [[ 9.99617868e-01 -2.71787640e-02 -5.04312216e-03 2.29110048e+00] [ 2.71767582e-02 9.99630535e-01 -4.65842553e-04 3.02165045e-01] [ 5.05391993e-03 3.28608828e-04 9.99987175e-01 -1.46659928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:2.32, Y:0.31, Z:-0.01 [[ 9.99825206e-01 -1.80034674e-02 -5.04314554e-03 2.32203199e+00] [ 1.80013467e-02 9.99837854e-01 -4.65589288e-04 3.07086553e-01] [ 5.05071004e-03 3.74724494e-04 9.99987175e-01 -1.26637359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8743914179999996 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:2.35, Y:0.31, Z:-0.01 [[ 9.99896742e-01 -1.34562925e-02 -5.04316870e-03 2.35382440e+00] [ 1.34541156e-02 9.99909381e-01 -4.65338268e-04 3.10426218e-01] [ 5.04897342e-03 3.97438843e-04 9.99987175e-01 -1.19628548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904391418 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:2.39, Y:0.31, Z:-0.01 [[ 9.99941125e-01 -9.60792677e-03 -5.04319942e-03 2.38575472e+00] [ 9.60570289e-03 9.99953756e-01 -4.65005121e-04 3.13876035e-01] [ 5.04743394e-03 4.16534269e-04 9.99987175e-01 -1.11734970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9343914179999997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:2.42, Y:0.32, Z:-0.01 [[ 9.99981049e-01 -3.53096786e-03 -5.04322995e-03 2.41605870e+00] [ 3.52866891e-03 9.99993666e-01 -4.64673806e-04 3.16509884e-01] [ 5.04483875e-03 4.46869111e-04 9.99987175e-01 -8.68366336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.964391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:2.44, Y:0.32, Z:-0.01 [[ 9.99986301e-01 -1.40103889e-03 -5.04323749e-03 2.44407095e+00] [ 1.39871348e-03 9.99998914e-01 -4.64591920e-04 3.19176684e-01] [ 5.04388292e-03 4.57531512e-04 9.99987175e-01 -7.03731934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9943914179999997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:2.47, Y:0.32, Z:-0.01 [[ 9.99987262e-01 2.05388002e-04 -5.04321516e-03 2.47233712e+00] [-2.07734881e-04 9.99999870e-01 -4.64834193e-04 3.20978397e-01] [ 5.04311903e-03 4.65875924e-04 9.99987175e-01 -5.70905183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243914179999996 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:2.50, Y:0.32, Z:-0.01 [[ 9.99982768e-01 3.00497529e-03 -5.04311127e-03 2.50022899e+00] [-3.00736308e-03 9.99995369e-01 -4.65958635e-04 3.19151195e-01] [ 5.04168772e-03 4.81117072e-04 9.99987175e-01 -6.74169496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:2.53, Y:0.32, Z:-0.01 [[ 9.99981206e-01 3.48644864e-03 -5.04307441e-03 2.52918739e+00] [-3.48884448e-03 9.99993805e-01 -4.66357245e-04 3.18927384e-01] [ 5.04141723e-03 4.83942983e-04 9.99987175e-01 -8.20166613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:2.56, Y:0.32, Z:-0.01 [[ 9.99981522e-01 3.39475373e-03 -5.04304525e-03 2.55823259e+00] [-3.39715000e-03 9.99994121e-01 -4.66672278e-04 3.18939525e-01] [ 5.04143137e-03 4.83795636e-04 9.99987175e-01 -8.38105164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114391417999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:2.59, Y:0.32, Z:-0.01 [[ 9.99984211e-01 2.47889935e-03 -5.04300987e-03 2.58783480e+00] [-2.48128598e-03 9.99996813e-01 -4.67054355e-04 3.16255298e-01] [ 5.04183601e-03 4.79560130e-04 9.99987175e-01 -7.37411148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:2.62, Y:0.32, Z:-0.01 [[ 9.99985475e-01 1.90222173e-03 -5.04297349e-03 2.61712424e+00] [-1.90460306e-03 9.99998077e-01 -4.67446827e-04 3.15535137e-01] [ 5.04207460e-03 4.77044900e-04 9.99987175e-01 -7.25081552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:2.65, Y:0.31, Z:-0.01 [[ 9.99985753e-01 1.75020374e-03 -5.04293647e-03 2.64511411e+00] [-1.75258515e-03 9.99998355e-01 -4.67845820e-04 3.14330751e-01] [ 5.04210935e-03 4.76677330e-04 9.99987175e-01 -6.24225686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:2.67, Y:0.31, Z:-0.00 [[ 9.99985302e-01 1.99128208e-03 -5.04289066e-03 2.67472216e+00] [-1.99366899e-03 9.99997903e-01 -4.68339096e-04 3.10125104e-01] [ 5.04194749e-03 4.78386067e-04 9.99987175e-01 -4.89004474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2343914179999995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:2.70, Y:0.31, Z:-0.00 [[ 9.99982284e-01 3.16247391e-03 -5.04285331e-03 2.70152374e+00] [-3.16487759e-03 9.99994882e-01 -4.68740931e-04 3.08948416e-01] [ 5.04134512e-03 4.84692641e-04 9.99987175e-01 -4.99455013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:2.73, Y:0.31, Z:-0.00 [[ 9.99980186e-01 3.76792306e-03 -5.04278840e-03 2.72977236e+00] [-3.77033785e-03 9.99992782e-01 -4.69438185e-04 3.08184053e-01] [ 5.04098320e-03 4.88441900e-04 9.99987175e-01 -4.17268908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:2.76, Y:0.30, Z:-0.01 [[ 9.99972935e-01 5.35731083e-03 -5.04273663e-03 2.75821620e+00] [-5.35974841e-03 9.99985526e-01 -4.69993693e-04 3.02274459e-01] [ 5.04014574e-03 4.97008772e-04 9.99987175e-01 -5.34929196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:2.79, Y:0.30, Z:-0.01 [[ 9.99968480e-01 6.13278485e-03 -5.04268476e-03 2.78761497e+00] [-6.13523497e-03 9.99981069e-01 -4.70549580e-04 2.99963109e-01] [ 5.03970351e-03 5.01472803e-04 9.99987175e-01 -5.93939879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:2.82, Y:0.30, Z:-0.01 [[ 9.99961428e-01 7.19131938e-03 -5.04264261e-03 2.81700143e+00] [-7.19378507e-03 9.99974013e-01 -4.71000848e-04 2.96488233e-01] [ 5.03912445e-03 5.07258368e-04 9.99987175e-01 -7.45630723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:2.85, Y:0.29, Z:-0.01 [[ 9.99944234e-01 9.27904910e-03 -5.04260044e-03 2.84629490e+00] [-9.28154332e-03 9.99956814e-01 -4.71451875e-04 2.88259365e-01] [ 5.03800804e-03 5.18228699e-04 9.99987175e-01 -8.24877058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:2.87, Y:0.29, Z:-0.01 [[ 9.99929424e-01 1.07573093e-02 -5.04253717e-03 2.87493341e+00] [-1.07598255e-02 9.99942000e-01 -4.72127560e-04 2.86181775e-01] [ 5.03716588e-03 5.26351059e-04 9.99987175e-01 -9.05121876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4443914179999995 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:2.90, Y:0.28, Z:-0.01 [[ 9.99920394e-01 1.15662689e-02 -5.04249526e-03 2.90359150e+00] [-1.15687975e-02 9.99932968e-01 -4.72574758e-04 2.84869162e-01] [ 5.03669133e-03 5.30872745e-04 9.99987175e-01 -8.52046756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.93, Y:0.28, Z:-0.01 [[ 9.99903383e-01 1.29536800e-02 -5.04243129e-03 2.93141905e+00] [-1.29562294e-02 9.99915953e-01 -4.73256329e-04 2.82495569e-01] [ 5.03587708e-03 5.38541502e-04 9.99987175e-01 -8.73038783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:2.96, Y:0.27, Z:-0.01 [[ 9.99895076e-01 1.35798051e-02 -5.04237823e-03 2.96026778e+00] [-1.35823652e-02 9.99907643e-01 -4.73821036e-04 2.74842604e-01] [ 5.03547813e-03 5.42258743e-04 9.99987175e-01 -8.12750147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:2.99, Y:0.26, Z:-0.01 [[ 9.99917212e-01 1.18382427e-02 -5.04231342e-03 2.98969083e+00] [-1.18407843e-02 9.99929783e-01 -4.74509703e-04 2.64012898e-01] [ 5.03634201e-03 5.34175365e-04 9.99987175e-01 -1.04846944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:3.02, Y:0.26, Z:-0.01 [[ 9.99932175e-01 1.04986559e-02 -5.04225972e-03 3.01938051e+00] [-1.05011836e-02 9.99944748e-01 -4.75079646e-04 2.60173998e-01] [ 5.03699343e-03 5.27997118e-04 9.99987175e-01 -1.05959525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:3.05, Y:0.26, Z:-0.01 [[ 9.99948589e-01 8.79741650e-03 -5.04221695e-03 3.04731125e+00] [-8.79992502e-03 9.99961167e-01 -4.75533202e-04 2.57061099e-01] [ 5.03783768e-03 5.19879886e-04 9.99987175e-01 -9.98683127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:3.08, Y:0.25, Z:-0.01 [[ 9.99955645e-01 7.95515132e-03 -5.04216399e-03 3.07622575e+00] [-7.95765205e-03 9.99968224e-01 -4.76094046e-04 2.53882309e-01] [ 5.03821637e-03 5.16196715e-04 9.99987175e-01 -9.75706472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6543914179999994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:3.10, Y:0.25, Z:-0.01 [[ 9.99959269e-01 7.48581345e-03 -5.04212391e-03 3.10492835e+00] [-7.48831039e-03 9.99971849e-01 -4.76518168e-04 2.45610104e-01] [ 5.03841484e-03 5.14255748e-04 9.99987175e-01 -8.85858533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:3.13, Y:0.24, Z:-0.01 [[ 9.99954026e-01 8.15621738e-03 -5.04207409e-03 3.13456930e+00] [-8.15872538e-03 9.99966603e-01 -4.77044719e-04 2.42536122e-01] [ 5.03801482e-03 5.18159685e-04 9.99987175e-01 -9.52788170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:3.16, Y:0.24, Z:-0.01 [[ 9.99948599e-01 8.79649021e-03 -5.04203467e-03 3.16386120e+00] [-8.79900834e-03 9.99961174e-01 -4.77461015e-04 2.39276697e-01] [ 5.03763893e-03 5.21801378e-04 9.99987175e-01 -1.04057688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:3.19, Y:0.23, Z:-0.01 [[ 9.99926760e-01 1.10024051e-02 -5.04199523e-03 3.19383405e+00] [-1.10049530e-02 9.99939329e-01 -4.77877105e-04 2.29743414e-01] [ 5.03643153e-03 5.33329026e-04 9.99987175e-01 -1.05405474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7743914179999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:3.22, Y:0.23, Z:-0.01 [[ 9.99912452e-01 1.22338222e-02 -5.04195214e-03 3.22325317e+00] [-1.22363878e-02 9.99925018e-01 -4.78331360e-04 2.26545413e-01] [ 5.03572226e-03 5.39984765e-04 9.99987175e-01 -1.13565162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804391418 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:3.25, Y:0.22, Z:-0.01 [[ 9.99911318e-01 1.23262184e-02 -5.04190877e-03 3.25274764e+00] [-1.23287876e-02 9.99923883e-01 -4.78788027e-04 2.24422069e-01] [ 5.03562335e-03 5.40906189e-04 9.99987175e-01 -8.29160949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834391418 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:3.28, Y:0.22, Z:-0.01 [[ 9.99910172e-01 1.24188472e-02 -5.04186566e-03 3.28229540e+00] [-1.24214197e-02 9.99922736e-01 -4.79241552e-04 2.15970089e-01] [ 5.03552448e-03 5.41825632e-04 9.99987175e-01 -6.56504094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864391417999999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:3.31, Y:0.21, Z:-0.00 [[ 9.99928800e-01 1.08155270e-02 -5.04182310e-03 3.31047941e+00] [-1.08180816e-02 9.99941368e-01 -4.79688924e-04 2.13165536e-01] [ 5.03633940e-03 5.34197623e-04 9.99987175e-01 -4.48652406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.34, Y:0.20, Z:-0.01 [[ 9.99965909e-01 6.53915708e-03 -5.04177045e-03 3.34030146e+00] [-6.54166069e-03 9.99978488e-01 -4.80241629e-04 2.03049284e-01] [ 5.03852162e-03 5.13206809e-04 9.99987175e-01 -6.97529136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.37, Y:0.20, Z:-0.01 [[ 9.99980214e-01 3.76199533e-03 -5.04172866e-03 3.36868020e+00] [-3.76446618e-03 9.99992799e-01 -4.80680022e-04 2.00230295e-01] [ 5.03988403e-03 4.99649928e-04 9.99987175e-01 -8.37544622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:0.20, Z:-0.01 [[ 9.99987156e-01 5.18529772e-04 -5.04167678e-03 3.39757233e+00] [-5.20962506e-04 9.99999749e-01 -4.81223545e-04 1.98444395e-01] [ 5.04142598e-03 4.83843888e-04 9.99987175e-01 -7.69581912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9843914179999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:0.20, Z:-0.01 [[ 9.99983769e-01 -2.65380145e-03 -5.04163591e-03 3.42677272e+00] [ 2.65140654e-03 9.99996369e-01 -4.81651325e-04 1.96878046e-01] [ 5.04289581e-03 4.68276082e-04 9.99987175e-01 -8.28429813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:0.20, Z:-0.01 [[ 9.99982938e-01 -2.95045578e-03 -5.04159531e-03 3.45589263e+00] [ 2.94806248e-03 9.99995538e-01 -4.82075875e-04 1.99850595e-01] [ 5.04299516e-03 4.67204712e-04 9.99987175e-01 -8.13598414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044391418 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:3.49, Y:0.19, Z:-0.01 [[ 9.99942325e-01 -9.48313153e-03 -5.04145186e-03 3.48545122e+00] [ 9.48081311e-03 9.99954939e-01 -4.83571477e-04 1.94894739e-01] [ 5.04581046e-03 4.35746524e-04 9.99987175e-01 -1.18294152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074391417999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:3.51, Y:0.19, Z:-0.01 [[ 9.99903839e-01 -1.29188843e-02 -5.04140773e-03 3.51458910e+00] [ 1.29166069e-02 9.99916460e-01 -4.84031033e-04 1.93866535e-01] [ 5.04723972e-03 4.18866606e-04 9.99987175e-01 -1.21330444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.54, Y:0.19, Z:-0.01 [[ 9.99852229e-01 -1.64348640e-02 -5.04137512e-03 3.54408222e+00] [ 1.64326293e-02 9.99864858e-01 -4.84370536e-04 1.92781205e-01] [ 5.04865438e-03 4.01455911e-04 9.99987175e-01 -1.02599068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:3.58, Y:0.19, Z:-0.01 [[ 9.99748854e-01 -2.18360590e-02 -5.04135352e-03 3.57533529e+00] [ 2.18338914e-02 9.99761495e-01 -4.84595185e-04 1.87441795e-01] [ 5.05073278e-03 3.74401116e-04 9.99987175e-01 -1.08368039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.61, Y:0.19, Z:-0.01 [[ 9.99692118e-01 -2.42951370e-02 -5.04135352e-03 3.60578142e+00] [ 2.42930006e-02 9.99704764e-01 -4.84595185e-04 1.87712648e-01] [ 5.05163844e-03 3.61976383e-04 9.99987175e-01 -9.70443518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1943914179999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:0.19, Z:-0.01 [[ 9.99619001e-01 -2.71373777e-02 -5.04136448e-03 3.63682681e+00] [ 2.71352778e-02 9.99631653e-01 -4.84481186e-04 1.87919299e-01] [ 5.05265505e-03 3.47497774e-04 9.99987175e-01 -7.73296117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.67, Y:0.19, Z:-0.01 [[ 9.99616351e-01 -2.72348333e-02 -5.04136448e-03 3.66694940e+00] [ 2.72327346e-02 9.99629003e-01 -4.84481186e-04 1.89371914e-01] [ 5.05268891e-03 3.47005174e-04 9.99987175e-01 -8.89279087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:3.70, Y:0.19, Z:-0.01 [[ 9.99632870e-01 -2.66215961e-02 -5.04136448e-03 3.69728120e+00] [ 2.66194897e-02 9.99645521e-01 -4.84481186e-04 1.91266250e-01] [ 5.05247508e-03 3.50104769e-04 9.99987175e-01 -1.06425718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.73, Y:0.19, Z:-0.02 [[ 9.99693135e-01 -2.42532569e-02 -5.04136448e-03 3.72675439e+00] [ 2.42511205e-02 9.99705781e-01 -4.84481186e-04 1.92868690e-01] [ 5.05163146e-03 3.62073779e-04 9.99987175e-01 -1.50620575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.20, Z:-0.01 [[ 9.99730587e-01 -2.26569466e-02 -5.04136877e-03 3.75723491e+00] [ 2.26547902e-02 9.99743230e-01 -4.84436532e-04 1.95408915e-01] [ 5.05105015e-03 3.70094867e-04 9.99987175e-01 -1.34663201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:3.79, Y:0.20, Z:-0.02 [[ 9.99765129e-01 -2.10777346e-02 -5.04136877e-03 3.78652506e+00] [ 2.10755582e-02 9.99777768e-01 -4.84436532e-04 1.98221538e-01] [ 5.05045924e-03 3.78073091e-04 9.99987175e-01 -1.67341936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:3.82, Y:0.20, Z:-0.01 [[ 9.99820045e-01 -1.82883122e-02 -5.04135845e-03 3.81674502e+00] [ 1.82861001e-02 9.99832678e-01 -4.84543879e-04 2.02441709e-01] [ 5.04937641e-03 3.92269898e-04 9.99987175e-01 -1.39472471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:3.85, Y:0.21, Z:-0.01 [[ 9.99842330e-01 -1.70264293e-02 -5.04135845e-03 3.84719727e+00] [ 1.70242012e-02 9.99854960e-01 -4.84543879e-04 2.06144319e-01] [ 5.04887731e-03 3.98642381e-04 9.99987175e-01 -1.24578400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:0.21, Z:-0.01 [[ 9.99867175e-01 -1.54989366e-02 -5.04135845e-03 3.87660536e+00] [ 1.54966893e-02 9.99879802e-01 -4.84543879e-04 2.09204087e-01] [ 5.04826240e-03 4.06355154e-04 9.99987175e-01 -8.56582130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.91, Y:0.21, Z:-0.01 [[ 9.99892043e-01 -1.38017212e-02 -5.04134793e-03 3.90585311e+00] [ 1.37994519e-02 9.99904666e-01 -4.84653307e-04 2.11764574e-01] [ 5.04755637e-03 4.15033147e-04 9.99987175e-01 -6.83602268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:3.93, Y:0.21, Z:-0.01 [[ 9.99932435e-01 -1.04742989e-02 -5.04132596e-03 3.93499134e+00] [ 1.04719864e-02 9.99945050e-01 -4.84881724e-04 2.14519824e-01] [ 5.04612773e-03 4.32056266e-04 9.99987175e-01 -5.13713918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:0.22, Z:-0.00 [[ 9.99942221e-01 -9.49418272e-03 -5.04130411e-03 3.96331632e+00] [ 9.49185675e-03 9.99954834e-01 -4.85108810e-04 2.18286889e-01] [ 5.04568212e-03 4.37229445e-04 9.99987175e-01 -1.93792775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554391418 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.99, Y:0.22, Z:-0.00 [[ 9.99951463e-01 -8.46507770e-03 -5.04127156e-03 3.99308870e+00] [ 8.46273706e-03 9.99964073e-01 -4.85446789e-04 2.22253640e-01] [ 5.04519979e-03 4.42760271e-04 9.99987175e-01 -3.85929984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.02, Y:0.23, Z:-0.00 [[ 9.99951341e-01 -8.47951858e-03 -5.04125005e-03 4.02174887e+00] [ 8.47717701e-03 9.99963950e-01 -4.85670059e-04 2.26648516e-01] [ 5.04518657e-03 4.42910858e-04 9.99987175e-01 -4.29955178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614391417999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:4.05, Y:0.23, Z:-0.01 [[ 9.99937708e-01 -9.95820304e-03 -5.04121815e-03 4.05083305e+00] [ 9.95587846e-03 9.99950321e-01 -4.86001037e-04 2.29771879e-01] [ 5.04580740e-03 4.35781008e-04 9.99987175e-01 -6.18412535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.08, Y:0.23, Z:-0.00 [[ 9.99865912e-01 -1.55802360e-02 -5.04119688e-03 4.08070919e+00] [ 1.55779812e-02 9.99878538e-01 -4.86221550e-04 2.32541184e-01] [ 5.04816001e-03 4.07624684e-04 9.99987175e-01 -4.92931582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:4.11, Y:0.24, Z:-0.01 [[ 9.99810292e-01 -1.88139878e-02 -5.04117500e-03 4.11023768e+00] [ 1.88117728e-02 9.99822925e-01 -4.86448270e-04 2.35600192e-01] [ 5.04943436e-03 3.91522548e-04 9.99987175e-01 -7.06853525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:4.14, Y:0.24, Z:-0.01 [[ 9.99736929e-01 -2.23754024e-02 -5.04116411e-03 4.14048287e+00] [ 2.23732318e-02 9.99749570e-01 -4.86561120e-04 2.38939681e-01] [ 5.05078865e-03 3.73645987e-04 9.99987175e-01 -5.99945822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7343914179999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.17, Y:0.24, Z:-0.00 [[ 9.99588843e-01 -2.82264197e-02 -5.04116411e-03 4.17041903e+00] [ 2.82243232e-02 9.99601496e-01 -4.86561120e-04 2.44119872e-01] [ 5.05288906e-03 3.44077622e-04 9.99987175e-01 -3.11637910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:4.20, Y:0.25, Z:-0.00 [[ 9.99530483e-01 -3.02224895e-02 -5.04119912e-03 4.20184892e+00] [ 3.02204200e-02 9.99543141e-01 -4.86198138e-04 2.48596538e-01] [ 5.05359011e-03 3.33622705e-04 9.99987175e-01 -3.71027963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:4.23, Y:0.25, Z:-0.00 [[ 9.99497586e-01 -3.12915477e-02 -5.04122114e-03 4.23228541e+00] [ 3.12894929e-02 9.99510246e-01 -4.85969678e-04 2.52937572e-01] [ 5.05395892e-03 3.27988267e-04 9.99987175e-01 -4.43146664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.26, Y:0.26, Z:-0.00 [[ 9.99490472e-01 -3.15179772e-02 -5.04123200e-03 4.26283492e+00] [ 3.15159258e-02 9.99503132e-01 -4.85856984e-04 2.57224347e-01] [ 5.05404040e-03 3.26730333e-04 9.99987175e-01 -2.84473934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:4.29, Y:0.26, Z:-0.00 [[ 9.99601714e-01 -2.77668838e-02 -5.04123200e-03 4.29275546e+00] [ 2.77647849e-02 9.99614366e-01 -4.85856984e-04 2.63100468e-01] [ 5.05277866e-03 3.45694752e-04 9.99987175e-01 -4.82683188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.32, Y:0.27, Z:-0.00 [[ 9.99683237e-01 -2.46579016e-02 -5.04124250e-03 4.32258623e+00] [ 2.46557640e-02 9.99695882e-01 -4.85748013e-04 2.68686593e-01] [ 5.05168690e-03 3.61298461e-04 9.99987175e-01 -3.72648124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.35, Y:0.27, Z:-0.00 [[ 9.99771668e-01 -2.07653017e-02 -5.04125285e-03 4.35228100e+00] [ 2.07631154e-02 9.99784305e-01 -4.85640583e-04 2.74693776e-01] [ 5.05024995e-03 3.80857581e-04 9.99987175e-01 -3.05709958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:4.38, Y:0.28, Z:-0.00 [[ 9.99858306e-01 -1.60609397e-02 -5.04125285e-03 4.38215251e+00] [ 1.60586939e-02 9.99870933e-01 -4.85640583e-04 2.81219095e-01] [ 5.04840203e-03 4.04615835e-04 9.99987175e-01 -3.48004258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.41, Y:0.29, Z:-0.00 [[ 9.99968001e-01 -6.21148240e-03 -5.04125285e-03 4.41152419e+00] [ 6.20911238e-03 9.99980605e-01 -4.85640583e-04 2.90333272e-01] [ 5.04417162e-03 4.54323338e-04 9.99987175e-01 -1.29996312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:4.44, Y:0.29, Z:-0.00 [[ 9.99986402e-01 -1.33449243e-03 -5.04125285e-03 4.43943308e+00] [ 1.33206097e-03 9.99998995e-01 -4.85640583e-04 2.94576948e-01] [ 5.04189587e-03 4.78918724e-04 9.99987175e-01 -1.90652040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:0.30, Z:0.00 [[ 9.99967609e-01 6.27428360e-03 -5.04122043e-03 4.46822696e+00] [-6.27681248e-03 9.99980183e-01 -4.85976836e-04 2.98921020e-01] [ 5.03807137e-03 5.17603890e-04 9.99987175e-01 3.00832611e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.50, Y:0.30, Z:0.00 [[ 9.99939349e-01 9.79216554e-03 -5.04106728e-03 4.49595478e+00] [-9.79474654e-03 9.99951911e-01 -4.87560332e-04 3.01711273e-01] [ 5.03605059e-03 5.36906737e-04 9.99987175e-01 1.35448161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:0.30, Z:0.00 [[ 9.99910423e-01 1.23989488e-02 -5.04100068e-03 4.52322005e+00] [-1.24015660e-02 9.99922978e-01 -4.88247993e-04 3.04470531e-01] [ 5.03455865e-03 5.50720560e-04 9.99987175e-01 2.62887897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.55, Y:0.31, Z:0.00 [[ 9.99885868e-01 1.42421617e-02 -5.04094575e-03 4.55199937e+00] [-1.42448049e-02 9.99898418e-01 -4.88814478e-04 3.07150099e-01] [ 5.03347190e-03 5.60565977e-04 9.99987175e-01 2.07155750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1543914179999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:0.31, Z:0.00 [[ 9.99868802e-01 1.53937698e-02 -5.04090263e-03 4.58016042e+00] [-1.53964296e-02 9.99881348e-01 -4.89258701e-04 3.09714047e-01] [ 5.03277298e-03 5.66806414e-04 9.99987175e-01 3.22324781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:0.31, Z:0.00 [[ 9.99869599e-01 1.53419059e-02 -5.04084807e-03 4.60780093e+00] [-1.53445679e-02 9.99882145e-01 -4.89820220e-04 3.10919862e-01] [ 5.03273920e-03 5.67105982e-04 9.99987175e-01 2.50437883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.64, Y:0.31, Z:0.00 [[ 9.99889900e-01 1.39563211e-02 -5.04079517e-03 4.63689492e+00] [-1.39589684e-02 9.99902449e-01 -4.90363991e-04 3.11874596e-01] [ 5.03345976e-03 5.60674302e-04 9.99987175e-01 1.15726472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:0.31, Z:0.00 [[ 9.99913638e-01 1.21369957e-02 -5.04075216e-03 4.66510153e+00] [-1.21396223e-02 9.99926192e-01 -4.90805741e-04 3.11870771e-01] [ 5.03442320e-03 5.51956181e-04 9.99987175e-01 3.33236375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2743914179999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.69, Y:0.31, Z:0.00 [[ 9.99961332e-01 7.20592967e-03 -5.04069444e-03 4.69436037e+00] [-7.20849730e-03 9.99973898e-01 -4.91397815e-04 3.09330546e-01] [ 5.03702189e-03 5.27714646e-04 9.99987175e-01 1.95090879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.72, Y:0.31, Z:0.00 [[ 9.99977888e-01 4.33763822e-03 -5.04065184e-03 4.72321376e+00] [-4.34017197e-03 9.99990460e-01 -4.91834440e-04 3.10405183e-01] [ 5.03847035e-03 5.13700860e-04 9.99987175e-01 4.27987694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:0.31, Z:0.01 [[ 9.99987066e-01 -6.78241425e-04 -5.04060816e-03 4.75250944e+00] [ 6.75768529e-04 9.99999650e-01 -4.92281704e-04 3.09388074e-01] [ 5.04094028e-03 4.88869053e-04 9.99987175e-01 7.00301560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.78, Y:0.31, Z:0.01 [[ 9.99985236e-01 -2.03008667e-03 -5.04056393e-03 4.78136058e+00] [ 2.02762853e-03 9.99997823e-01 -4.92734095e-04 3.09165310e-01] [ 5.04155325e-03 4.82506428e-04 9.99987175e-01 7.65087088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.81, Y:0.31, Z:0.01 [[ 9.99983444e-01 -2.77591299e-03 -5.04051962e-03 4.81021423e+00] [ 2.77346197e-03 9.99996032e-01 -4.93186961e-04 3.08624659e-01] [ 5.04186867e-03 4.79199106e-04 9.99987175e-01 7.39916356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.84, Y:0.31, Z:0.01 [[ 9.99987222e-01 -3.88045895e-04 -5.04036326e-03 4.83931445e+00] [ 3.85556875e-04 9.99999803e-01 -4.94779800e-04 3.06023896e-01] [ 5.04055427e-03 4.92830131e-04 9.99987175e-01 7.74498287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.87, Y:0.31, Z:0.01 [[ 9.99984807e-01 2.23201242e-03 -5.04020690e-03 4.86712251e+00] [-2.23454232e-03 9.99997380e-01 -4.96367568e-04 3.06854865e-01] [ 5.03908579e-03 5.07622582e-04 9.99987175e-01 1.00691597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4843914179999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.90, Y:0.31, Z:0.01 [[ 9.99975825e-01 4.79032345e-03 -5.04015178e-03 4.89556651e+00] [-4.79288830e-03 9.99988391e-01 -4.96926581e-04 3.08016589e-01] [ 5.03771283e-03 5.21071452e-04 9.99987175e-01 1.00878289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.92, Y:0.31, Z:0.01 [[ 9.99922324e-01 1.13993069e-02 -5.03997419e-03 4.92410537e+00] [-1.14019637e-02 9.99934871e-01 -4.98721283e-04 3.05984947e-01] [ 5.03396087e-03 5.56148148e-04 9.99987175e-01 9.87386976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.95, Y:0.31, Z:0.01 [[ 9.99877803e-01 1.47979332e-02 -5.03979541e-03 4.95310308e+00] [-1.48006415e-02 9.99890339e-01 -5.00521484e-04 3.05969041e-01] [ 5.03183605e-03 5.75052527e-04 9.99987175e-01 8.18336346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:0.31, Z:0.01 [[ 9.99826714e-01 1.79204828e-02 -5.03975075e-03 4.98099502e+00] [-1.79232325e-02 9.99839240e-01 -5.00970721e-04 3.05538874e-01] [ 5.02996293e-03 5.91212534e-04 9.99987175e-01 1.08129487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.01, Y:0.30, Z:0.01 [[ 9.99774422e-01 2.06326463e-02 -5.03969590e-03 5.00982014e+00] [-2.06354327e-02 9.99786941e-01 -5.01521922e-04 3.04602219e-01] [ 5.02827442e-03 6.05405096e-04 9.99987175e-01 1.12489063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.04, Y:0.30, Z:0.01 [[ 9.99716514e-01 2.32700087e-02 -5.03965215e-03 5.03830204e+00] [-2.32728303e-02 9.99729025e-01 -5.01961143e-04 2.99136554e-01] [ 5.02660589e-03 6.19105814e-04 9.99987175e-01 1.19949947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.07, Y:0.30, Z:0.01 [[ 9.99689374e-01 2.44081383e-02 -5.03959789e-03 5.06762678e+00] [-2.44109769e-02 9.99701881e-01 -5.02505338e-04 2.96354197e-01] [ 5.02583027e-03 6.25370755e-04 9.99987175e-01 1.08511861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6943914179999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.10, Y:0.29, Z:0.01 [[ 9.99687870e-01 2.44696650e-02 -5.03955383e-03 5.09559031e+00] [-2.44725065e-02 9.99700377e-01 -5.02946755e-04 2.94458405e-01] [ 5.02573693e-03 6.26120285e-04 9.99987175e-01 1.15093242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.12, Y:0.29, Z:0.01 [[ 9.99682696e-01 2.46801531e-02 -5.03949588e-03 5.12422180e+00] [-2.46830001e-02 9.99695202e-01 -5.03526832e-04 2.93017363e-01] [ 5.02553273e-03 6.27756938e-04 9.99987175e-01 1.13755660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.15, Y:0.29, Z:0.01 [[ 9.99703760e-01 2.38116684e-02 -5.03945171e-03 5.15191197e+00] [-2.38145068e-02 9.99716267e-01 -5.03968468e-04 2.89068046e-01] [ 5.02602152e-03 6.23831229e-04 9.99987175e-01 1.32168139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784391417999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.18, Y:0.29, Z:0.01 [[ 9.99681175e-01 2.47424020e-02 -5.03612261e-03 5.18139032e+00] [-2.47454165e-02 9.99693641e-01 -5.37126368e-04 2.85697484e-01] [ 5.02128996e-03 6.61576069e-04 9.99987174e-01 1.13174673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.21, Y:0.28, Z:0.01 [[ 9.99699000e-01 2.40107175e-02 -5.03926675e-03 5.21053446e+00] [-2.40135674e-02 9.99711505e-01 -5.05801568e-04 2.77403210e-01] [ 5.02566829e-03 6.26660093e-04 9.99987175e-01 9.62744998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:0.27, Z:0.01 [[ 9.99708282e-01 2.36211119e-02 -5.03921133e-03 5.24010654e+00] [-2.36239598e-02 9.99720787e-01 -5.06353068e-04 2.74781611e-01] [ 5.02584370e-03 6.25251482e-04 9.99987175e-01 9.56206656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.27, Y:0.27, Z:0.01 [[ 9.99719685e-01 2.31334678e-02 -5.03916765e-03 5.26930940e+00] [-2.31363117e-02 9.99732191e-01 -5.06787409e-04 2.72158278e-01] [ 5.02609437e-03 6.23233103e-04 9.99987175e-01 9.69166237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9043914179999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.30, Y:0.28, Z:0.01 [[ 9.99721726e-01 2.30451050e-02 -5.03912274e-03 5.29847666e+00] [-2.30479500e-02 9.99734232e-01 -5.07233552e-04 2.75185552e-01] [ 5.02609426e-03 6.23233852e-04 9.99987175e-01 9.84020084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:0.27, Z:0.01 [[ 9.99756633e-01 2.14774689e-02 -5.03907787e-03 5.32671420e+00] [-2.14802965e-02 9.99769143e-01 -5.07678938e-04 2.67551305e-01] [ 5.02701091e-03 6.15796273e-04 9.99987175e-01 1.32603640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:0.26, Z:0.02 [[ 9.99777056e-01 2.05047955e-02 -5.03901717e-03 5.35550897e+00] [-2.05076140e-02 9.99789568e-01 -5.08280743e-04 2.64782506e-01] [ 5.02753460e-03 6.11505644e-04 9.99987175e-01 1.53777255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:0.26, Z:0.02 [[ 9.99791494e-01 1.97883088e-02 -5.03897305e-03 5.38477632e+00] [-1.97911204e-02 9.99804007e-01 -5.08717723e-04 2.61686369e-01] [ 5.02791879e-03 6.08338575e-04 9.99987175e-01 1.63696374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0243914179999996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.41, Y:0.25, Z:0.01 [[ 9.99819903e-01 1.82967310e-02 -5.03892872e-03 5.41477685e+00] [-1.82995261e-02 9.99832420e-01 -5.09156430e-04 2.53242833e-01] [ 5.02876840e-03 6.01274740e-04 9.99987175e-01 1.43047089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.44, Y:0.25, Z:0.01 [[ 9.99827539e-01 1.78745897e-02 -5.03888487e-03 5.44436809e+00] [-1.78773817e-02 9.99840057e-01 -5.09590086e-04 2.51312893e-01] [ 5.02897022e-03 5.99584269e-04 9.99987175e-01 1.42511286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:5.47, Y:0.25, Z:0.01 [[ 9.99827754e-01 1.78625985e-02 -5.03884061e-03 5.47398089e+00] [-1.78653925e-02 9.99840271e-01 -5.10027331e-04 2.49275576e-01] [ 5.02892535e-03 5.99960346e-04 9.99987175e-01 1.22108482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:0.24, Z:0.01 [[ 9.99821039e-01 1.82345905e-02 -5.03879651e-03 5.50230969e+00] [-1.82373913e-02 9.99833555e-01 -5.10462631e-04 2.42605343e-01] [ 5.02864975e-03 6.02265782e-04 9.99987175e-01 1.45732831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.53, Y:0.24, Z:0.01 [[ 9.99812325e-01 1.87062869e-02 -5.03873754e-03 5.53144901e+00] [-1.87090965e-02 9.99824839e-01 -5.11044100e-04 2.40406521e-01] [ 5.02829521e-03 6.05218417e-04 9.99987175e-01 1.16341239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:0.24, Z:0.01 [[ 9.99795072e-01 1.96067720e-02 -5.03869598e-03 5.56082026e+00] [-1.96095949e-02 9.99807583e-01 -5.11453465e-04 2.38637393e-01] [ 5.02769850e-03 6.10155441e-04 9.99987175e-01 1.47811212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.24, Z:0.02 [[ 9.99772878e-01 2.07075929e-02 -5.03865320e-03 5.59020865e+00] [-2.07104317e-02 9.99785385e-01 -5.11874589e-04 2.36473694e-01] [ 5.02697214e-03 6.16111014e-04 9.99987175e-01 1.59549131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2343914179999995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:5.62, Y:0.23, Z:0.02 [[ 9.99728954e-01 2.27295326e-02 -5.03860999e-03 5.61946777e+00] [-2.27323988e-02 9.99741454e-01 -5.12299571e-04 2.29039126e-01] [ 5.02566295e-03 6.26700406e-04 9.99987175e-01 1.78365345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.65, Y:0.23, Z:0.02 [[ 9.99719037e-01 2.31616153e-02 -5.03856677e-03 5.64935157e+00] [-2.31644890e-02 9.99731536e-01 -5.12724287e-04 2.27109922e-01] [ 5.02533858e-03 6.29296055e-04 9.99987175e-01 1.85599613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.68, Y:0.23, Z:0.02 [[ 9.99719473e-01 2.31427870e-02 -5.03854539e-03 5.67971370e+00] [-2.31456615e-02 9.99731972e-01 -5.12934292e-04 2.25582865e-01] [ 5.02532419e-03 6.29410866e-04 9.99987175e-01 1.71224895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324391417999999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:5.71, Y:0.22, Z:0.02 [[ 9.99732605e-01 2.25683827e-02 -5.03852428e-03 5.70927376e+00] [-2.25712510e-02 9.99745105e-01 -5.13141655e-04 2.20055888e-01] [ 5.02565921e-03 6.26730240e-04 9.99987175e-01 1.69066863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:5.74, Y:0.22, Z:0.02 [[ 9.99741045e-01 2.21913738e-02 -5.03849286e-03 5.73882111e+00] [-2.21942390e-02 9.99753546e-01 -5.13449969e-04 2.18648122e-01] [ 5.02585694e-03 6.25142523e-04 9.99987175e-01 1.60715720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.77, Y:0.21, Z:0.02 [[ 9.99759495e-01 2.13439786e-02 -5.03847195e-03 5.76811207e+00] [-2.13468341e-02 9.99771998e-01 -5.13655073e-04 2.12688363e-01] [ 5.02635973e-03 6.21086962e-04 9.99987175e-01 1.91418905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414391418 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:5.80, Y:0.21, Z:0.01 [[ 9.99763725e-01 2.11449233e-02 -5.03844089e-03 5.79843698e+00] [-2.11477779e-02 9.99776229e-01 -5.13959588e-04 2.11687010e-01] [ 5.02644579e-03 6.20389981e-04 9.99987175e-01 1.47564093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4443914179999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:0.21, Z:0.02 [[ 9.99769349e-01 2.08773525e-02 -5.03841987e-03 5.82737499e+00] [-2.08802048e-02 9.99781853e-01 -5.14165551e-04 2.11436136e-01] [ 5.02658633e-03 6.19250197e-04 9.99987175e-01 1.77264534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.86, Y:0.21, Z:0.01 [[ 9.99776220e-01 2.05456929e-02 -5.03838857e-03 5.85743393e+00] [-2.05485426e-02 9.99788724e-01 -5.14472096e-04 2.11204822e-01] [ 5.02675389e-03 6.17888509e-04 9.99987175e-01 1.45506582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:0.21, Z:0.01 [[ 9.99800070e-01 1.93503125e-02 -5.03836661e-03 5.88745000e+00] [-1.93531482e-02 9.99812578e-01 -5.14686989e-04 2.06075995e-01] [ 5.02746296e-03 6.12092344e-04 9.99987175e-01 1.47670813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534391417999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.92, Y:0.20, Z:0.01 [[ 9.99825301e-01 1.79995093e-02 -5.03837823e-03 5.91752279e+00] [-1.80023276e-02 9.99837813e-01 -5.14573273e-04 2.04824957e-01] [ 5.02829900e-03 6.05185913e-04 9.99987175e-01 1.43550355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:5.95, Y:0.20, Z:0.02 [[ 9.99874355e-01 1.50296384e-02 -5.03835638e-03 5.94753316e+00] [-1.50324206e-02 9.99886874e-01 -5.14787120e-04 2.01716887e-01] [ 5.03004935e-03 5.90461132e-04 9.99987175e-01 1.52096880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.98, Y:0.20, Z:0.02 [[ 9.99899337e-01 1.32639023e-02 -5.03834560e-03 5.97735815e+00] [-1.32666629e-02 9.99911861e-01 -5.14892621e-04 2.02446521e-01] [ 5.03107204e-03 5.81682823e-04 9.99987175e-01 1.72485216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.01, Y:0.20, Z:0.02 [[ 9.99915615e-01 1.19740850e-02 -5.03832433e-03 6.00624830e+00] [-1.19768304e-02 9.99928143e-01 -5.15100630e-04 2.02940888e-01] [ 5.03179443e-03 5.75400319e-04 9.99987175e-01 1.58804661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6543914179999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:0.20, Z:0.02 [[ 9.99927018e-01 1.09806546e-02 -5.03830181e-03 6.03468694e+00] [-1.09833887e-02 9.99939548e-01 -5.15320844e-04 2.03848770e-01] [ 5.03233867e-03 5.70620862e-04 9.99987175e-01 1.88043919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:6.07, Y:0.20, Z:0.02 [[ 9.99938807e-01 9.84879109e-03 -5.03827262e-03 6.06503546e+00] [-9.85151245e-03 9.99951340e-01 -5.15606035e-04 2.01553652e-01] [ 5.03294936e-03 5.65209089e-04 9.99987175e-01 1.52685004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:6.09, Y:0.20, Z:0.02 [[ 9.99942236e-01 9.49424755e-03 -5.03825192e-03 6.09481138e+00] [-9.49696548e-03 9.99954770e-01 -5.15808203e-04 2.01873904e-01] [ 5.03312683e-03 5.63626513e-04 9.99987175e-01 1.70340166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.12, Y:0.20, Z:0.02 [[ 9.99947958e-01 8.87120849e-03 -5.03823138e-03 6.12481644e+00] [-8.87391961e-03 9.99960493e-01 -5.16008811e-04 2.00853132e-01] [ 5.03345471e-03 5.60690816e-04 9.99987175e-01 1.79998260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7743914179999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.15, Y:0.20, Z:0.02 [[ 9.99948092e-01 8.85610411e-03 -5.03820947e-03 6.15327224e+00] [-8.85881610e-03 9.99960627e-01 -5.16222652e-04 2.02183711e-01] [ 5.03343937e-03 5.60828427e-04 9.99987175e-01 1.70563383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:6.18, Y:0.20, Z:0.01 [[ 9.99950198e-01 8.61499358e-03 -5.03817686e-03 6.18188325e+00] [-8.61770413e-03 9.99962733e-01 -5.16540668e-04 2.03701315e-01] [ 5.03353911e-03 5.59932461e-04 9.99987175e-01 1.37888604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:0.20, Z:0.02 [[ 9.99962137e-01 7.09518564e-03 -5.03814678e-03 6.21151780e+00] [-7.09787859e-03 9.99974676e-01 -5.16833883e-04 2.03984556e-01] [ 5.03435216e-03 5.52574468e-04 9.99987175e-01 2.02180391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864391417999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.24, Y:0.21, Z:0.02 [[ 9.99972180e-01 5.50065879e-03 -5.03812703e-03 6.24044127e+00] [-5.50333271e-03 9.99984723e-01 -5.17026313e-04 2.05895146e-01] [ 5.03520608e-03 5.44738418e-04 9.99987175e-01 1.87750654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:6.27, Y:0.21, Z:0.02 [[ 9.99980374e-01 3.72403285e-03 -5.03808262e-03 6.26949600e+00] [-3.72668663e-03 9.99992922e-01 -5.17458697e-04 2.08487981e-01] [ 5.03611993e-03 5.36223897e-04 9.99987175e-01 1.72723898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.21, Z:0.02 [[ 9.99986028e-01 1.60079708e-03 -5.03805978e-03 6.29808322e+00] [-1.60342532e-03 9.99998581e-01 -5.17681048e-04 2.11303851e-01] [ 5.03722392e-03 5.25751967e-04 9.99987175e-01 2.00745271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954391417999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:6.33, Y:0.21, Z:0.02 [[ 9.99984277e-01 -2.46257818e-03 -5.03802090e-03 6.32660624e+00] [ 2.45999908e-03 9.99996840e-01 -5.18059086e-04 2.12870548e-01] [ 5.03928074e-03 5.05657414e-04 9.99987175e-01 1.86105205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9843914179999995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:6.36, Y:0.22, Z:0.02 [[ 9.99976663e-01 -4.61437092e-03 -5.03797934e-03 6.35508822e+00] [ 4.61181685e-03 9.99989231e-01 -5.18462946e-04 2.15720080e-01] [ 5.04031747e-03 4.95216609e-04 9.99987175e-01 1.93865345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:6.38, Y:0.22, Z:0.02 [[ 9.99963274e-01 -6.93319550e-03 -5.03793683e-03 6.38277651e+00] [ 6.93066852e-03 9.99975848e-01 -5.18875697e-04 2.18696041e-01] [ 5.04141262e-03 4.83940371e-04 9.99987175e-01 1.84573963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.41, Y:0.22, Z:0.02 [[ 9.99933563e-01 -1.03676887e-02 -5.03787315e-03 6.41082560e+00] [ 1.03652018e-02 9.99946145e-01 -5.19493212e-04 2.21585150e-01] [ 5.04298778e-03 4.67240127e-04 9.99987175e-01 1.87175128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074391418000001 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:6.44, Y:0.22, Z:0.02 [[ 9.99922872e-01 -1.13521725e-02 -5.03770104e-03 6.43842885e+00] [ 1.13496897e-02 9.99935454e-01 -5.21156976e-04 2.24247597e-01] [ 5.04329214e-03 4.63940437e-04 9.99987175e-01 1.56326001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:0.23, Z:0.02 [[ 9.99912830e-01 -1.22046655e-02 -5.03764769e-03 6.46657975e+00] [ 1.22021909e-02 9.99925414e-01 -5.21672124e-04 2.27399308e-01] [ 5.04363879e-03 4.60156312e-04 9.99987175e-01 1.77790812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:6.49, Y:0.23, Z:0.02 [[ 9.99894486e-01 -1.36249522e-02 -5.03759471e-03 6.49432246e+00] [ 1.36224929e-02 9.99907073e-01 -5.22183274e-04 2.30560559e-01] [ 5.04424130e-03 4.53503579e-04 9.99987175e-01 1.61758191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164391418000001 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:6.52, Y:0.23, Z:0.02 [[ 9.99892481e-01 -1.37713674e-02 -5.03741161e-03 6.52202950e+00] [ 1.37689011e-02 9.99905067e-01 -5.23943592e-04 2.33827025e-01] [ 5.04414882e-03 4.54527636e-04 9.99987175e-01 1.66466977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:0.24, Z:0.02 [[ 9.99894287e-01 -1.36396091e-02 -5.03735478e-03 6.54950663e+00] [ 1.36371384e-02 9.99906872e-01 -5.24489413e-04 2.37562036e-01] [ 5.04403950e-03 4.55738864e-04 9.99987175e-01 2.07116381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:6.58, Y:0.24, Z:0.02 [[ 9.99893740e-01 -1.36797331e-02 -5.03729919e-03 6.57754552e+00] [ 1.36772603e-02 9.99906324e-01 -5.25022800e-04 2.42437139e-01] [ 5.04400949e-03 4.56070558e-04 9.99987175e-01 2.00887765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:0.25, Z:0.02 [[ 9.99901286e-01 -1.31166469e-02 -5.03712136e-03 6.60552709e+00] [ 1.31141585e-02 9.99913867e-01 -5.26723426e-04 2.45880259e-01] [ 5.04359634e-03 4.60613823e-04 9.99987175e-01 2.29545215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:0.25, Z:0.02 [[ 9.99906579e-01 -1.27068196e-02 -5.03694256e-03 6.63262250e+00] [ 1.27043175e-02 9.99919157e-01 -5.28427747e-04 2.48753142e-01] [ 5.04324999e-03 4.64387463e-04 9.99987175e-01 2.34341517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.25, Z:0.02 [[ 9.99920039e-01 -1.15994087e-02 -5.03686506e-03 6.66082761e+00] [ 1.15968890e-02 9.99932614e-01 -5.29165367e-04 2.51129699e-01] [ 5.04266365e-03 4.70711089e-04 9.99987175e-01 2.33243181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.69, Y:0.25, Z:0.02 [[ 9.99923178e-01 -1.13256191e-02 -5.03668589e-03 6.68751178e+00] [ 1.13230875e-02 9.99935751e-01 -5.30865344e-04 2.54425003e-01] [ 5.04237466e-03 4.73793727e-04 9.99987175e-01 2.17122117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:0.26, Z:0.02 [[ 9.99931343e-01 -1.05802558e-02 -5.03656310e-03 6.71472144e+00] [ 1.05777091e-02 9.99943913e-01 -5.32027753e-04 2.58378099e-01] [ 5.04190960e-03 4.78715926e-04 9.99987175e-01 2.19524210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:6.74, Y:0.26, Z:0.02 [[ 9.99937321e-01 -9.99939337e-03 -5.03648743e-03 6.74209303e+00] [ 9.99683572e-03 9.99949888e-01 -5.32743154e-04 2.62745951e-01] [ 5.04156215e-03 4.82360825e-04 9.99987175e-01 2.02948210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:6.77, Y:0.27, Z:0.02 [[ 9.99952711e-01 -8.31933812e-03 -5.03631591e-03 6.77000232e+00] [ 8.31675129e-03 9.99965272e-01 -5.34359642e-04 2.69174621e-01] [ 5.04058653e-03 4.92448586e-04 9.99987175e-01 1.87439475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.80, Y:0.27, Z:0.02 [[ 9.99958861e-01 -7.54414844e-03 -5.03614010e-03 6.79808848e+00] [ 7.54154365e-03 9.99971418e-01 -5.36011516e-04 2.73759959e-01] [ 5.04003991e-03 4.98009195e-04 9.99987175e-01 2.14852400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:0.28, Z:0.02 [[ 9.99965615e-01 -6.58846230e-03 -5.03595732e-03 6.82616298e+00] [ 6.58583696e-03 9.99978169e-01 -5.37723294e-04 2.77792206e-01] [ 5.03939015e-03 5.04538810e-04 9.99987175e-01 2.18421217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.85, Y:0.28, Z:0.02 [[ 9.99969410e-01 -5.98492989e-03 -5.03577402e-03 6.85285231e+00] [ 5.98228845e-03 9.99981960e-01 -5.39434500e-04 2.81509344e-01] [ 5.03891165e-03 5.09292546e-04 9.99987175e-01 2.17404680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:0.28, Z:0.02 [[ 9.99965021e-01 -6.67827786e-03 -5.03569745e-03 6.88103067e+00] [ 6.67564157e-03 9.99977572e-01 -5.40148341e-04 2.84754799e-01] [ 5.03919177e-03 5.06512936e-04 9.99987175e-01 2.12498486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:0.29, Z:0.02 [[ 9.99956024e-01 -7.91167018e-03 -5.03552287e-03 6.90735902e+00] [ 7.90904128e-03 9.99968576e-01 -5.41770915e-04 2.88244713e-01] [ 5.03965095e-03 5.01920931e-04 9.99987175e-01 2.14079204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.94, Y:0.29, Z:0.02 [[ 9.99930019e-01 -1.07052134e-02 -5.03544718e-03 6.93504108e+00] [ 1.07026161e-02 9.99942578e-01 -5.42473515e-04 2.93199592e-01] [ 5.04096533e-03 4.88543094e-04 9.99987175e-01 2.08912426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.96, Y:0.30, Z:0.02 [[ 9.99911762e-01 -1.22927896e-02 -5.03533700e-03 6.96332361e+00] [ 1.22902071e-02 9.99924325e-01 -5.43494323e-04 2.96756229e-01] [ 5.04163701e-03 4.81561032e-04 9.99987175e-01 2.13038421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.99, Y:0.30, Z:0.02 [[ 9.99895994e-01 -1.35147533e-02 -5.03515832e-03 6.98988610e+00] [ 1.35121779e-02 9.99908558e-01 -5.45144711e-04 2.99274468e-01] [ 5.04206539e-03 4.77052057e-04 9.99987175e-01 2.27603193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:7.02, Y:0.30, Z:0.02 [[ 9.99872372e-01 -1.51620750e-02 -5.03508066e-03 7.01798639e+00] [ 1.51595168e-02 9.99884939e-01 -5.45861023e-04 2.99803905e-01] [ 5.04277770e-03 4.69461966e-04 9.99987175e-01 2.00288982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.05, Y:0.30, Z:0.02 [[ 9.99861460e-01 -1.58654198e-02 -5.03490425e-03 7.04536814e+00] [ 1.58628623e-02 9.99874027e-01 -5.47483397e-04 3.02540309e-01] [ 5.04295604e-03 4.67539556e-04 9.99987175e-01 2.08605284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:7.07, Y:0.31, Z:0.02 [[ 9.99877391e-01 -1.48275108e-02 -5.03472184e-03 7.07358227e+00] [ 1.48249319e-02 9.99889954e-01 -5.49155760e-04 3.05820844e-01] [ 5.04231040e-03 4.74449020e-04 9.99987175e-01 2.01859167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:0.31, Z:0.02 [[ 9.99893377e-01 -1.37072620e-02 -5.03453325e-03 7.10066353e+00] [ 1.37046604e-02 9.99905935e-01 -5.50879267e-04 3.09240224e-01] [ 5.04161072e-03 4.81823962e-04 9.99987175e-01 2.41067495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824391418000001 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:7.13, Y:0.31, Z:0.02 [[ 9.99914438e-01 -1.20735458e-02 -5.03445212e-03 7.12862116e+00] [ 1.20709200e-02 9.99926992e-01 -5.51619719e-04 3.13064993e-01] [ 5.04074457e-03 4.90802052e-04 9.99987175e-01 2.29009299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854391418 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:7.16, Y:0.32, Z:0.02 [[ 9.99910537e-01 -1.23925326e-02 -5.03427499e-03 7.15694517e+00] [ 1.23899028e-02 9.99923089e-01 -5.53231516e-04 3.16379971e-01] [ 5.04074374e-03 4.90807844e-04 9.99987175e-01 2.30451859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.18, Y:0.32, Z:0.02 [[ 9.99930156e-01 -1.06930730e-02 -5.03409800e-03 7.18494441e+00] [ 1.06904139e-02 9.99942702e-01 -5.54837447e-04 3.20175464e-01] [ 5.03974247e-03 5.00982104e-04 9.99987175e-01 2.37677110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:0.32, Z:0.03 [[ 9.99960722e-01 -7.29481569e-03 -5.03391402e-03 7.21234089e+00] [ 7.29210565e-03 9.99973257e-01 -5.56501623e-04 3.23618460e-01] [ 5.03783898e-03 5.19771932e-04 9.99987175e-01 2.63671382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:0.33, Z:0.03 [[ 9.99969838e-01 -5.91474688e-03 -5.03372968e-03 7.24060685e+00] [ 5.91201127e-03 9.99982368e-01 -5.58164075e-04 3.26866680e-01] [ 5.03694232e-03 5.28387774e-04 9.99987175e-01 2.54235640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:0.33, Z:0.02 [[ 9.99976367e-01 -4.68279037e-03 -5.03354648e-03 7.26873668e+00] [ 4.68003112e-03 9.99988892e-01 -5.59811357e-04 3.30207523e-01] [ 5.03611204e-03 5.36240973e-04 9.99987175e-01 2.43495648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:0.33, Z:0.02 [[ 9.99984866e-01 -2.22108430e-03 -5.03336450e-03 7.29622874e+00] [ 2.21828611e-03 9.99997382e-01 -5.61442815e-04 3.33622200e-01] [ 5.03459833e-03 5.50268876e-04 9.99987175e-01 2.15050584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:0.34, Z:0.02 [[ 9.99986761e-01 -1.07013752e-03 -5.03317534e-03 7.32394045e+00] [ 1.06731652e-03 9.99999272e-01 -5.63133434e-04 3.36670031e-01] [ 5.03377431e-03 5.57753988e-04 9.99987175e-01 2.12031524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:0.34, Z:0.02 [[ 9.99986781e-01 -1.05119429e-03 -5.03308895e-03 7.35211941e+00] [ 1.04836923e-03 9.99999291e-01 -5.63904535e-04 3.39644005e-01] [ 5.03367816e-03 5.58620546e-04 9.99987175e-01 2.36759876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.38, Y:0.34, Z:0.02 [[ 9.99985325e-01 -2.00502563e-03 -5.03289805e-03 7.38044233e+00] [ 2.00220405e-03 9.99997836e-01 -5.65603235e-04 3.42243040e-01] [ 5.03402120e-03 5.55518045e-04 9.99987175e-01 2.49236177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.41, Y:0.34, Z:0.03 [[ 9.99979688e-01 -3.91075711e-03 -5.03285002e-03 7.40895314e+00] [ 3.90795725e-03 9.99992204e-01 -5.66030270e-04 3.44207301e-01] [ 5.03502439e-03 5.46350610e-04 9.99987175e-01 2.61834960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154391418000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.44, Y:0.35, Z:0.03 [[ 9.99968086e-01 -6.20466801e-03 -5.03280277e-03 7.43676030e+00] [ 6.20189478e-03 9.99980608e-01 -5.66450028e-04 3.45356136e-01] [ 5.03621981e-03 5.35219037e-04 9.99987175e-01 2.51098418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.47, Y:0.35, Z:0.03 [[ 9.99900020e-01 -1.32144411e-02 -5.03274440e-03 7.46604875e+00] [ 1.32117532e-02 9.99912560e-01 -5.66968164e-04 3.46049280e-01] [ 5.03979651e-03 5.00420101e-04 9.99987175e-01 2.50638096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:0.35, Z:0.03 [[ 9.99833447e-01 -1.75427848e-02 -5.03269804e-03 7.49254273e+00] [ 1.75401491e-02 9.99845999e-01 -5.67379397e-04 3.48029659e-01] [ 5.04187641e-03 4.79010625e-04 9.99987175e-01 2.61311795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:0.35, Z:0.02 [[ 9.99680673e-01 -2.47633752e-02 -5.03261784e-03 7.52102774e+00] [ 2.47608267e-02 9.99693242e-01 -5.68089925e-04 3.47349196e-01] [ 5.04514187e-03 4.43296740e-04 9.99987175e-01 2.24236738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.55, Y:0.35, Z:0.02 [[ 9.99598408e-01 -2.78872152e-02 -5.03244170e-03 7.54860172e+00] [ 2.78846982e-02 9.99610984e-01 -5.69645931e-04 3.48195417e-01] [ 5.04636984e-03 4.29089048e-04 9.99987175e-01 1.96791073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.35, Z:0.02 [[ 9.99514645e-01 -3.07433047e-02 -5.03235954e-03 7.57711930e+00] [ 3.07408199e-02 9.99527227e-01 -5.70370861e-04 3.49673310e-01] [ 5.04751546e-03 4.15395170e-04 9.99987175e-01 1.97648376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334391418000001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:7.60, Y:0.35, Z:0.02 [[ 9.99445502e-01 -3.29145129e-02 -5.03217051e-03 7.60433558e+00] [ 3.29120472e-02 9.99458088e-01 -5.72033759e-04 3.51240570e-01] [ 5.04827173e-03 4.06097535e-04 9.99987175e-01 1.74114833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.63, Y:0.35, Z:0.02 [[ 9.99389707e-01 -3.45672026e-02 -5.03208856e-03 7.63106441e+00] [ 3.45647541e-02 9.99402296e-01 -5.72753773e-04 3.52677459e-01] [ 5.04887936e-03 3.98471322e-04 9.99987175e-01 2.04315090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.66, Y:0.36, Z:0.02 [[ 9.99309930e-01 -3.68018487e-02 -5.02867577e-03 7.65972140e+00] [ 3.67992791e-02 9.99322495e-01 -6.02606976e-04 3.55836474e-01] [ 5.04744587e-03 4.17139492e-04 9.99987175e-01 1.96169232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.69, Y:0.36, Z:0.02 [[ 9.99279086e-01 -3.76296175e-02 -5.03184646e-03 7.68790362e+00] [ 3.76271971e-02 9.99291681e-01 -5.74853086e-04 3.58358440e-01] [ 5.04991381e-03 3.85104387e-04 9.99987175e-01 1.90874177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.72, Y:0.36, Z:0.02 [[ 9.99266406e-01 -3.79648793e-02 -5.03165169e-03 7.71536778e+00] [ 3.79624546e-02 9.99279000e-01 -5.76552869e-04 3.61046930e-01] [ 5.04991263e-03 3.85116065e-04 9.99987175e-01 2.03820619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418000001 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:7.74, Y:0.36, Z:0.02 [[ 9.99261710e-01 -3.80883126e-02 -5.03145640e-03 7.74195926e+00] [ 3.80858810e-02 9.99274302e-01 -5.78252085e-04 3.63830380e-01] [ 5.04982973e-03 3.86197718e-04 9.99987175e-01 2.05674924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:0.37, Z:0.02 [[ 9.99229589e-01 -3.89218926e-02 -5.03137211e-03 7.76979181e+00] [ 3.89194678e-02 9.99242183e-01 -5.78984579e-04 3.66119806e-01] [ 5.05009442e-03 3.82720198e-04 9.99987175e-01 2.28678823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:0.37, Z:0.02 [[ 9.99167346e-01 -4.04882918e-02 -5.03117206e-03 7.79653052e+00] [ 4.04858781e-02 9.99179942e-01 -5.80717749e-04 3.68125347e-01] [ 5.05055848e-03 3.76542794e-04 9.99987175e-01 2.24890176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:0.37, Z:0.02 [[ 9.98998611e-01 -4.44574359e-02 -5.03108524e-03 7.82452575e+00] [ 4.44550685e-02 9.99011216e-01 -5.81468930e-04 3.70059468e-01] [ 5.05196120e-03 3.57229415e-04 9.99987175e-01 2.13427490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.85, Y:0.37, Z:0.02 [[ 9.98856818e-01 -4.75367899e-02 -5.03088334e-03 7.85101899e+00] [ 4.75344526e-02 9.98869429e-01 -5.83210595e-04 3.72739396e-01] [ 5.05291952e-03 3.43403594e-04 9.99987175e-01 1.95572076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:0.38, Z:0.02 [[ 9.98710983e-01 -5.05080477e-02 -5.03079572e-03 7.87920071e+00] [ 5.05057441e-02 9.98723600e-01 -5.83965423e-04 3.75018024e-01] [ 5.05386936e-03 3.29128600e-04 9.99987175e-01 2.07034759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.91, Y:0.38, Z:0.02 [[ 9.98528836e-01 -5.39894055e-02 -5.03059761e-03 7.90745819e+00] [ 5.39871374e-02 9.98541459e-01 -5.85667093e-04 3.77328234e-01] [ 5.05488010e-03 3.13217917e-04 9.99987175e-01 1.95444103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:7.94, Y:0.38, Z:0.02 [[ 9.98180229e-01 -6.00909823e-02 -5.03040063e-03 7.93514115e+00] [ 6.00887829e-02 9.98192864e-01 -5.87354074e-04 3.78528065e-01] [ 5.05660470e-03 2.84014572e-04 9.99987175e-01 2.00998075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:0.38, Z:0.02 [[ 9.98021328e-01 -6.26747653e-02 -5.03020214e-03 7.96166769e+00] [ 6.26725901e-02 9.98033967e-01 -5.89049132e-04 3.81574738e-01] [ 5.05723111e-03 2.72627800e-04 9.99987175e-01 2.25166975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754391418 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:7.99, Y:0.39, Z:0.02 [[ 9.97767298e-01 -6.65966680e-02 -5.03011586e-03 7.98916336e+00] [ 6.65945388e-02 9.97779945e-01 -5.89784950e-04 3.85632888e-01] [ 5.05822645e-03 2.53489890e-04 9.99987175e-01 1.92056465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.02, Y:0.39, Z:0.02 [[ 9.97669455e-01 -6.80467316e-02 -5.02991903e-03 8.01574403e+00] [ 6.80446123e-02 9.97682104e-01 -5.91458859e-04 3.89678241e-01] [ 5.05850705e-03 2.47821547e-04 9.99987175e-01 2.00506263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814391418000001 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:8.04, Y:0.39, Z:0.02 [[ 9.97625837e-01 -6.86832663e-02 -5.02983390e-03 8.04336411e+00] [ 6.86811515e-02 9.97638486e-01 -5.92181937e-04 3.93561306e-01] [ 5.05862887e-03 2.45321217e-04 9.99987175e-01 1.92272443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.07, Y:0.40, Z:0.02 [[ 9.97618966e-01 -6.87829977e-02 -5.02964078e-03 8.07000446e+00] [ 6.87808760e-02 9.97631615e-01 -5.93817716e-04 3.97627360e-01] [ 5.05857321e-03 2.46460718e-04 9.99987175e-01 2.00831325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.40, Z:0.02 [[ 9.97653834e-01 -6.82754043e-02 -5.02955672e-03 8.09762713e+00] [ 6.82732726e-02 9.97666481e-01 -5.94528826e-04 4.01629477e-01] [ 5.05841185e-03 2.49749666e-04 9.99987175e-01 1.88590809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.13, Y:0.41, Z:0.02 [[ 9.97677811e-01 -6.79241564e-02 -5.02936508e-03 8.12570889e+00] [ 6.79220121e-02 9.97690455e-01 -5.96145561e-04 4.06208005e-01] [ 5.05824222e-03 2.53156602e-04 9.99987175e-01 1.66058041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:8.15, Y:0.41, Z:0.01 [[ 9.97769529e-01 -6.65633104e-02 -5.02917429e-03 8.15312490e+00] [ 6.65611407e-02 9.97782169e-01 -5.97750817e-04 4.12584726e-01] [ 5.05780870e-03 2.61669974e-04 9.99987175e-01 1.31167853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:0.42, Z:0.02 [[ 9.97813496e-01 -6.59009616e-02 -5.02898461e-03 8.17951228e+00] [ 6.58987756e-02 9.97826133e-01 -5.99342348e-04 4.17224402e-01] [ 5.05754951e-03 2.66627955e-04 9.99987175e-01 1.65287402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:0.42, Z:0.02 [[ 9.97997951e-01 -6.30460197e-02 -5.02890256e-03 8.20735825e+00] [ 6.30437941e-02 9.98010581e-01 -6.00030020e-04 4.22333037e-01] [ 5.05672747e-03 2.81787632e-04 9.99987175e-01 1.71717430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.24, Y:0.43, Z:0.02 [[ 9.98002605e-01 -6.29724116e-02 -5.02755153e-03 8.23633986e+00] [ 6.29701283e-02 9.98015225e-01 -6.11326448e-04 4.27238775e-01] [ 5.05606967e-03 2.93519823e-04 9.99987175e-01 1.74034720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.26, Y:0.43, Z:0.02 [[ 9.98058345e-01 -6.20826341e-02 -5.02857971e-03 8.26350858e+00] [ 6.20803826e-02 9.98070971e-01 -6.02748601e-04 4.32043162e-01] [ 5.05629965e-03 2.89402119e-04 9.99987175e-01 1.84678991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418000001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:8.29, Y:0.44, Z:0.02 [[ 9.98102728e-01 -6.13649607e-02 -5.02851691e-03 8.29159447e+00] [ 6.13626975e-02 9.98115352e-01 -6.03272065e-04 4.36781229e-01] [ 5.05605969e-03 2.93564133e-04 9.99987175e-01 1.79753063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.32, Y:0.44, Z:0.02 [[ 9.98206468e-01 -5.96536989e-02 -5.02830884e-03 8.31871703e+00] [ 5.96514054e-02 9.98219086e-01 -6.05001404e-04 4.42061750e-01] [ 5.05544442e-03 3.03970626e-04 9.99987175e-01 1.71953035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.35, Y:0.45, Z:0.02 [[ 9.98225438e-01 -5.93354221e-02 -5.02810206e-03 8.34541709e+00] [ 5.93331160e-02 9.98238054e-01 -6.06715055e-04 4.47473944e-01] [ 5.05524251e-03 3.07305440e-04 9.99987175e-01 1.89455553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:0.45, Z:0.02 [[ 9.98364652e-01 -5.69453155e-02 -5.02529438e-03 8.37189651e+00] [ 5.69428633e-02 9.98377240e-01 -6.29814052e-04 4.51135560e-01] [ 5.05300449e-03 3.42629436e-04 9.99987175e-01 2.06477234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:8.40, Y:0.46, Z:0.02 [[ 9.98295837e-01 -5.81393302e-02 -5.02398446e-03 8.40117440e+00] [ 5.81368392e-02 9.98308418e-01 -6.40570228e-04 4.58171655e-01] [ 5.05272831e-03 3.47400015e-04 9.99987175e-01 1.74234560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234391418000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.43, Y:0.46, Z:0.02 [[ 9.98273365e-01 -5.85236112e-02 -5.02739741e-03 8.42850433e+00] [ 5.85212655e-02 9.98285974e-01 -6.12559495e-04 4.63877675e-01] [ 5.05462952e-03 3.17292170e-04 9.99987175e-01 1.84915733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:8.46, Y:0.47, Z:0.02 [[ 9.98269388e-01 -5.85916023e-02 -5.02524627e-03 8.45726652e+00] [ 5.85891691e-02 9.98281980e-01 -6.30170239e-04 4.68348323e-01] [ 5.05353548e-03 3.34654655e-04 9.99987175e-01 2.06345948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.48, Z:0.02 [[ 9.98084728e-01 -6.16571400e-02 -5.02720233e-03 8.48205555e+00] [ 6.16548258e-02 9.98097343e-01 -6.14158895e-04 4.76403385e-01] [ 5.05550457e-03 3.03031329e-04 9.99987175e-01 2.01905556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.51, Y:0.48, Z:0.02 [[ 9.98062553e-01 -6.20154506e-02 -5.02239097e-03 8.51196663e+00] [ 6.20129442e-02 9.98075131e-01 -6.53392120e-04 4.79118564e-01] [ 5.05324393e-03 3.40672956e-04 9.99987174e-01 2.10102371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:0.48, Z:0.02 [[ 9.97974877e-01 -6.34103694e-02 -5.02691490e-03 8.53983285e+00] [ 6.34080656e-02 9.97987493e-01 -6.16504408e-04 4.83705587e-01] [ 5.05589098e-03 2.96508960e-04 9.99987175e-01 2.19805402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:0.49, Z:0.02 [[ 9.97983439e-01 -6.32754768e-02 -5.02684761e-03 8.56482515e+00] [ 6.32731686e-02 9.97996055e-01 -6.17052654e-04 4.87082332e-01] [ 5.05581838e-03 2.97743753e-04 9.99987175e-01 2.44447095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414391418000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.60, Y:0.49, Z:0.02 [[ 9.97667917e-01 -6.80699734e-02 -5.02058621e-03 8.59616397e+00] [ 6.80674712e-02 9.97680497e-01 -6.67777394e-04 4.94963749e-01] [ 5.05439653e-03 3.24481475e-04 9.99987174e-01 2.03011907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.62, Y:0.50, Z:0.02 [[ 9.97587068e-01 -6.92441724e-02 -5.02859887e-03 8.62376304e+00] [ 6.92420115e-02 9.97599710e-01 -6.02752804e-04 5.00064762e-01] [ 5.05826590e-03 2.53108101e-04 9.99987175e-01 1.84309964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:0.50, Z:0.02 [[ 9.97652669e-01 -6.82926625e-02 -5.02637787e-03 8.64817276e+00] [ 6.82903992e-02 9.97665293e-01 -6.20737233e-04 5.03457238e-01] [ 5.05703455e-03 2.76026805e-04 9.99987175e-01 1.96564682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:8.68, Y:0.51, Z:0.02 [[ 9.97404693e-01 -7.18240900e-02 -5.01774314e-03 8.67903891e+00] [ 7.18215227e-02 9.97417261e-01 -6.90206154e-04 5.10389187e-01] [ 5.05435705e-03 3.28032904e-04 9.99987173e-01 1.74144890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.71, Y:0.51, Z:0.02 [[ 9.97293094e-01 -7.33568199e-02 -5.02606401e-03 8.70739524e+00] [ 7.33546090e-02 9.97305727e-01 -6.23086807e-04 5.14764721e-01] [ 5.05823009e-03 2.52715210e-04 9.99987175e-01 1.72851465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.73, Y:0.52, Z:0.02 [[ 9.97133297e-01 -7.54978759e-02 -5.02587421e-03 8.73364315e+00] [ 7.54956844e-02 9.97145933e-01 -6.24614056e-04 5.21418347e-01] [ 5.05868706e-03 2.43391659e-04 9.99987175e-01 1.68878992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.76, Y:0.53, Z:0.02 [[ 9.97154700e-01 -7.52149252e-02 -5.02183655e-03 8.76219845e+00] [ 7.52125672e-02 9.97167307e-01 -6.57023717e-04 5.25596184e-01] [ 5.05702922e-03 2.77449069e-04 9.99987175e-01 1.59665121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:0.53, Z:0.02 [[ 9.97167896e-01 -7.50397419e-02 -5.02231129e-03 8.78940116e+00] [ 7.50374008e-02 9.97180506e-01 -6.53217323e-04 5.31192481e-01] [ 5.05716818e-03 2.74506159e-04 9.99987175e-01 1.79647248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:0.54, Z:0.02 [[ 9.97165013e-01 -7.50779843e-02 -5.02328222e-03 8.81701034e+00] [ 7.50756826e-02 9.97177630e-01 -6.45467729e-04 5.36539944e-01] [ 5.05756507e-03 2.66511495e-04 9.99987175e-01 2.27171713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.84, Y:0.54, Z:0.02 [[ 9.97234144e-01 -7.41540123e-02 -5.02432501e-03 8.84430410e+00] [ 7.41517406e-02 9.97246767e-01 -6.37163543e-04 5.41728220e-01] [ 5.05774011e-03 2.62838795e-04 9.99987175e-01 1.71863563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.87, Y:0.55, Z:0.02 [[ 9.97217346e-01 -7.43797661e-02 -5.02138471e-03 8.87257149e+00] [ 7.43773794e-02 9.97229948e-01 -6.60632156e-04 5.45387677e-01] [ 5.05661288e-03 2.85316410e-04 9.99987175e-01 1.73286185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:0.55, Z:0.02 [[ 9.97198127e-01 -7.46369721e-02 -5.02164396e-03 8.90183356e+00] [ 7.46345991e-02 9.97210731e-01 -6.58560763e-04 5.50127055e-01] [ 5.05679023e-03 2.81927175e-04 9.99987175e-01 1.67581167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.93, Y:0.56, Z:0.02 [[ 9.97159762e-01 -7.51476796e-02 -5.02341109e-03 8.92871762e+00] [ 7.51453839e-02 9.97172380e-01 -6.44465356e-04 5.55326673e-01] [ 5.05763687e-03 2.65148766e-04 9.99987175e-01 2.04287775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:0.56, Z:0.01 [[ 9.97066059e-01 -7.63808930e-02 -5.02327040e-03 8.95784769e+00] [ 7.63786072e-02 9.97078679e-01 -6.45585651e-04 5.61478208e-01] [ 5.05790622e-03 2.60021144e-04 9.99987175e-01 1.47376507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834391418000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:8.99, Y:0.57, Z:0.02 [[ 9.96961802e-01 -7.77297578e-02 -5.02494166e-03 8.98546683e+00] [ 7.77275560e-02 9.96974437e-01 -6.32280511e-04 5.66356846e-01] [ 5.05888539e-03 2.39783084e-04 9.99987175e-01 1.75779906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.01, Y:0.57, Z:0.02 [[ 9.96868700e-01 -7.89147929e-02 -5.02499121e-03 9.01414539e+00] [ 7.89126081e-02 9.96881337e-01 -6.31886477e-04 5.70169442e-01] [ 5.05918515e-03 2.33372689e-04 9.99987175e-01 1.50227449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.04, Y:0.58, Z:0.02 [[ 9.96781414e-01 -8.00097761e-02 -5.02480198e-03 9.04159875e+00] [ 8.00075977e-02 9.96794053e-01 -6.33387666e-04 5.75226074e-01] [ 5.05936993e-03 2.29326718e-04 9.99987175e-01 1.52512704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:0.58, Z:0.02 [[ 9.96597632e-01 -8.22673580e-02 -5.02417071e-03 9.06860083e+00] [ 8.22651830e-02 9.96610271e-01 -6.38388353e-04 5.80631103e-01] [ 5.05965865e-03 2.22901998e-04 9.99987175e-01 1.60120621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.10, Y:0.58, Z:0.02 [[ 9.96522379e-01 -8.31740380e-02 -5.02264247e-03 9.09629776e+00] [ 8.31718138e-02 9.96535010e-01 -6.50455662e-04 5.83676893e-01] [ 5.05934009e-03 2.30451339e-04 9.99987175e-01 1.58332508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418000001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:9.12, Y:0.59, Z:0.01 [[ 9.96208212e-01 -8.68559429e-02 -5.02437801e-03 9.12274557e+00] [ 8.68538344e-02 9.96220862e-01 -6.36761352e-04 5.89990254e-01] [ 5.06069670e-03 1.97960392e-04 9.99987175e-01 1.42447529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.15, Y:0.59, Z:0.01 [[ 9.96090849e-01 -8.81918585e-02 -5.02164319e-03 9.15091977e+00] [ 8.81896585e-02 9.96103484e-01 -6.58298676e-04 5.94756559e-01] [ 5.06013286e-03 2.12868289e-04 9.99987175e-01 1.38121307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.18, Y:0.60, Z:0.01 [[ 9.95804698e-01 -9.13662135e-02 -5.02182210e-03 9.17811007e+00] [ 9.13640608e-02 9.95817341e-01 -6.56890800e-04 5.99838610e-01] [ 5.06083515e-03 1.95320885e-04 9.99987175e-01 1.28911754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.21, Y:0.60, Z:0.01 [[ 9.95739779e-01 -9.20710400e-02 -5.02158210e-03 9.20526169e+00] [ 9.20688868e-02 9.95752422e-01 -6.58775003e-04 6.03881483e-01] [ 5.06090664e-03 1.93637002e-04 9.99987175e-01 1.47577042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:0.61, Z:0.01 [[ 9.95574930e-01 -9.38368060e-02 -5.02131291e-03 9.23431943e+00] [ 9.38346646e-02 9.95587575e-01 -6.60886106e-04 6.08323903e-01] [ 5.06117218e-03 1.86788426e-04 9.99987175e-01 1.35502662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.26, Y:0.61, Z:0.01 [[ 9.95395548e-01 -9.57208322e-02 -5.02252407e-03 9.26090971e+00] [ 9.57187626e-02 9.95408205e-01 -6.51406197e-04 6.12759306e-01] [ 5.06181481e-03 1.67657040e-04 9.99987175e-01 1.26718321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164391418000001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:9.29, Y:0.62, Z:0.01 [[ 9.95352462e-01 -9.61680567e-02 -5.01799995e-03 9.29020269e+00] [ 9.61658147e-02 9.95365091e-01 -6.86727330e-04 6.17434524e-01] [ 5.06078321e-03 2.00975686e-04 9.99987174e-01 1.28046175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.32, Y:0.62, Z:0.01 [[ 9.95569805e-01 -9.38911506e-02 -5.02142750e-03 9.31844153e+00] [ 9.38890144e-02 9.95582451e-01 -6.59982053e-04 6.20704536e-01] [ 5.06121157e-03 1.85601326e-04 9.99987175e-01 1.22762398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.34, Y:0.63, Z:0.01 [[ 9.95332582e-01 -9.63733208e-02 -5.02341055e-03 9.34481583e+00] [ 9.63712941e-02 9.95345246e-01 -6.44526221e-04 6.27490189e-01] [ 5.06214294e-03 1.57405372e-04 9.99987175e-01 1.42795288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:0.63, Z:0.01 [[ 9.95613574e-01 -9.34260633e-02 -5.01825911e-03 9.37395975e+00] [ 9.34237973e-02 9.95626198e-01 -6.84603332e-04 6.34372470e-01] [ 5.06027004e-03 2.12775548e-04 9.99987174e-01 1.44563252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.40, Y:0.64, Z:0.01 [[ 9.95754627e-01 -9.19103001e-02 -5.02186399e-03 9.40134129e+00] [ 9.19081560e-02 9.95767272e-01 -6.56552031e-04 6.38674854e-01] [ 5.06095170e-03 1.92214464e-04 9.99987175e-01 1.47888883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.43, Y:0.64, Z:0.01 [[ 9.95791134e-01 -9.15138517e-02 -5.02322373e-03 9.42790894e+00] [ 9.15117559e-02 9.95803787e-01 -6.45978500e-04 6.44242799e-01] [ 5.06126119e-03 1.83575640e-04 9.99987175e-01 1.36168930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:0.65, Z:0.02 [[ 9.96008312e-01 -8.91192764e-02 -5.01962349e-03 9.45556367e+00] [ 8.91170097e-02 9.96020936e-01 -6.73878869e-04 6.51984660e-01] [ 5.05970569e-03 2.23855120e-04 9.99987175e-01 1.61399020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.48, Y:0.66, Z:0.01 [[ 9.96064345e-01 -8.84907531e-02 -5.02059006e-03 9.48416489e+00] [ 8.84885160e-02 9.96076974e-01 -6.66406716e-04 6.55695844e-01] [ 5.05986498e-03 2.19519406e-04 9.99987175e-01 1.30535688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.51, Y:0.66, Z:0.01 [[ 9.96091500e-01 -8.81844472e-02 -5.02273638e-03 9.51159844e+00] [ 8.81822898e-02 9.96104142e-01 -6.49816742e-04 6.60395240e-01] [ 5.06047225e-03 2.04360537e-04 9.99987175e-01 1.29313015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.54, Y:0.67, Z:0.01 [[ 9.96073536e-01 -8.83871350e-02 -5.02250203e-03 9.53850145e+00] [ 8.83849711e-02 9.96086177e-01 -6.51623088e-04 6.65787670e-01] [ 5.06043994e-03 2.05150817e-04 9.99987175e-01 1.30000834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.67, Z:0.01 [[ 9.96198625e-01 -8.69659400e-02 -5.02234027e-03 9.56491054e+00] [ 8.69637517e-02 9.96211263e-01 -6.52867441e-04 6.69813068e-01] [ 5.06008917e-03 2.13624095e-04 9.99987175e-01 1.32025561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494391418000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.59, Y:0.68, Z:0.01 [[ 9.95900784e-01 -9.03128221e-02 -5.02224150e-03 9.59113702e+00] [ 9.03106725e-02 9.95913428e-01 -6.53626340e-04 6.75569414e-01] [ 5.06074859e-03 1.97384977e-04 9.99987175e-01 1.24805618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:0.68, Z:0.01 [[ 9.95811579e-01 -9.12913626e-02 -5.01854761e-03 9.61929601e+00] [ 9.12890829e-02 9.95824200e-01 -6.81950437e-04 6.81320560e-01] [ 5.05984735e-03 2.20955533e-04 9.99987174e-01 1.45832855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.65, Y:0.69, Z:0.02 [[ 9.95805951e-01 -9.13526846e-02 -5.01937626e-03 9.64752672e+00] [ 9.13504376e-02 9.95818578e-01 -6.75604128e-04 6.85710361e-01] [ 5.06010638e-03 2.14248394e-04 9.99987175e-01 1.51283395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418000001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:9.68, Y:0.69, Z:0.01 [[ 9.95703072e-01 -9.24672656e-02 -5.01962406e-03 9.67517690e+00] [ 9.24650423e-02 9.95715703e-01 -6.73708079e-04 6.89770003e-01] [ 5.06041444e-03 2.06673454e-04 9.99987175e-01 1.23200347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.70, Y:0.70, Z:0.01 [[ 9.95757109e-01 -9.18834135e-02 -5.02177184e-03 9.70159055e+00] [ 9.18812654e-02 9.95769753e-01 -6.57299029e-04 6.95454740e-01] [ 5.06092338e-03 1.93103430e-04 9.99987175e-01 1.34208043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:9.73, Y:0.70, Z:0.01 [[ 9.95691954e-01 -9.25868041e-02 -5.02161169e-03 9.72833195e+00] [ 9.25846588e-02 9.95704598e-01 -6.58520274e-04 6.99660296e-01] [ 5.06101214e-03 1.90759134e-04 9.99987175e-01 1.23043560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:0.70, Z:0.01 [[ 9.95939126e-01 -8.98890626e-02 -5.02138304e-03 9.75627527e+00] [ 8.98868742e-02 9.95951763e-01 -6.60259176e-04 7.03839825e-01] [ 5.06040537e-03 2.06221521e-04 9.99987175e-01 1.45127527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:9.78, Y:0.71, Z:0.01 [[ 9.95752968e-01 -9.19283595e-02 -5.02034569e-03 9.78345352e+00] [ 9.19261574e-02 9.95765603e-01 -6.68134404e-04 7.07690071e-01] [ 5.06050805e-03 2.03795728e-04 9.99987175e-01 1.29104782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.81, Y:0.71, Z:0.02 [[ 9.95447448e-01 -9.51796543e-02 -5.02107660e-03 9.81131559e+00] [ 9.51775214e-02 9.95460095e-01 -6.62595675e-04 7.11910565e-01] [ 5.06134701e-03 1.81685549e-04 9.99987175e-01 1.56025413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:9.84, Y:0.72, Z:0.01 [[ 9.95189577e-01 -9.78391779e-02 -5.01997642e-03 9.83925591e+00] [ 9.78370368e-02 9.95202223e-01 -6.70919270e-04 7.16159440e-01] [ 5.06153388e-03 1.76552248e-04 9.99987175e-01 1.45488195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:0.72, Z:0.02 [[ 9.94897594e-01 -1.00765021e-01 -5.01884857e-03 9.86676092e+00] [ 1.00762874e-01 9.94910238e-01 -6.79437393e-04 7.22011297e-01] [ 5.06176735e-03 1.70257019e-04 9.99987175e-01 1.76489742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:0.73, Z:0.02 [[ 9.94537184e-01 -1.04262163e-01 -5.01897789e-03 9.89370857e+00] [ 1.04260066e-01 9.94549837e-01 -6.78461214e-04 7.29078660e-01] [ 5.06236147e-03 1.51475941e-04 9.99987175e-01 1.58794071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:0.73, Z:0.01 [[ 9.94350494e-01 -1.06027860e-01 -5.01874725e-03 9.92079197e+00] [ 1.06025777e-01 9.94363149e-01 -6.80198485e-04 7.34644218e-01] [ 5.06257731e-03 1.44239124e-04 9.99987175e-01 1.49195354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.95, Y:0.74, Z:0.01 [[ 9.94172374e-01 -1.07685238e-01 -5.01796668e-03 9.94775482e+00] [ 1.07683146e-01 9.94185028e-01 -6.86065570e-04 7.39002601e-01] [ 5.06266648e-03 1.41716999e-04 9.99987175e-01 1.38256468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:0.74, Z:0.02 [[ 9.94143020e-01 -1.07955919e-01 -5.01742215e-03 9.97619521e+00] [ 1.07953810e-01 9.94155671e-01 -6.90149321e-04 7.43482090e-01] [ 5.06260438e-03 1.44457296e-04 9.99987175e-01 1.51146934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:10.00, Y:0.75, Z:0.02 [[ 9.93923232e-01 -1.09961050e-01 -5.01762813e-03 1.00040218e+01] [ 1.09958974e-01 9.93935888e-01 -6.88604853e-04 7.49542679e-01] [ 5.06292039e-03 1.32687118e-04 9.99987175e-01 1.52251724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.03, Y:0.76, Z:0.01 [[ 9.93821608e-01 -1.10875752e-01 -5.01784684e-03 1.00320010e+01] [ 1.10873696e-01 9.93834268e-01 -6.86965613e-04 7.55220009e-01] [ 5.06307597e-03 1.26374043e-04 9.99987175e-01 1.41467118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:10.06, Y:0.76, Z:0.01 [[ 9.93786201e-01 -1.11192650e-01 -5.01807576e-03 1.00602954e+01] [ 1.11190606e-01 9.93798863e-01 -6.85250673e-04 7.61089625e-01] [ 5.06315282e-03 1.23029776e-04 9.99987175e-01 1.38447764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.77, Z:0.02 [[ 9.93795683e-01 -1.11107858e-01 -5.01848140e-03 1.00882154e+01] [ 1.11105829e-01 9.93808346e-01 -6.82214544e-04 7.71128976e-01] [ 5.06320810e-03 1.20399331e-04 9.99987175e-01 1.55195686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.12, Y:0.78, Z:0.01 [[ 9.93765035e-01 -1.11381631e-01 -5.01873876e-03 1.01160982e+01] [ 1.11379615e-01 9.93777701e-01 -6.80288449e-04 7.76925124e-01] [ 5.06328230e-03 1.17061682e-04 9.99987175e-01 1.42721144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:0.78, Z:0.01 [[ 9.93839392e-01 -1.10716195e-01 -5.01857404e-03 1.01421117e+01] [ 1.10714165e-01 9.93852056e-01 -6.81517603e-04 7.82250520e-01] [ 5.06317516e-03 1.21691808e-04 9.99987175e-01 1.39444850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.17, Y:0.79, Z:0.01 [[ 9.93954872e-01 -1.09674678e-01 -5.01772257e-03 1.01702356e+01] [ 1.09672602e-01 9.93967528e-01 -6.87853879e-04 7.86202593e-01] [ 5.06289345e-03 1.33389026e-04 9.99987175e-01 1.04927999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.20, Y:0.79, Z:0.01 [[ 9.94434865e-01 -1.05233632e-01 -5.01818639e-03 1.01988804e+01] [ 1.05231517e-01 9.94447515e-01 -6.84405853e-04 7.93030753e-01] [ 5.06234550e-03 1.52525675e-04 9.99987175e-01 1.21835044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:10.23, Y:0.80, Z:0.01 [[ 9.94618022e-01 -1.03488189e-01 -5.01841239e-03 1.02274831e+01] [ 1.03486060e-01 9.94630670e-01 -6.82727002e-04 7.99462943e-01] [ 5.06212106e-03 1.59716855e-04 9.99987175e-01 1.07668762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.26, Y:0.81, Z:0.01 [[ 9.94795861e-01 -1.01764460e-01 -5.01902509e-03 1.02554096e+01] [ 1.01762332e-01 9.94808508e-01 -6.78181993e-04 8.06568056e-01] [ 5.06198369e-03 1.63904942e-04 9.99987175e-01 1.42425213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:0.81, Z:0.01 [[ 9.95117313e-01 -9.85715187e-02 -5.01884147e-03 1.02836441e+01] [ 9.85693434e-02 9.95129953e-01 -6.79540762e-04 8.13839510e-01] [ 5.06138284e-03 1.81518869e-04 9.99987175e-01 1.47655338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.31, Y:0.82, Z:0.01 [[ 9.95115477e-01 -9.85899878e-02 -5.02006787e-03 1.03107013e+01] [ 9.85878584e-02 9.95128125e-01 -6.70487310e-04 8.18701727e-01] [ 5.06171407e-03 1.72294559e-04 9.99987175e-01 1.43079598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:0.82, Z:0.02 [[ 9.95169225e-01 -9.80460095e-02 -5.01933287e-03 1.03394674e+01] [ 9.80438460e-02 9.95181867e-01 -6.75898635e-04 8.24129024e-01] [ 5.06141822e-03 1.80518822e-04 9.99987175e-01 1.70769441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:0.83, Z:0.02 [[ 9.95102107e-01 -9.87248576e-02 -5.01981195e-03 1.03662163e+01] [ 9.87227204e-02 9.95114753e-01 -6.72376429e-04 8.30188598e-01] [ 5.06166920e-03 1.73513709e-04 9.99987175e-01 2.10671827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.84, Z:0.02 [[ 9.94925181e-01 -1.00492294e-01 -5.01829534e-03 1.03924280e+01] [ 1.00490123e-01 9.94937821e-01 -6.83511284e-04 8.37311537e-01] [ 5.06157945e-03 1.75753470e-04 9.99987175e-01 2.14158424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.42, Y:0.84, Z:0.02 [[ 9.94702870e-01 -1.02669465e-01 -5.01818731e-03 1.04212830e+01] [ 1.02667318e-01 9.94715514e-01 -6.84303542e-04 8.42347374e-01] [ 5.06192585e-03 1.65474865e-04 9.99987175e-01 1.81122083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:10.45, Y:0.85, Z:0.02 [[ 9.94324788e-01 -1.06268716e-01 -5.01755189e-03 1.04485316e+01] [ 1.06266591e-01 9.94337436e-01 -6.88960110e-04 8.47862945e-01] [ 5.06235459e-03 1.51851982e-04 9.99987175e-01 1.82232002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:0.85, Z:0.02 [[ 9.94141625e-01 -1.07968808e-01 -5.01648748e-03 1.04768725e+01] [ 1.07966666e-01 9.94154271e-01 -6.96749751e-04 8.53242792e-01] [ 5.06238969e-03 1.51054502e-04 9.99987175e-01 2.05622923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418000001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:10.51, Y:0.86, Z:0.02 [[ 9.93872144e-01 -1.10421887e-01 -5.01688768e-03 1.05050583e+01] [ 1.10419790e-01 9.93884796e-01 -6.93823644e-04 8.58045629e-01] [ 5.06282171e-03 1.35608307e-04 9.99987175e-01 1.90893827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.53, Y:0.86, Z:0.02 [[ 9.93710962e-01 -1.11863099e-01 -5.01700746e-03 1.05330121e+01] [ 1.11861025e-01 9.93723619e-01 -6.92948626e-04 8.62633374e-01] [ 5.06303419e-03 1.27383049e-04 9.99987175e-01 2.17803672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.56, Y:0.87, Z:0.03 [[ 9.93405437e-01 -1.14544582e-01 -5.01768484e-03 1.05605996e+01] [ 1.14542567e-01 9.93418103e-01 -6.88008457e-04 8.68991774e-01] [ 5.06346660e-03 1.08732840e-04 9.99987175e-01 2.62245121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:0.87, Z:0.03 [[ 9.93418032e-01 -1.14435359e-01 -5.01621566e-03 1.05888484e+01] [ 1.14433289e-01 9.93430689e-01 -6.98696418e-04 8.73784282e-01] [ 5.06321816e-03 1.20075566e-04 9.99987175e-01 2.75042847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:10.62, Y:0.88, Z:0.03 [[ 9.93335621e-01 -1.15148470e-01 -5.01729309e-03 1.06154770e+01] [ 1.15146448e-01 9.93348286e-01 -6.90871854e-04 8.79630093e-01] [ 5.06347233e-03 1.08544142e-04 9.99987175e-01 2.75758758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:10.64, Y:0.88, Z:0.03 [[ 9.93293817e-01 -1.15508529e-01 -5.01717709e-03 1.06436594e+01] [ 1.15506508e-01 9.93306483e-01 -6.91713245e-04 8.83747782e-01] [ 5.06349331e-03 1.07557885e-04 9.99987175e-01 2.77201284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:0.89, Z:0.03 [[ 9.93373659e-01 -1.14819879e-01 -5.01692570e-03 1.06699270e+01] [ 1.14817840e-01 9.93386321e-01 -6.93531794e-04 8.89569538e-01] [ 5.06337660e-03 1.12903643e-04 9.99987175e-01 2.92783206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.90, Z:0.03 [[ 9.93412709e-01 -1.14481529e-01 -5.01681696e-03 1.06974260e+01] [ 1.14479482e-01 9.93425370e-01 -6.94317484e-04 8.96494918e-01] [ 5.06331977e-03 1.15421206e-04 9.99987175e-01 2.94134540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:10.72, Y:0.90, Z:0.03 [[ 9.93569879e-01 -1.13109390e-01 -5.01614612e-03 1.07246640e+01] [ 1.13107301e-01 9.93582533e-01 -6.99153699e-04 9.02555025e-01] [ 5.06303602e-03 1.27295308e-04 9.99987175e-01 2.55495492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:0.91, Z:0.03 [[ 9.93898646e-01 -1.10183102e-01 -5.01648219e-03 1.07514581e+01] [ 1.10180988e-01 9.93911296e-01 -6.96734051e-04 9.11780988e-01] [ 5.06270663e-03 1.39762068e-04 9.99987175e-01 2.90695310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:0.92, Z:0.03 [[ 9.94115176e-01 -1.08212098e-01 -5.01579038e-03 1.07797915e+01] [ 1.08209933e-01 9.94127818e-01 -7.01704293e-04 9.17454083e-01] [ 5.06226964e-03 1.54816544e-04 9.99987175e-01 2.98260317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.81, Y:0.92, Z:0.03 [[ 9.94325385e-01 -1.06263192e-01 -5.01625466e-03 1.08070936e+01] [ 1.06261020e-01 9.94338025e-01 -6.98372785e-04 9.22909634e-01] [ 5.06206407e-03 1.61377454e-04 9.99987175e-01 3.14749282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:10.83, Y:0.93, Z:0.03 [[ 9.94443654e-01 -1.05150646e-01 -5.01608620e-03 1.08340935e+01] [ 1.05148454e-01 9.94456290e-01 -6.99580658e-04 9.29002495e-01] [ 5.06183983e-03 1.68259837e-04 9.99987175e-01 3.12910393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.94, Z:0.04 [[ 9.94664079e-01 -1.03044761e-01 -5.01470384e-03 1.08615258e+01] [ 1.03042492e-01 9.94676702e-01 -7.09478101e-04 9.37308066e-01] [ 5.06111708e-03 1.88964803e-04 9.99987175e-01 3.80575404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.89, Y:0.94, Z:0.04 [[ 9.94669356e-01 -1.02993760e-01 -5.01575769e-03 1.08885552e+01] [ 1.02991528e-01 9.94681986e-01 -7.01947868e-04 9.43196627e-01] [ 5.06138007e-03 1.81625483e-04 9.99987175e-01 3.84509065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:10.92, Y:0.95, Z:0.04 [[ 9.94567233e-01 -1.03975292e-01 -5.01567870e-03 1.09161409e+01] [ 1.03973070e-01 9.94579865e-01 -7.02511812e-04 9.49613984e-01] [ 5.06153692e-03 1.77199718e-04 9.99987175e-01 3.83847671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:10.94, Y:0.96, Z:0.04 [[ 9.94110258e-01 -1.08257286e-01 -5.01542903e-03 1.09427796e+01] [ 1.08255109e-01 9.94122897e-01 -7.04289813e-04 9.57557097e-01] [ 5.06219734e-03 1.57195909e-04 9.99987175e-01 3.89406232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:0.96, Z:0.04 [[ 9.93824546e-01 -1.10849538e-01 -5.01517396e-03 1.09694432e+01] [ 1.10847385e-01 9.93837189e-01 -7.06101455e-04 9.63196176e-01] [ 5.06253741e-03 1.45822037e-04 9.99987175e-01 3.99995839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:0.97, Z:0.04 [[ 9.93470389e-01 -1.13979981e-01 -5.01506318e-03 1.09965580e+01] [ 1.13977863e-01 9.93483038e-01 -7.06887385e-04 9.68739508e-01] [ 5.06295122e-03 1.30665499e-04 9.99987175e-01 3.93606418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.02, Y:0.97, Z:0.04 [[ 9.93190785e-01 -1.16391218e-01 -5.01481083e-03 1.10238015e+01] [ 1.16389122e-01 9.93203438e-01 -7.08673127e-04 9.74151851e-01] [ 5.06321068e-03 1.20178189e-04 9.99987175e-01 3.80320669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418000001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:11.05, Y:0.98, Z:0.04 [[ 9.92758958e-01 -1.20018775e-01 -5.01455329e-03 1.10507137e+01] [ 1.20016717e-01 9.92771617e-01 -7.10490816e-04 9.82576124e-01] [ 5.06357841e-03 1.03515899e-04 9.99987175e-01 3.52146152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:11.08, Y:0.99, Z:0.04 [[ 9.92598529e-01 -1.21338437e-01 -5.01429570e-03 1.10778549e+01] [ 1.21336386e-01 9.92611190e-01 -7.12304123e-04 9.88886674e-01] [ 5.06367589e-03 9.86155058e-05 9.99987175e-01 3.57447287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.11, Y:1.00, Z:0.04 [[ 9.92522015e-01 -1.21962735e-01 -5.01403503e-03 1.11054684e+01] [ 1.21960683e-01 9.92534675e-01 -7.14134295e-04 9.95298080e-01] [ 5.06370140e-03 9.72788718e-05 9.99987175e-01 3.59616908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:11.13, Y:1.00, Z:0.03 [[ 9.92595199e-01 -1.21365692e-01 -5.01395466e-03 1.11320147e+01] [ 1.21363629e-01 9.92607857e-01 -7.14698117e-04 1.00384496e+00] [ 5.06363063e-03 1.00894184e-04 9.99987175e-01 3.48560669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:1.01, Z:0.04 [[ 9.92662152e-01 -1.20816862e-01 -5.01369838e-03 1.11592716e+01] [ 1.20814783e-01 9.92674808e-01 -7.16491494e-04 1.01091586e+00] [ 5.06353633e-03 1.05505105e-04 9.99987175e-01 3.74107642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:1.02, Z:0.04 [[ 9.92809471e-01 -1.19600248e-01 -5.01343870e-03 1.11863109e+01] [ 1.19598145e-01 9.92822123e-01 -7.18303918e-04 1.01761300e+00] [ 5.06336218e-03 1.13540964e-04 9.99987175e-01 3.78445858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:1.03, Z:0.04 [[ 9.93323743e-01 -1.15251071e-01 -5.01317709e-03 1.12124495e+01] [ 1.15248903e-01 9.93336384e-01 -7.20125104e-04 1.02704218e+00] [ 5.06276640e-03 1.37554200e-04 9.99987175e-01 3.70165527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:11.24, Y:1.03, Z:0.03 [[ 9.93608211e-01 -1.12772302e-01 -5.01299670e-03 1.12402565e+01] [ 1.12770097e-01 9.93620846e-01 -7.21378702e-04 1.03327563e+00] [ 5.06236956e-03 1.51451680e-04 9.99987175e-01 3.43580921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418000001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:11.27, Y:1.04, Z:0.03 [[ 9.93845915e-01 -1.10657892e-01 -5.01274093e-03 1.12671631e+01] [ 1.10655650e-01 9.93858543e-01 -7.23151649e-04 1.03971013e+00] [ 5.06197784e-03 1.64013204e-04 9.99987175e-01 3.42446819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:11.29, Y:1.05, Z:0.03 [[ 9.94080217e-01 -1.08532936e-01 -5.01248118e-03 1.12947042e+01] [ 1.08530658e-01 9.94092838e-01 -7.24947658e-04 1.04599326e+00] [ 5.06155234e-03 1.76648244e-04 9.99987175e-01 3.43575405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:11.32, Y:1.05, Z:0.04 [[ 9.94395426e-01 -1.05605932e-01 -5.01240097e-03 1.13228493e+01] [ 1.05603615e-01 9.94408040e-01 -7.25501785e-04 1.05443051e+00] [ 5.06098912e-03 1.92107995e-04 9.99987175e-01 3.52215424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414391418000001 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:11.35, Y:1.06, Z:0.04 [[ 9.94446041e-01 -1.05128252e-01 -5.01217782e-03 1.13506226e+01] [ 1.05125920e-01 9.94458653e-01 -7.27040178e-04 1.06013689e+00] [ 5.06083607e-03 1.96092420e-04 9.99987175e-01 3.56569333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:11.38, Y:1.06, Z:0.03 [[ 9.94454845e-01 -1.05044948e-01 -5.01195513e-03 1.13780233e+01] [ 1.05042608e-01 9.94467455e-01 -7.28572079e-04 1.06494947e+00] [ 5.06075908e-03 1.98063195e-04 9.99987175e-01 3.42529060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474391418 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:11.41, Y:1.07, Z:0.03 [[ 9.94185086e-01 -1.07568100e-01 -5.01187627e-03 1.14051284e+01] [ 1.07565789e-01 9.94197701e-01 -7.29114175e-04 1.07077122e+00] [ 5.06122529e-03 1.85768013e-04 9.99987175e-01 3.49089638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:11.43, Y:1.08, Z:0.04 [[ 9.93942095e-01 -1.09790681e-01 -5.01179892e-03 1.14335318e+01] [ 1.09788396e-01 9.93954715e-01 -7.29645456e-04 1.07507135e+00] [ 5.06160944e-03 1.74987968e-04 9.99987175e-01 3.58052535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534391418 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:11.46, Y:1.08, Z:0.04 [[ 9.93682119e-01 -1.12119265e-01 -5.01157444e-03 1.14621703e+01] [ 1.12117002e-01 9.93694743e-01 -7.31184090e-04 1.07889045e+00] [ 5.06195500e-03 1.64681855e-04 9.99987175e-01 3.59872797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:11.49, Y:1.08, Z:0.04 [[ 9.93411748e-01 -1.14490113e-01 -5.01134700e-03 1.14901795e+01] [ 1.14487872e-01 9.93424376e-01 -7.32739586e-04 1.08269179e+00] [ 5.06228570e-03 1.54173661e-04 9.99987175e-01 3.80195249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:11.52, Y:1.08, Z:0.04 [[ 9.93053045e-01 -1.17560777e-01 -5.01126675e-03 1.15180824e+01] [ 1.17558572e-01 9.93065680e-01 -7.33288028e-04 1.08498916e+00] [ 5.06272293e-03 1.39076546e-04 9.99987175e-01 3.72655871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:11.55, Y:1.09, Z:0.04 [[ 9.92889701e-01 -1.18932455e-01 -5.01118892e-03 1.15460761e+01] [ 1.18930265e-01 9.92902338e-01 -7.33819509e-04 1.08917441e+00] [ 5.06289615e-03 1.32619810e-04 9.99987175e-01 3.81479684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654391418000001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:11.57, Y:1.09, Z:0.04 [[ 9.92792388e-01 -1.19742076e-01 -5.01092929e-03 1.15743660e+01] [ 1.19739888e-01 9.92805025e-01 -7.35588124e-04 1.09289604e+00] [ 5.06295663e-03 1.30278178e-04 9.99987175e-01 3.76553107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:11.60, Y:1.10, Z:0.04 [[ 9.92722493e-01 -1.20320174e-01 -5.01069389e-03 1.16019573e+01] [ 1.20317985e-01 9.92735130e-01 -7.37188143e-04 1.09616712e+00] [ 5.06299046e-03 1.28946661e-04 9.99987175e-01 3.57956878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.63, Y:1.10, Z:0.04 [[ 9.92565036e-01 -1.21612264e-01 -5.01061041e-03 1.16304130e+01] [ 1.21610088e-01 9.92577676e-01 -7.37755113e-04 1.09802886e+00] [ 5.06314011e-03 1.22929155e-04 9.99987175e-01 3.56420880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.66, Y:1.10, Z:0.03 [[ 9.92412321e-01 -1.22852272e-01 -5.01038564e-03 1.16581352e+01] [ 1.22850105e-01 9.92424962e-01 -7.39278491e-04 1.10147616e+00] [ 5.06325382e-03 1.18142683e-04 9.99987175e-01 3.45249053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:11.69, Y:1.11, Z:0.03 [[ 9.92262688e-01 -1.24055056e-01 -5.01011418e-03 1.16863524e+01] [ 1.24052895e-01 9.92275330e-01 -7.41113628e-04 1.10533518e+00] [ 5.06335159e-03 1.13860234e-04 9.99987175e-01 3.31755585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:11.71, Y:1.11, Z:0.03 [[ 9.91807408e-01 -1.27643903e-01 -5.00986025e-03 1.17148964e+01] [ 1.27641779e-01 9.91820057e-01 -7.42826226e-04 1.10804600e+00] [ 5.06369711e-03 9.72730811e-05 9.99987175e-01 3.21381567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834391418000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:11.74, Y:1.11, Z:0.03 [[ 9.91473265e-01 -1.30213937e-01 -5.00962480e-03 1.17423809e+01] [ 1.30211838e-01 9.91485917e-01 -7.44410709e-04 1.11110507e+00] [ 5.06390509e-03 8.57508654e-05 9.99987175e-01 3.31835317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.77, Y:1.11, Z:0.04 [[ 9.90990371e-01 -1.33839420e-01 -5.00935345e-03 1.17704523e+01] [ 1.33837358e-01 9.91003030e-01 -7.46232241e-04 1.11470125e+00] [ 5.06415974e-03 6.90703348e-05 9.99987175e-01 3.54867963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.80, Y:1.12, Z:0.03 [[ 9.90545407e-01 -1.37093787e-01 -5.00908144e-03 1.17981600e+01] [ 1.37091757e-01 9.90558070e-01 -7.48053674e-04 1.11766422e+00] [ 5.06433955e-03 5.42773558e-05 9.99987175e-01 3.35161534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:11.83, Y:1.12, Z:0.03 [[ 9.89303758e-01 -1.45784036e-01 -5.00899741e-03 1.18258490e+01] [ 1.45782114e-01 9.89316438e-01 -7.48615901e-04 1.12130223e+00] [ 5.06461972e-03 1.03862909e-05 9.99987175e-01 3.47829369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.85, Y:1.13, Z:0.03 [[ 9.88625587e-01 -1.50314206e-01 -5.00873139e-03 1.18536555e+01] [ 1.50312334e-01 9.88638275e-01 -7.50391527e-04 1.12595976e+00] [ 5.06461807e-03 -1.10178407e-05 9.99987175e-01 3.41554165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.88, Y:1.13, Z:0.04 [[ 9.87837935e-01 -1.55406339e-01 -5.00846520e-03 1.18812377e+01] [ 1.55404523e-01 9.87850631e-01 -7.52164058e-04 1.13079891e+00] [ 5.06450657e-03 -3.53219537e-05 9.99987175e-01 3.64595030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.91, Y:1.13, Z:0.03 [[ 9.86331528e-01 -1.64696798e-01 -5.00819772e-03 1.19092989e+01] [ 1.64695092e-01 9.86344239e-01 -7.53940850e-04 1.13327140e+00] [ 5.06397861e-03 -8.11899521e-05 9.99987175e-01 3.48483212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:11.94, Y:1.14, Z:0.03 [[ 9.85617911e-01 -1.68914924e-01 -5.00811500e-03 1.19368343e+01] [ 1.68913270e-01 9.85630630e-01 -7.54489866e-04 1.13617596e+00] [ 5.06359614e-03 -1.02298355e-04 9.99987175e-01 3.30448752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074391418000001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:11.97, Y:1.14, Z:0.03 [[ 9.85027745e-01 -1.72323133e-01 -5.00785241e-03 1.19675537e+01] [ 1.72321514e-01 9.85040468e-01 -7.56228780e-04 1.13944647e+00] [ 5.06325300e-03 -1.18054381e-04 9.99987175e-01 3.11544246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:1.15, Z:0.04 [[ 9.84174864e-01 -1.77129120e-01 -5.01124789e-03 1.19941840e+01] [ 1.77127678e-01 9.84187608e-01 -7.33738943e-04 1.14660206e+00] [ 5.06197461e-03 -1.65503277e-04 9.99987174e-01 3.57862739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:1.16, Z:0.04 [[ 9.83382658e-01 -1.81475815e-01 -5.00757299e-03 1.20206008e+01] [ 1.81474305e-01 9.83395395e-01 -7.58015930e-04 1.15523339e+00] [ 5.06198577e-03 -1.63326108e-04 9.99987175e-01 3.91946218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:12.05, Y:1.16, Z:0.04 [[ 9.83292504e-01 -1.81963668e-01 -5.00749343e-03 1.20476406e+01] [ 1.81962162e-01 9.83305241e-01 -7.58541125e-04 1.16105429e+00] [ 5.06192146e-03 -1.65306528e-04 9.99987175e-01 3.82518843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:12.08, Y:1.17, Z:0.04 [[ 9.83220043e-01 -1.82354798e-01 -5.00741491e-03 1.20757646e+01] [ 1.82353295e-01 9.83232780e-01 -7.59059097e-04 1.16734548e+00] [ 5.06187255e-03 -1.66796490e-04 9.99987175e-01 3.98795358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:1.17, Z:0.04 [[ 9.83109062e-01 -1.82952181e-01 -5.00718392e-03 1.21020378e+01] [ 1.82950678e-01 9.83121799e-01 -7.60579814e-04 1.17409412e+00] [ 5.06182140e-03 -1.68334784e-04 9.99987175e-01 4.26531615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:1.18, Z:0.04 [[ 9.83348374e-01 -1.81661515e-01 -5.00700283e-03 1.21282694e+01] [ 1.81659989e-01 9.83361108e-01 -7.61770078e-04 1.18337435e+00] [ 5.06207616e-03 -1.60486711e-04 9.99987175e-01 4.18406272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:12.16, Y:1.19, Z:0.04 [[ 9.83546641e-01 -1.80584983e-01 -5.00689508e-03 1.21562861e+01] [ 1.80583439e-01 9.83559373e-01 -7.62477647e-04 1.19076612e+00] [ 5.06227060e-03 -1.54230003e-04 9.99987175e-01 3.98661365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:12.18, Y:1.20, Z:0.04 [[ 9.83715208e-01 -1.79664474e-01 -5.00667968e-03 1.21832827e+01] [ 1.79662912e-01 9.83727937e-01 -7.63889419e-04 1.19852559e+00] [ 5.06245447e-03 -1.48065010e-04 9.99987175e-01 3.92341977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:12.21, Y:1.21, Z:0.04 [[ 9.84006205e-01 -1.78063819e-01 -5.00643384e-03 1.22094431e+01] [ 1.78062227e-01 9.84018931e-01 -7.65497218e-04 1.21041101e+00] [ 5.06273304e-03 -1.38202749e-04 9.99987175e-01 3.97485348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:1.22, Z:0.04 [[ 9.84005759e-01 -1.78066294e-01 -5.00617750e-03 1.22368493e+01] [ 1.78064694e-01 9.84018484e-01 -7.67170003e-04 1.21929778e+00] [ 5.06277831e-03 -1.36523762e-04 9.99987175e-01 4.19358676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:1.23, Z:0.04 [[ 9.84001845e-01 -1.78087928e-01 -5.00593806e-03 1.22636328e+01] [ 1.78086320e-01 9.84014569e-01 -7.68729233e-04 1.22787554e+00] [ 5.06281737e-03 -1.35058101e-04 9.99987175e-01 4.30685717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:1.24, Z:0.04 [[ 9.83926079e-01 -1.78506062e-01 -5.00567125e-03 1.22904885e+01] [ 1.78504451e-01 9.83938803e-01 -7.70462695e-04 1.23668010e+00] [ 5.06280643e-03 -1.35456257e-04 9.99987175e-01 4.30659003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391418 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:12.32, Y:1.25, Z:0.04 [[ 9.83832236e-01 -1.79022563e-01 -5.00540576e-03 1.23163489e+01] [ 1.79020950e-01 9.83844959e-01 -7.72183639e-04 1.24819705e+00] [ 5.06278151e-03 -1.36373335e-04 9.99987175e-01 4.01460347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:12.34, Y:1.26, Z:0.04 [[ 9.83691927e-01 -1.79791935e-01 -5.00526414e-03 1.23437898e+01] [ 1.79790327e-01 9.83704651e-01 -7.73100478e-04 1.25602338e+00] [ 5.06269885e-03 -1.39405380e-04 9.99987175e-01 4.14754357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:12.37, Y:1.26, Z:0.04 [[ 9.83631560e-01 -1.80121909e-01 -5.00518331e-03 1.23718658e+01] [ 1.80120302e-01 9.83644284e-01 -7.73623433e-04 1.26057503e+00] [ 5.06266649e-03 -1.40574706e-04 9.99987175e-01 4.16195475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554391418 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:12.40, Y:1.27, Z:0.04 [[ 9.83467983e-01 -1.81012918e-01 -5.00492323e-03 1.23985676e+01] [ 1.81011314e-01 9.83480708e-01 -7.75302363e-04 1.26838486e+00] [ 5.06258519e-03 -1.43462680e-04 9.99987175e-01 4.11143660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418000001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:12.43, Y:1.28, Z:0.04 [[ 9.83148151e-01 -1.82742079e-01 -5.00466459e-03 1.24252138e+01] [ 1.82740489e-01 9.83160877e-01 -7.76968352e-04 1.28132863e+00] [ 5.06237524e-03 -1.50679859e-04 9.99987175e-01 4.07000593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:12.45, Y:1.29, Z:0.04 [[ 9.83000466e-01 -1.83534843e-01 -5.00443997e-03 1.24530207e+01] [ 1.83533257e-01 9.83013193e-01 -7.78412456e-04 1.29026417e+00] [ 5.06229632e-03 -1.53301358e-04 9.99987175e-01 4.18926077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391418 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.48, Y:1.30, Z:0.04 [[ 9.83018735e-01 -1.83436974e-01 -5.00439244e-03 1.24813749e+01] [ 1.83435384e-01 9.83031461e-01 -7.78717879e-04 1.29871617e+00] [ 5.06232087e-03 -1.52488386e-04 9.99987175e-01 4.07725318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674391418 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:12.51, Y:1.31, Z:0.04 [[ 9.83282501e-01 -1.82017801e-01 -5.00436089e-03 1.25081712e+01] [ 1.82016192e-01 9.83295225e-01 -7.78920625e-04 1.31145250e+00] [ 5.06254158e-03 -1.44975692e-04 9.99987175e-01 4.24424127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:12.54, Y:1.32, Z:0.05 [[ 9.83396987e-01 -1.81398245e-01 -5.00431389e-03 1.25381845e+01] [ 1.81396626e-01 9.83409710e-01 -7.79222435e-04 1.32201589e+00] [ 5.06264045e-03 -1.41480662e-04 9.99987175e-01 4.89946291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:12.57, Y:1.33, Z:0.05 [[ 9.83808704e-01 -1.79151863e-01 -5.00434729e-03 1.25677874e+01] [ 1.79150217e-01 9.83821423e-01 -7.79007902e-04 1.33096754e+00] [ 5.06294479e-03 -1.30135146e-04 9.99987175e-01 4.64690462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:12.60, Y:1.34, Z:0.05 [[ 9.84142831e-01 -1.77307203e-01 -5.00436383e-03 1.25984558e+01] [ 1.77305533e-01 9.84155547e-01 -7.78901604e-04 1.34016462e+00] [ 5.06317729e-03 -1.20750967e-04 9.99987175e-01 4.94163570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:12.63, Y:1.35, Z:0.05 [[ 9.84594343e-01 -1.74782541e-01 -5.00439674e-03 1.26289029e+01] [ 1.74780840e-01 9.84607054e-01 -7.78690105e-04 1.34854116e+00] [ 5.06346577e-03 -1.07978794e-04 9.99987175e-01 4.79298988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418000001 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:12.66, Y:1.36, Z:0.05 [[ 9.85356275e-01 -1.70434639e-01 -5.00444584e-03 1.26584699e+01] [ 1.70432884e-01 9.85368980e-01 -7.78374439e-04 1.36348559e+00] [ 5.06388766e-03 -8.59459972e-05 9.99987175e-01 5.36145154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:12.69, Y:1.37, Z:0.05 [[ 9.85827103e-01 -1.67689827e-01 -5.00449439e-03 1.26890450e+01] [ 1.67688038e-01 9.85839803e-01 -7.78062128e-04 1.37365144e+00] [ 5.06410287e-03 -7.21591124e-05 9.99987175e-01 5.45235210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:12.72, Y:1.39, Z:0.05 [[ 9.86609761e-01 -1.63021882e-01 -5.00455839e-03 1.27196853e+01] [ 1.63020034e-01 9.86622452e-01 -7.77650270e-04 1.38792516e+00] [ 5.06438368e-03 -4.86059329e-05 9.99987175e-01 5.19613057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914391418000001 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:12.75, Y:1.40, Z:0.05 [[ 9.86878768e-01 -1.61385412e-01 -5.00462371e-03 1.27500524e+01] [ 1.61383546e-01 9.86891457e-01 -7.77229663e-04 1.39652932e+00] [ 5.06445392e-03 -4.06324694e-05 9.99987175e-01 5.48342272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:12.78, Y:1.40, Z:0.05 [[ 9.87260748e-01 -1.59031973e-01 -5.00467222e-03 1.27810259e+01] [ 1.59030078e-01 9.87273433e-01 -7.76917189e-04 1.40432158e+00] [ 5.06453460e-03 -2.88735689e-05 9.99987175e-01 5.18730203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:12.81, Y:1.41, Z:0.05 [[ 9.87584309e-01 -1.57010146e-01 -5.00473721e-03 1.28134272e+01] [ 1.57008227e-01 9.87596990e-01 -7.76498329e-04 1.41300301e+00] [ 5.06458152e-03 -1.89273494e-05 9.99987175e-01 5.26919891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:12.84, Y:1.43, Z:0.05 [[ 9.88188206e-01 -1.53163384e-01 -5.00484005e-03 1.28438273e+01] [ 1.53161419e-01 9.88200879e-01 -7.75834898e-04 1.42688936e+00] [ 5.06461684e-03 1.22494138e-07 9.99987175e-01 5.27722933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:12.88, Y:1.44, Z:0.05 [[ 9.88422788e-01 -1.51642154e-01 -5.00492499e-03 1.28758077e+01] [ 1.51640173e-01 9.88435459e-01 -7.75286544e-04 1.43630726e+00] [ 5.06461146e-03 7.36319674e-06 9.99987175e-01 5.35865941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:12.91, Y:1.44, Z:0.05 [[ 9.88728701e-01 -1.49634575e-01 -5.00502378e-03 1.29077635e+01] [ 1.49632570e-01 9.88741368e-01 -7.74648286e-04 1.44449951e+00] [ 5.06458823e-03 1.70024201e-05 9.99987175e-01 5.12393561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:12.94, Y:1.45, Z:0.05 [[ 9.88894616e-01 -1.48534127e-01 -5.00512401e-03 1.29387325e+01] [ 1.48532112e-01 9.88907282e-01 -7.74000133e-04 1.45300107e+00] [ 5.06456902e-03 2.19829266e-05 9.99987175e-01 5.46644742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:12.97, Y:1.46, Z:0.06 [[ 9.89362868e-01 -1.45382474e-01 -5.00520654e-03 1.29695578e+01] [ 1.45380421e-01 9.89375528e-01 -7.73466051e-04 1.46497401e+00] [ 5.06447727e-03 3.75795553e-05 9.99987175e-01 5.51124550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:13.00, Y:1.47, Z:0.06 [[ 9.89609034e-01 -1.43697273e-01 -5.00536787e-03 1.30019058e+01] [ 1.43695204e-01 9.89621691e-01 -7.72420641e-04 1.47331461e+00] [ 5.06441536e-03 4.51470877e-05 9.99987175e-01 5.55815757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:13.03, Y:1.48, Z:0.05 [[ 9.89844768e-01 -1.42064357e-01 -5.00546698e-03 1.30345405e+01] [ 1.42062270e-01 9.89857422e-01 -7.71777834e-04 1.48083212e+00] [ 5.06434076e-03 5.28522483e-05 9.99987175e-01 5.39010281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:13.07, Y:1.49, Z:0.05 [[ 9.89966555e-01 -1.41213185e-01 -5.00556750e-03 1.30656776e+01] [ 1.41211091e-01 9.89979208e-01 -7.71125320e-04 1.48816116e+00] [ 5.06430082e-03 5.65466305e-05 9.99987175e-01 5.44482998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418000001 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:13.10, Y:1.50, Z:0.05 [[ 9.90117167e-01 -1.40153270e-01 -5.00565077e-03 1.30982640e+01] [ 1.40151165e-01 9.90129818e-01 -7.70584405e-04 1.49547651e+00] [ 5.06424402e-03 6.14210581e-05 9.99987175e-01 5.48087371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:13.13, Y:1.51, Z:0.06 [[ 9.90243915e-01 -1.39254916e-01 -5.00574770e-03 1.31288361e+01] [ 1.39252803e-01 9.90256565e-01 -7.69954240e-04 1.50576391e+00] [ 5.06419444e-03 6.53781013e-05 9.99987175e-01 5.69309799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:13.16, Y:1.51, Z:0.06 [[ 9.90291159e-01 -1.38918548e-01 -5.00582837e-03 1.31599350e+01] [ 1.38916433e-01 9.90303808e-01 -7.69429427e-04 1.51268585e+00] [ 5.06417892e-03 6.65673380e-05 9.99987175e-01 5.70821626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334391418000001 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:13.19, Y:1.52, Z:0.06 [[ 9.90315826e-01 -1.38742589e-01 -5.00590121e-03 1.31914338e+01] [ 1.38740474e-01 9.90328476e-01 -7.68955262e-04 1.51878922e+00] [ 5.06417335e-03 6.69874605e-05 9.99987175e-01 5.61833758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:13.22, Y:1.53, Z:0.06 [[ 9.90246368e-01 -1.39237460e-01 -5.00597323e-03 1.32234090e+01] [ 1.39235354e-01 9.90259020e-01 -7.68486109e-04 1.52757096e+00] [ 5.06421219e-03 6.39821260e-05 9.99987175e-01 5.76669762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:13.25, Y:1.53, Z:0.06 [[ 9.90236056e-01 -1.39310774e-01 -5.00622205e-03 1.32543545e+01] [ 1.39308677e-01 9.90248708e-01 -7.66861756e-04 1.53474227e+00] [ 5.06423702e-03 6.19639904e-05 9.99987175e-01 5.64644251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:13.29, Y:1.54, Z:0.06 [[ 9.90170220e-01 -1.39777933e-01 -5.00645305e-03 1.32864047e+01] [ 1.39775849e-01 9.90182875e-01 -7.65350686e-04 1.54208042e+00] [ 5.06428321e-03 5.80462306e-05 9.99987175e-01 5.69454067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:13.32, Y:1.55, Z:0.06 [[ 9.90072759e-01 -1.40466599e-01 -5.00669813e-03 1.33182777e+01] [ 1.40464533e-01 9.90085416e-01 -7.63744058e-04 1.54864967e+00] [ 5.06433934e-03 5.28986721e-05 9.99987175e-01 5.66476263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:13.35, Y:1.55, Z:0.06 [[ 9.89921167e-01 -1.41530967e-01 -5.00692575e-03 1.33505426e+01] [ 1.41528922e-01 9.89933828e-01 -7.62248934e-04 1.55455699e+00] [ 5.06440700e-03 4.59415492e-05 9.99987175e-01 5.58315518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:13.38, Y:1.56, Z:0.05 [[ 9.89704839e-01 -1.43035873e-01 -5.00700779e-03 1.33827964e+01] [ 1.43033850e-01 9.89717504e-01 -7.61709637e-04 1.56065731e+00] [ 5.06447506e-03 3.76961107e-05 9.99987175e-01 5.37451989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:13.41, Y:1.57, Z:0.05 [[ 9.89661546e-01 -1.43335104e-01 -5.00725382e-03 1.34140490e+01] [ 1.43333092e-01 9.89674213e-01 -7.60088839e-04 1.56677739e+00] [ 5.06449740e-03 3.45255200e-05 9.99987175e-01 5.47730173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574391418000001 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:13.45, Y:1.57, Z:0.05 [[ 9.89764838e-01 -1.42620093e-01 -5.00748214e-03 1.34452184e+01] [ 1.42618080e-01 9.89777504e-01 -7.58581687e-04 1.57292326e+00] [ 5.06448217e-03 3.66599925e-05 9.99987175e-01 5.47998982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:13.48, Y:1.58, Z:0.06 [[ 9.90057217e-01 -1.40576067e-01 -5.00770663e-03 1.34778752e+01] [ 1.40574035e-01 9.90069880e-01 -7.57096832e-04 1.58125219e+00] [ 5.06440920e-03 4.56156541e-05 9.99987175e-01 5.54089938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634391418 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:13.51, Y:1.59, Z:0.06 [[ 9.90270010e-01 -1.39069150e-01 -5.00795011e-03 1.35092634e+01] [ 1.39067107e-01 9.90282671e-01 -7.55482836e-04 1.58714583e+00] [ 5.06435057e-03 5.16908585e-05 9.99987175e-01 5.56431670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418000001 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.54, Y:1.59, Z:0.06 [[ 9.90373182e-01 -1.38332491e-01 -5.00817664e-03 1.35411992e+01] [ 1.38330447e-01 9.90385844e-01 -7.53978185e-04 1.59330375e+00] [ 5.06432693e-03 5.39364636e-05 9.99987175e-01 5.89737425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:13.57, Y:1.60, Z:0.06 [[ 9.90578973e-01 -1.36851069e-01 -5.00839515e-03 1.35734846e+01] [ 1.36849014e-01 9.90591632e-01 -7.52523874e-04 1.59813129e+00] [ 5.06425802e-03 6.00403896e-05 9.99987175e-01 5.74572659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:13.61, Y:1.60, Z:0.06 [[ 9.90548220e-01 -1.37073478e-01 -5.00848267e-03 1.36059165e+01] [ 1.37071428e-01 9.90560881e-01 -7.51940937e-04 1.60431693e+00] [ 5.06427816e-03 5.83138840e-05 9.99987175e-01 6.06647452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:13.64, Y:1.61, Z:0.06 [[ 9.90524429e-01 -1.37245284e-01 -5.00872389e-03 1.36389177e+01] [ 1.37243244e-01 9.90537091e-01 -7.50330740e-04 1.60974440e+00] [ 5.06430614e-03 5.58074107e-05 9.99987175e-01 5.87852503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:13.67, Y:1.62, Z:0.06 [[ 9.90397859e-01 -1.38155675e-01 -5.00896526e-03 1.36709359e+01] [ 1.38153655e-01 9.90410524e-01 -7.48715961e-04 1.61550181e+00] [ 5.06437127e-03 4.95198267e-05 9.99987175e-01 5.93598307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814391418 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:13.70, Y:1.62, Z:0.06 [[ 9.90245454e-01 -1.39243845e-01 -5.00918952e-03 1.37035376e+01] [ 1.39241847e-01 9.90258123e-01 -7.47212502e-04 1.62070762e+00] [ 5.06443536e-03 4.24349832e-05 9.99987175e-01 5.85107014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:13.74, Y:1.63, Z:0.06 [[ 9.90054357e-01 -1.40596148e-01 -5.00942865e-03 1.37353644e+01] [ 1.40594175e-01 9.90067029e-01 -7.45605899e-04 1.62542684e+00] [ 5.06449946e-03 3.38938808e-05 9.99987175e-01 5.88873868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874391418 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:13.77, Y:1.63, Z:0.06 [[ 9.89645738e-01 -1.43444127e-01 -5.00957706e-03 1.37681743e+01] [ 1.43442196e-01 9.89658417e-01 -7.44607406e-04 1.62935070e+00] [ 5.06457967e-03 1.83128111e-05 9.99987175e-01 5.73931756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:13.80, Y:1.63, Z:0.06 [[ 9.89502341e-01 -1.44429978e-01 -5.00981091e-03 1.38010079e+01] [ 1.44428067e-01 9.89515023e-01 -7.43030742e-04 1.63349062e+00] [ 5.06459907e-03 1.16733510e-05 9.99987175e-01 5.56487115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:13.83, Y:1.64, Z:0.06 [[ 9.89234912e-01 -1.46250432e-01 -5.01004239e-03 1.38339501e+01] [ 1.46248552e-01 9.89247599e-01 -7.41466618e-04 1.63834977e+00] [ 5.06461222e-03 7.73218906e-07 9.99987175e-01 5.57008128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391418 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:13.87, Y:1.64, Z:0.05 [[ 9.88994471e-01 -1.47867620e-01 -5.01027215e-03 1.38657083e+01] [ 1.47865769e-01 9.89007162e-01 -7.39910850e-04 1.64337880e+00] [ 5.06460389e-03 -9.08000343e-06 9.99987175e-01 5.45671747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994391418000001 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:13.90, Y:1.65, Z:0.05 [[ 9.88432539e-01 -1.51578401e-01 -5.01048568e-03 1.38985654e+01] [ 1.51576605e-01 9.88445237e-01 -7.38461986e-04 1.65005788e+00] [ 5.06452560e-03 -2.95525566e-05 9.99987175e-01 5.48152863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:13.93, Y:1.66, Z:0.06 [[ 9.88162469e-01 -1.53329148e-01 -5.01071198e-03 1.39301654e+01] [ 1.53327382e-01 9.88175172e-01 -7.36923304e-04 1.65542387e+00] [ 5.06445299e-03 -4.00793999e-05 9.99987175e-01 5.66766290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:13.96, Y:1.66, Z:0.05 [[ 9.87918061e-01 -1.54896080e-01 -5.01085226e-03 1.39624209e+01] [ 1.54894339e-01 9.87930768e-01 -7.35968187e-04 1.66008805e+00] [ 5.06437371e-03 -4.90763840e-05 9.99987175e-01 5.33019963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:13.99, Y:1.66, Z:0.06 [[ 9.87606844e-01 -1.56868138e-01 -5.01090795e-03 1.39947051e+01] [ 1.56866425e-01 9.87619554e-01 -7.35588833e-04 1.66478839e+00] [ 5.06426112e-03 -5.95706502e-05 9.99987175e-01 5.51243165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:14.03, Y:1.67, Z:0.05 [[ 9.87070748e-01 -1.60206829e-01 -5.01099119e-03 1.40263815e+01] [ 1.60205161e-01 9.87083465e-01 -7.35021326e-04 1.66907247e+00] [ 5.06402198e-03 -7.72686023e-05 9.99987175e-01 5.43691743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:14.06, Y:1.67, Z:0.06 [[ 9.86765670e-01 -1.62075291e-01 -5.01119652e-03 1.40590033e+01] [ 1.62073655e-01 9.86778391e-01 -7.33618784e-04 1.67489140e+00] [ 5.06384191e-03 -8.82731036e-05 9.99987175e-01 5.67718896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:14.09, Y:1.68, Z:0.06 [[ 9.86524042e-01 -1.63539603e-01 -5.01127785e-03 1.40909087e+01] [ 1.63537989e-01 9.86536765e-01 -7.33062781e-04 1.68079973e+00] [ 5.06369464e-03 -9.63502425e-05 9.99987175e-01 5.96596614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:14.12, Y:1.69, Z:0.06 [[ 9.86079969e-01 -1.66196208e-01 -5.01147850e-03 1.41238105e+01] [ 1.66194634e-01 9.86092698e-01 -7.31688517e-04 1.68749183e+00] [ 5.06338621e-03 -1.11377446e-04 9.99987175e-01 5.82069176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:14.16, Y:1.69, Z:0.06 [[ 9.85768157e-01 -1.68035782e-01 -5.01155850e-03 1.41568072e+01] [ 1.68034235e-01 9.85780889e-01 -7.31140165e-04 1.69219391e+00] [ 5.06315630e-03 -1.21378706e-04 9.99987175e-01 5.90896947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:14.19, Y:1.70, Z:0.06 [[ 9.85945971e-01 -1.66989296e-01 -5.01163813e-03 1.41855397e+01] [ 1.66987739e-01 9.85958702e-01 -7.30593919e-04 1.69525614e+00] [ 5.06326959e-03 -1.16555988e-04 9.99987175e-01 5.88312788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:14.22, Y:1.70, Z:0.06 [[ 9.84778759e-01 -1.73740453e-01 -5.00516633e-03 1.42211529e+01] [ 1.73738758e-01 9.84791472e-01 -7.74950627e-04 1.70116119e+00] [ 5.06368539e-03 -1.06436463e-04 9.99987174e-01 5.83514958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:14.25, Y:1.71, Z:0.06 [[ 9.84370868e-01 -1.76036574e-01 -5.01194162e-03 1.42536009e+01] [ 1.76035145e-01 9.84383613e-01 -7.28326938e-04 1.70646261e+00] [ 5.06188537e-03 -1.65334049e-04 9.99987175e-01 5.98407037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:14.29, Y:1.71, Z:0.06 [[ 9.84045917e-01 -1.77844066e-01 -5.01201954e-03 1.42859312e+01] [ 1.77842663e-01 9.84058666e-01 -7.27790331e-04 1.71188836e+00] [ 5.06155445e-03 -1.75171799e-04 9.99987175e-01 5.69583299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:14.32, Y:1.72, Z:0.06 [[ 9.83759660e-01 -1.79420765e-01 -5.01210042e-03 1.43191155e+01] [ 1.79419385e-01 9.83772410e-01 -7.27232903e-04 1.71720616e+00] [ 5.06124679e-03 -1.83845583e-04 9.99987175e-01 5.76851848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414391418 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:14.35, Y:1.72, Z:0.06 [[ 9.83357364e-01 -1.81612694e-01 -5.01232691e-03 1.43521145e+01] [ 1.81611351e-01 9.83370119e-01 -7.25668493e-04 1.72274435e+00] [ 5.06076311e-03 -1.96704005e-04 9.99987175e-01 6.03643238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:14.39, Y:1.73, Z:0.06 [[ 9.83416148e-01 -1.81294107e-01 -5.01256140e-03 1.43854004e+01] [ 1.81292768e-01 9.83428903e-01 -7.24045058e-04 1.72740876e+00] [ 5.06076287e-03 -1.96703530e-04 9.99987175e-01 6.05340803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:14.42, Y:1.73, Z:0.06 [[ 9.83045302e-01 -1.83294317e-01 -5.01279544e-03 1.44178130e+01] [ 1.83293012e-01 9.83058060e-01 -7.22421088e-04 1.73206927e+00] [ 5.06028465e-03 -2.08637720e-04 9.99987175e-01 5.71199904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:14.45, Y:1.74, Z:0.06 [[ 9.82793467e-01 -1.84639842e-01 -5.01302896e-03 1.44500866e+01] [ 1.84638563e-01 9.82806228e-01 -7.20797042e-04 1.73759863e+00] [ 5.05992393e-03 -2.17203840e-04 9.99987175e-01 5.96508221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534391418000002 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:14.48, Y:1.74, Z:0.06 [[ 9.82669480e-01 -1.85298572e-01 -5.01326435e-03 1.44820601e+01] [ 1.85297310e-01 9.82682242e-01 -7.19156080e-04 1.74339459e+00] [ 5.05970445e-03 -2.22251669e-04 9.99987175e-01 5.86406982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:14.51, Y:1.75, Z:0.06 [[ 9.82616399e-01 -1.85579840e-01 -5.01348275e-03 1.45144300e+01] [ 1.85578589e-01 9.82629163e-01 -7.17630342e-04 1.74987317e+00] [ 5.05957208e-03 -2.25239711e-04 9.99987175e-01 5.90001279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:14.55, Y:1.76, Z:0.06 [[ 9.82828657e-01 -1.84452420e-01 -5.01355935e-03 1.45466534e+01] [ 1.84451157e-01 9.82841420e-01 -7.17094746e-04 1.75626278e+00] [ 5.05980366e-03 -2.19975560e-04 9.99987175e-01 5.70270460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418000002 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:14.58, Y:1.76, Z:0.06 [[ 9.82841367e-01 -1.84384677e-01 -5.01378838e-03 1.45792847e+01] [ 1.84383422e-01 9.82854130e-01 -7.15489860e-04 1.76450953e+00] [ 5.05974798e-03 -2.21246427e-04 9.99987175e-01 5.79442051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:14.61, Y:1.77, Z:0.06 [[ 9.82931309e-01 -1.83904600e-01 -5.01401718e-03 1.46114338e+01] [ 1.83903347e-01 9.82944072e-01 -7.13882894e-04 1.76932246e+00] [ 5.05978481e-03 -2.20396693e-04 9.99987175e-01 5.77555614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:14.64, Y:1.77, Z:0.06 [[ 9.82852920e-01 -1.84323073e-01 -5.01422937e-03 1.46444962e+01] [ 1.84321832e-01 9.82865685e-01 -7.12389338e-04 1.77460652e+00] [ 5.05962378e-03 -2.24058003e-04 9.99987175e-01 6.06097253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:14.68, Y:1.78, Z:0.06 [[ 9.82981855e-01 -1.83634222e-01 -5.01445492e-03 1.46767378e+01] [ 1.83632980e-01 9.82994620e-01 -7.10798180e-04 1.77957762e+00] [ 5.05970908e-03 -2.22117587e-04 9.99987175e-01 6.06800309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:14.71, Y:1.79, Z:0.06 [[ 9.83113535e-01 -1.82927936e-01 -5.01467907e-03 1.47081915e+01] [ 1.82926693e-01 9.83126300e-01 -7.09213275e-04 1.78763825e+00] [ 5.05979780e-03 -2.20081488e-04 9.99987175e-01 6.33652543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:14.74, Y:1.79, Z:0.06 [[ 9.83282361e-01 -1.82018266e-01 -5.01488698e-03 1.47401242e+01] [ 1.82017019e-01 9.83295126e-01 -7.07740029e-04 1.79367839e+00] [ 5.05993554e-03 -2.16886492e-04 9.99987175e-01 6.32219505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:14.77, Y:1.80, Z:0.06 [[ 9.83351272e-01 -1.81645603e-01 -5.01509166e-03 1.47729294e+01] [ 1.81644359e-01 9.83364036e-01 -7.06286674e-04 1.79981828e+00] [ 5.05995465e-03 -2.16435209e-04 9.99987175e-01 6.44019622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:14.81, Y:1.81, Z:0.06 [[ 9.83406651e-01 -1.81345543e-01 -5.01530761e-03 1.48056947e+01] [ 1.81344303e-01 9.83419416e-01 -7.04749850e-04 1.80530770e+00] [ 5.05995413e-03 -2.16441773e-04 9.99987175e-01 6.17083421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:14.84, Y:1.81, Z:0.06 [[ 9.83257963e-01 -1.82149998e-01 -5.01553114e-03 1.48373389e+01] [ 1.82148776e-01 9.83270730e-01 -7.03155492e-04 1.80956136e+00] [ 5.05970473e-03 -2.22189622e-04 9.99987175e-01 6.12306448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:14.87, Y:1.81, Z:0.06 [[ 9.83075903e-01 -1.83130042e-01 -5.01566961e-03 1.48703163e+01] [ 1.83128839e-01 9.83088671e-01 -7.02166328e-04 1.81395015e+00] [ 5.05943573e-03 -2.28230954e-04 9.99987175e-01 6.26531645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:14.90, Y:1.82, Z:0.06 [[ 9.83009807e-01 -1.83484497e-01 -5.01589116e-03 1.49022207e+01] [ 1.83483306e-01 9.83022576e-01 -7.00580163e-04 1.81873642e+00] [ 5.05927985e-03 -2.31655122e-04 9.99987175e-01 6.21347020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:14.93, Y:1.83, Z:0.06 [[ 9.82763130e-01 -1.84801159e-01 -5.01609679e-03 1.49341826e+01] [ 1.84799993e-01 9.82775902e-01 -6.99104741e-04 1.82623077e+00] [ 5.05889442e-03 -2.39920286e-04 9.99987175e-01 6.29054125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:14.97, Y:1.83, Z:0.06 [[ 9.82717323e-01 -1.85044588e-01 -5.01631269e-03 1.49661793e+01] [ 1.85043432e-01 9.82730096e-01 -6.97552122e-04 1.83188858e+00] [ 5.05875970e-03 -2.42739165e-04 9.99987175e-01 6.19420545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:15.00, Y:1.84, Z:0.06 [[ 9.82520221e-01 -1.86088286e-01 -5.01651310e-03 1.49986353e+01] [ 1.86087151e-01 9.82532996e-01 -6.96107896e-04 1.83751780e+00] [ 5.05842717e-03 -2.49568548e-04 9.99987175e-01 6.43876661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:15.03, Y:1.84, Z:0.06 [[ 9.82591342e-01 -1.85712376e-01 -5.01672557e-03 1.50310681e+01] [ 1.85711244e-01 9.82604117e-01 -6.94573294e-04 1.84190288e+00] [ 5.05844605e-03 -2.49180642e-04 9.99987175e-01 6.17574990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:15.06, Y:1.85, Z:0.06 [[ 9.82541782e-01 -1.85974401e-01 -5.01693714e-03 1.50636085e+01] [ 1.85973281e-01 9.82554558e-01 -6.93041684e-04 1.84681607e+00] [ 5.05830247e-03 -2.52073848e-04 9.99987175e-01 6.35734664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:15.10, Y:1.85, Z:0.06 [[ 9.82757556e-01 -1.84830774e-01 -5.01715613e-03 1.50965485e+01] [ 1.84829646e-01 9.82770331e-01 -6.91452720e-04 1.85141773e+00] [ 5.05851393e-03 -2.47788808e-04 9.99987175e-01 6.19582491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:15.13, Y:1.86, Z:0.06 [[ 9.82931111e-01 -1.83905566e-01 -5.01738116e-03 1.51278669e+01] [ 1.83904435e-01 9.82943886e-01 -6.89815995e-04 1.85685154e+00] [ 5.05866513e-03 -2.44677045e-04 9.99987175e-01 6.18957357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:15.16, Y:1.86, Z:0.07 [[ 9.83151964e-01 -1.82721205e-01 -5.01758965e-03 1.51597752e+01] [ 1.82720067e-01 9.83164739e-01 -6.88296074e-04 1.86498451e+00] [ 5.05888351e-03 -2.40114679e-04 9.99987175e-01 6.53850595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:15.19, Y:1.87, Z:0.07 [[ 9.83360693e-01 -1.81594517e-01 -5.01781109e-03 1.51918574e+01] [ 1.81593372e-01 9.83373467e-01 -6.86677988e-04 1.87029862e+00] [ 5.05907924e-03 -2.35949095e-04 9.99987175e-01 6.68775885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:15.22, Y:1.88, Z:0.07 [[ 9.83517077e-01 -1.80745620e-01 -5.01801647e-03 1.52245003e+01] [ 1.80744472e-01 9.83529850e-01 -6.85173777e-04 1.87510204e+00] [ 5.05921115e-03 -2.33098627e-04 9.99987175e-01 6.56124479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254391418 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:15.26, Y:1.88, Z:0.07 [[ 9.83521168e-01 -1.80723350e-01 -5.01824448e-03 1.52558804e+01] [ 1.80722210e-01 9.83533942e-01 -6.83499790e-04 1.87889555e+00] [ 5.05913815e-03 -2.34671719e-04 9.99987175e-01 6.67429192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418000002 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.29, Y:1.88, Z:0.06 [[ 9.83777026e-01 -1.79325341e-01 -5.01844197e-03 1.52889412e+01] [ 1.79324190e-01 9.83789800e-01 -6.82046633e-04 1.88259570e+00] [ 5.05940027e-03 -2.28946233e-04 9.99987175e-01 6.42193256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:15.32, Y:1.89, Z:0.06 [[ 9.83905045e-01 -1.78621599e-01 -5.01866714e-03 1.53215105e+01] [ 1.78620447e-01 9.83917818e-01 -6.80385731e-04 1.88759437e+00] [ 5.05948761e-03 -2.27001614e-04 9.99987175e-01 6.41736312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:15.35, Y:1.89, Z:0.07 [[ 9.84002794e-01 -1.78082320e-01 -5.01888944e-03 1.53546315e+01] [ 1.78081169e-01 9.84015567e-01 -6.78741988e-04 1.89335367e+00] [ 5.05953728e-03 -2.25885688e-04 9.99987175e-01 6.56023307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374391418000002 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.39, Y:1.90, Z:0.07 [[ 9.84181968e-01 -1.77089421e-01 -5.01911023e-03 1.53868042e+01] [ 1.77088266e-01 9.84194741e-01 -6.77105382e-04 1.89904480e+00] [ 5.05969009e-03 -2.22430622e-04 9.99987175e-01 6.58750571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:15.42, Y:1.90, Z:0.07 [[ 9.84346840e-01 -1.76170668e-01 -5.01932940e-03 1.54191570e+01] [ 1.76169510e-01 9.84359613e-01 -6.75476775e-04 1.90450266e+00] [ 5.05982434e-03 -2.19349371e-04 9.99987175e-01 6.62378929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:15.45, Y:1.91, Z:0.06 [[ 9.84610676e-01 -1.74690073e-01 -5.01954669e-03 1.54521304e+01] [ 1.74688903e-01 9.84623447e-01 -6.73858129e-04 1.90833847e+00] [ 5.06007969e-03 -2.13371199e-04 9.99987175e-01 6.45223218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:15.49, Y:1.91, Z:0.07 [[ 9.84695196e-01 -1.74213008e-01 -5.01976176e-03 1.54853931e+01] [ 1.74211841e-01 9.84707968e-01 -6.72252230e-04 1.91251166e+00] [ 5.06011448e-03 -2.12538396e-04 9.99987175e-01 6.56696715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:15.52, Y:1.92, Z:0.07 [[ 9.84770582e-01 -1.73786367e-01 -5.01997997e-03 1.55169559e+01] [ 1.73785203e-01 9.84783354e-01 -6.70618814e-04 1.91651403e+00] [ 5.06013711e-03 -2.11992556e-04 9.99987175e-01 6.59733052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:15.55, Y:1.92, Z:0.07 [[ 9.84918651e-01 -1.72945219e-01 -5.02018234e-03 1.55497581e+01] [ 1.72944051e-01 9.84931423e-01 -6.69100451e-04 1.92220914e+00] [ 5.06025305e-03 -2.09201158e-04 9.99987175e-01 6.62426945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:15.58, Y:1.93, Z:0.06 [[ 9.85122983e-01 -1.71777486e-01 -5.02039184e-03 1.55828802e+01] [ 1.71776311e-01 9.85135754e-01 -6.67524759e-04 1.92772657e+00] [ 5.06043323e-03 -2.04790408e-04 9.99987175e-01 6.33969245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:15.62, Y:1.93, Z:0.07 [[ 9.84961683e-01 -1.72699964e-01 -5.02060252e-03 1.56155041e+01] [ 1.72698809e-01 9.84974455e-01 -6.65936463e-04 1.93333434e+00] [ 5.06017243e-03 -2.11130176e-04 9.99987175e-01 6.66723853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:15.65, Y:1.94, Z:0.07 [[ 9.84877323e-01 -1.73180395e-01 -5.02081166e-03 1.56482581e+01] [ 1.73179254e-01 9.84890098e-01 -6.64355902e-04 1.93775785e+00] [ 5.06000110e-03 -2.15191357e-04 9.99987175e-01 6.70851732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.68, Y:1.94, Z:0.06 [[ 9.84690758e-01 -1.74238059e-01 -5.02102736e-03 1.56804175e+01] [ 1.74236940e-01 9.84703534e-01 -6.62721681e-04 1.93949269e+00] [ 5.05969472e-03 -2.22272529e-04 9.99987175e-01 6.45016577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:15.71, Y:1.94, Z:0.07 [[ 9.84308246e-01 -1.76386121e-01 -5.02122754e-03 1.57131522e+01] [ 1.76385038e-01 9.84321025e-01 -6.61201478e-04 1.94269723e+00] [ 5.05912660e-03 -2.34843344e-04 9.99987175e-01 6.70221642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:15.75, Y:1.95, Z:0.07 [[ 9.83980267e-01 -1.78206674e-01 -5.02143488e-03 1.57458906e+01] [ 1.78205623e-01 9.83993049e-01 -6.59623093e-04 1.94591634e+00] [ 5.05860625e-03 -2.45791824e-04 9.99987175e-01 6.72106628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:15.78, Y:1.95, Z:0.07 [[ 9.83660457e-01 -1.79963573e-01 -5.02164545e-03 1.57779437e+01] [ 1.79962553e-01 9.83673242e-01 -6.58016142e-04 1.95006126e+00] [ 5.05807719e-03 -2.56443675e-04 9.99987175e-01 6.76894373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:15.81, Y:1.96, Z:0.06 [[ 9.83328619e-01 -1.81768004e-01 -5.02184090e-03 1.58092569e+01] [ 1.81767015e-01 9.83341406e-01 -6.56521112e-04 1.95505764e+00] [ 5.05751862e-03 -2.67229032e-04 9.99987175e-01 6.40759346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.84, Y:1.96, Z:0.07 [[ 9.83016450e-01 -1.83448735e-01 -5.02203415e-03 1.58423481e+01] [ 1.83447775e-01 9.83029239e-01 -6.55039503e-04 1.95941718e+00] [ 5.05697257e-03 -2.77366386e-04 9.99987175e-01 6.64946225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:15.87, Y:1.96, Z:0.07 [[ 9.82849157e-01 -1.84342919e-01 -5.02224616e-03 1.58738736e+01] [ 1.84341980e-01 9.82861947e-01 -6.53409950e-04 1.96252502e+00] [ 5.05662614e-03 -2.83607380e-04 9.99987175e-01 6.59514962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:15.91, Y:1.96, Z:0.06 [[ 9.82829087e-01 -1.84449887e-01 -5.02244272e-03 1.59060836e+01] [ 1.84448956e-01 9.82841878e-01 -6.51895569e-04 1.96491773e+00] [ 5.05650910e-03 -2.85682390e-04 9.99987175e-01 6.25722973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:15.94, Y:1.97, Z:0.06 [[ 9.82507133e-01 -1.86157210e-01 -5.02263356e-03 1.59392282e+01] [ 1.86156309e-01 9.82519926e-01 -6.50421867e-04 1.96627532e+00] [ 5.05591828e-03 -2.95950799e-04 9.99987175e-01 6.27360853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:15.97, Y:1.97, Z:0.07 [[ 9.82234583e-01 -1.87589964e-01 -5.02283746e-03 1.59717154e+01] [ 1.87589089e-01 9.82247378e-01 -6.48843475e-04 1.96959544e+00] [ 5.05538545e-03 -3.04913004e-04 9.99987175e-01 6.65122129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:16.00, Y:1.97, Z:0.07 [[ 9.82160623e-01 -1.87976809e-01 -5.02304197e-03 1.60039038e+01] [ 1.87975947e-01 9.82173419e-01 -6.47256366e-04 1.97355517e+00] [ 5.05516749e-03 -3.08501357e-04 9.99987175e-01 6.69328370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:16.04, Y:1.98, Z:0.07 [[ 9.82180725e-01 -1.87871742e-01 -5.02323178e-03 1.60368705e+01] [ 1.87870887e-01 9.82193521e-01 -6.45779896e-04 1.97785281e+00] [ 5.05510950e-03 -3.09446441e-04 9.99987175e-01 6.71670716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:16.07, Y:1.98, Z:0.07 [[ 9.82263523e-01 -1.87438354e-01 -5.02343823e-03 1.60693110e+01] [ 1.87437502e-01 9.82276320e-01 -6.44169911e-04 1.98163958e+00] [ 5.05514657e-03 -3.08836107e-04 9.99987175e-01 6.90615443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:16.10, Y:1.98, Z:0.07 [[ 9.82547871e-01 -1.85942044e-01 -5.02365222e-03 1.61015056e+01] [ 1.85941180e-01 9.82560667e-01 -6.42496785e-04 1.98437089e+00] [ 5.05551024e-03 -3.02819975e-04 9.99987175e-01 6.53037781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:16.13, Y:1.99, Z:0.07 [[ 9.82722673e-01 -1.85015970e-01 -5.02385055e-03 1.61343750e+01] [ 1.85015103e-01 9.82735468e-01 -6.40942228e-04 1.98692690e+00] [ 5.05570067e-03 -2.99619766e-04 9.99987175e-01 6.51827872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:16.17, Y:1.99, Z:0.07 [[ 9.82801876e-01 -1.84594777e-01 -5.02405948e-03 1.61658837e+01] [ 1.84593913e-01 9.82814672e-01 -6.39300299e-04 1.98988175e+00] [ 5.05573086e-03 -2.99105263e-04 9.99987175e-01 6.73906282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418000002 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:16.20, Y:1.99, Z:0.06 [[ 9.83218954e-01 -1.82360206e-01 -5.02425332e-03 1.61976302e+01] [ 1.82359320e-01 9.83231749e-01 -6.37773237e-04 1.99316862e+00] [ 5.05630984e-03 -2.89148685e-04 9.99987175e-01 6.43311642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:16.23, Y:2.00, Z:0.07 [[ 9.83958713e-01 -1.78325564e-01 -5.02438102e-03 1.62300847e+01] [ 1.78324631e-01 9.83971504e-01 -6.36765655e-04 1.99874142e+00] [ 5.05739934e-03 -2.69419774e-04 9.99987175e-01 6.62848995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391418 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:16.26, Y:2.00, Z:0.07 [[ 9.84484103e-01 -1.75401838e-01 -5.02458188e-03 1.62628603e+01] [ 1.75400875e-01 9.84496892e-01 -6.35176743e-04 2.00386467e+00] [ 5.05809641e-03 -2.55994653e-04 9.99987175e-01 7.01363933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:16.29, Y:2.01, Z:0.07 [[ 9.85320639e-01 -1.70639940e-01 -5.02479238e-03 1.62948288e+01] [ 1.70638924e-01 9.85333424e-01 -6.33507088e-04 2.00813616e+00] [ 5.05919749e-03 -2.33217554e-04 9.99987175e-01 6.68855666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:16.33, Y:2.01, Z:0.07 [[ 9.86879920e-01 -1.61377732e-01 -5.02498742e-03 1.63278352e+01] [ 1.61376603e-01 9.86892696e-01 -6.31956214e-04 2.01225043e+00] [ 5.06110704e-03 -1.87250502e-04 9.99987175e-01 6.92406729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:16.36, Y:2.02, Z:0.07 [[ 9.87933043e-01 -1.54800035e-01 -5.02518745e-03 1.63603055e+01] [ 1.54798829e-01 9.87945811e-01 -6.30361650e-04 2.01620494e+00] [ 5.06219289e-03 -1.55138031e-04 9.99987175e-01 6.60162384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:16.39, Y:2.02, Z:0.07 [[ 9.88805903e-01 -1.49122871e-01 -5.02538552e-03 1.63931058e+01] [ 1.49121600e-01 9.88818665e-01 -6.28778577e-04 2.02150168e+00] [ 5.06296027e-03 -1.27653562e-04 9.99987175e-01 6.92282093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:16.43, Y:2.03, Z:0.07 [[ 9.88854496e-01 -1.48800300e-01 -5.02559022e-03 1.64264864e+01] [ 1.48799033e-01 9.88867258e-01 -6.27138239e-04 2.02552936e+00] [ 5.06295998e-03 -1.27654497e-04 9.99987175e-01 6.93979669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:16.46, Y:2.03, Z:0.07 [[ 9.89779507e-01 -1.42517607e-01 -5.02579426e-03 1.64585379e+01] [ 1.42516267e-01 9.89792262e-01 -6.25498770e-04 2.03123137e+00] [ 5.06363686e-03 -9.71515742e-05 9.99987175e-01 7.12330127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:16.49, Y:2.04, Z:0.07 [[ 9.91560255e-01 -1.29549220e-01 -5.02592066e-03 1.64904555e+01] [ 1.29547719e-01 9.91572992e-01 -6.24481529e-04 2.03932031e+00] [ 5.06446828e-03 -3.18854914e-05 9.99987175e-01 7.07725954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:16.52, Y:2.04, Z:0.07 [[ 9.92306342e-01 -1.23704737e-01 -5.02611629e-03 1.65232096e+01] [ 1.23703169e-01 9.92319071e-01 -6.22902975e-04 2.04471028e+00] [ 5.06456710e-03 -3.63594048e-06 9.99987175e-01 7.27388981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:16.56, Y:2.05, Z:0.07 [[ 9.93088323e-01 -1.17261753e-01 -5.02631850e-03 1.65553094e+01] [ 1.17260111e-01 9.93101042e-01 -6.21267031e-04 2.04901842e+00] [ 5.06449300e-03 2.75863697e-05 9.99987175e-01 7.06003380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391418 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:16.59, Y:2.05, Z:0.07 [[ 9.93670502e-01 -1.12221514e-01 -5.02644346e-03 1.65882986e+01] [ 1.12219812e-01 9.93683214e-01 -6.20254382e-04 2.05342560e+00] [ 5.06429837e-03 5.22619446e-05 9.99987175e-01 7.03639875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:16.62, Y:2.06, Z:0.07 [[ 9.94507858e-01 -1.04541159e-01 -5.02664088e-03 1.66212465e+01] [ 1.04539367e-01 9.94520557e-01 -6.18650286e-04 2.05833978e+00] [ 5.06377211e-03 8.97707124e-05 9.99987175e-01 7.14113407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:16.65, Y:2.06, Z:0.07 [[ 9.94809744e-01 -1.01628269e-01 -5.02683864e-03 1.66544300e+01] [ 1.01626448e-01 9.94822439e-01 -6.17039211e-04 2.06286073e+00] [ 5.06352050e-03 1.02976862e-04 9.99987175e-01 7.04433749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:16.69, Y:2.07, Z:0.07 [[ 9.94975055e-01 -9.99968437e-02 -5.02703433e-03 1.66875178e+01] [ 9.99950099e-02 9.94987748e-01 -6.15440752e-04 2.06712157e+00] [ 5.06337970e-03 1.09669848e-04 9.99987175e-01 7.14857416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:16.72, Y:2.07, Z:0.07 [[ 9.95155965e-01 -9.81801003e-02 -5.02723587e-03 1.67195652e+01] [ 9.81782516e-02 9.95168656e-01 -6.13790057e-04 2.07032329e+00] [ 5.06320953e-03 1.17251609e-04 9.99987175e-01 6.98752246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:16.75, Y:2.07, Z:0.07 [[ 9.95152923e-01 -9.82109214e-02 -5.02736067e-03 1.67520459e+01] [ 9.82090783e-02 9.95165615e-01 -6.12766193e-04 2.07317154e+00] [ 5.06323680e-03 1.16063611e-04 9.99987175e-01 6.99143485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:16.78, Y:2.08, Z:0.07 [[ 9.95134332e-01 -9.83991157e-02 -5.02754320e-03 1.67835714e+01] [ 9.83972827e-02 9.95147025e-01 -6.11264913e-04 2.07572549e+00] [ 5.06329258e-03 1.13594111e-04 9.99987175e-01 6.96268363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:16.82, Y:2.08, Z:0.07 [[ 9.95133129e-01 -9.84112684e-02 -5.02766124e-03 1.68169137e+01] [ 9.84094404e-02 9.95145823e-01 -6.10292431e-04 2.07727328e+00] [ 5.06331574e-03 1.12552887e-04 9.99987175e-01 6.81777363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:16.85, Y:2.08, Z:0.07 [[ 9.95218908e-01 -9.75399741e-02 -5.02786072e-03 1.68478767e+01] [ 9.75381434e-02 9.95231601e-01 -6.08644588e-04 2.07966780e+00] [ 5.06325305e-03 1.15326402e-04 9.99987175e-01 6.92369224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:16.88, Y:2.08, Z:0.07 [[ 9.95239459e-01 -9.73301276e-02 -5.02642564e-03 1.68812981e+01] [ 9.73282342e-02 9.95252144e-01 -6.20514760e-04 2.08312173e+00] [ 5.06295567e-03 1.28347642e-04 9.99987175e-01 6.94378572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:16.91, Y:2.09, Z:0.07 [[ 9.95323578e-01 -9.64660194e-02 -5.02814414e-03 1.69144109e+01] [ 9.64641869e-02 9.95336271e-01 -6.06262027e-04 2.08688120e+00] [ 5.06317793e-03 1.18391054e-04 9.99987175e-01 6.97261696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:16.94, Y:2.09, Z:0.07 [[ 9.95480031e-01 -9.48378759e-02 -5.02834068e-03 1.69440641e+01] [ 9.48360309e-02 9.95492723e-01 -6.04627501e-04 2.09011564e+00] [ 5.06301815e-03 1.25026731e-04 9.99987175e-01 7.11431018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:16.98, Y:2.09, Z:0.07 [[ 9.95616690e-01 -9.33923985e-02 -5.02659579e-03 1.69779964e+01] [ 9.33904617e-02 9.95629368e-01 -6.19158554e-04 2.09238423e+00] [ 5.06245109e-03 1.47008488e-04 9.99987175e-01 6.99740132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874391418000002 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:17.01, Y:2.09, Z:0.07 [[ 9.95671334e-01 -9.28079120e-02 -5.02860892e-03 1.70098542e+01] [ 9.28060526e-02 9.95684023e-01 -6.02352395e-04 2.09380012e+00] [ 5.06280863e-03 1.33059668e-04 9.99987175e-01 7.23165270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:17.04, Y:2.09, Z:0.07 [[ 9.95904470e-01 -9.02717995e-02 -5.02878903e-03 1.70412526e+01] [ 9.02699154e-02 9.95917156e-01 -6.00844955e-04 2.09281642e+00] [ 5.06249662e-03 1.44435816e-04 9.99987175e-01 6.84991441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:17.07, Y:2.09, Z:0.07 [[ 9.95740779e-01 -9.20599858e-02 -5.02597821e-03 1.70744476e+01] [ 9.20580057e-02 9.95753450e-01 -6.24389962e-04 2.09484422e+00] [ 5.06211648e-03 1.59049017e-04 9.99987175e-01 7.13378463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:17.11, Y:2.10, Z:0.07 [[ 9.95751493e-01 -9.19438544e-02 -5.02902570e-03 1.71073421e+01] [ 9.19420020e-02 9.95764184e-01 -5.98795434e-04 2.09759672e+00] [ 5.06277923e-03 1.33872756e-04 9.99987175e-01 6.89400907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:17.14, Y:2.10, Z:0.07 [[ 9.95680672e-01 -9.27076503e-02 -5.02909723e-03 1.71390875e+01] [ 9.27058106e-02 9.95693364e-01 -5.98194056e-04 2.10039446e+00] [ 5.06289591e-03 1.29383723e-04 9.99987175e-01 6.91579772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:17.17, Y:2.10, Z:0.07 [[ 9.95595113e-01 -9.36219954e-02 -5.02927301e-03 1.71724944e+01] [ 9.36201749e-02 9.95607808e-01 -5.96712538e-04 2.10275219e+00] [ 5.06304890e-03 1.23242667e-04 9.99987175e-01 6.90298369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:17.21, Y:2.10, Z:0.07 [[ 9.95388624e-01 -9.57924433e-02 -5.02934382e-03 1.72060834e+01] [ 9.57906535e-02 9.95401324e-01 -5.96115123e-04 2.10175665e+00] [ 5.06331882e-03 1.11602081e-04 9.99987175e-01 6.67765769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:17.24, Y:2.10, Z:0.07 [[ 9.95236970e-01 -9.73554283e-02 -5.02941602e-03 1.72371606e+01] [ 9.73536615e-02 9.95249672e-01 -5.95505352e-04 2.10252238e+00] [ 5.06350033e-03 1.03036877e-04 9.99987175e-01 6.76280476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:17.27, Y:2.10, Z:0.07 [[ 9.95136734e-01 -9.83747403e-02 -5.02894311e-03 1.72688462e+01] [ 9.83729663e-02 9.95149436e-01 -5.99503242e-04 2.10373913e+00] [ 5.06352587e-03 1.01875648e-04 9.99987175e-01 6.72565229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:17.30, Y:2.11, Z:0.07 [[ 9.94787120e-01 -1.01849432e-01 -5.02788323e-03 1.73014496e+01] [ 1.01847657e-01 9.94799821e-01 -6.08467493e-04 2.10591529e+00] [ 5.06370940e-03 9.32174960e-05 9.99987175e-01 6.92883051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:17.33, Y:2.11, Z:0.07 [[ 9.94221420e-01 -1.07230918e-01 -5.02969999e-03 1.73335412e+01] [ 1.07229290e-01 9.94234141e-01 -5.93059634e-04 2.10682613e+00] [ 5.06429378e-03 5.03014345e-05 9.99987175e-01 7.08503113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:17.37, Y:2.11, Z:0.07 [[ 9.94046058e-01 -1.08844544e-01 -5.02987258e-03 1.73658785e+01] [ 1.08842944e-01 9.94058783e-01 -5.91592197e-04 2.10854823e+00] [ 5.06438060e-03 4.06037524e-05 9.99987175e-01 6.91033050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:17.40, Y:2.11, Z:0.07 [[ 9.93744478e-01 -1.11564382e-01 -5.03004194e-03 1.73988137e+01] [ 1.11562824e-01 9.93757208e-01 -5.90148679e-04 2.11024884e+00] [ 5.06448001e-03 2.52913093e-05 9.99987175e-01 6.86218365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:17.43, Y:2.11, Z:0.07 [[ 9.93514014e-01 -1.13598420e-01 -5.03010943e-03 1.74305050e+01] [ 1.13596891e-01 9.93526748e-01 -5.89572943e-04 2.11132225e+00] [ 5.06452281e-03 1.43441895e-05 9.99987175e-01 6.96359041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:17.46, Y:2.11, Z:0.07 [[ 9.93023219e-01 -1.17811747e-01 -5.02776192e-03 1.74621659e+01] [ 1.17810171e-01 9.93035947e-01 -6.09573699e-04 2.11009398e+00] [ 5.06456327e-03 1.29993440e-05 9.99987175e-01 6.73519828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:17.50, Y:2.11, Z:0.07 [[ 9.92558617e-01 -1.21664004e-01 -5.02622500e-03 1.74972970e+01] [ 1.21662411e-01 9.92571343e-01 -6.22672121e-04 2.11302090e+00] [ 5.06464368e-03 6.53592776e-06 9.99987175e-01 6.75498326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:17.53, Y:2.12, Z:0.07 [[ 9.92418423e-01 -1.22802154e-01 -5.03030946e-03 1.75302274e+01] [ 1.22800753e-01 9.92431171e-01 -5.87712755e-04 2.11584868e+00] [ 5.06440830e-03 -3.44688224e-05 9.99987175e-01 6.56698829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:17.56, Y:2.12, Z:0.07 [[ 9.92110177e-01 -1.25268075e-01 -5.03049527e-03 1.75633138e+01] [ 1.25266713e-01 9.92122929e-01 -5.86118038e-04 2.11927679e+00] [ 5.06429158e-03 -4.86599373e-05 9.99987175e-01 6.78069606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:17.60, Y:2.12, Z:0.07 [[ 9.91845580e-01 -1.27346129e-01 -5.03068260e-03 1.75975790e+01] [ 1.27344803e-01 9.91858336e-01 -5.84505731e-04 2.11990936e+00] [ 5.06415902e-03 -6.08918561e-05 9.99987175e-01 6.72515946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:17.63, Y:2.12, Z:0.07 [[ 9.91528850e-01 -1.29789042e-01 -5.03437226e-03 1.76270600e+01] [ 1.29787909e-01 9.91541625e-01 -5.52619245e-04 2.12346849e+00] [ 5.06351357e-03 -1.05462721e-04 9.99987175e-01 6.60236294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:17.66, Y:2.13, Z:0.07 [[ 9.91287894e-01 -1.31616873e-01 -5.03093261e-03 1.76588834e+01] [ 1.31615612e-01 9.91300656e-01 -5.82335206e-04 2.12590088e+00] [ 5.06381193e-03 -8.48874343e-05 9.99987175e-01 6.78467441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:17.69, Y:2.13, Z:0.07 [[ 9.90987299e-01 -1.33861352e-01 -5.03110025e-03 1.76915391e+01] [ 1.33860127e-01 9.91000065e-01 -5.80883267e-04 2.12862579e+00] [ 5.06357849e-03 -9.78157803e-05 9.99987175e-01 6.62552411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:17.72, Y:2.13, Z:0.07 [[ 9.90818001e-01 -1.35108750e-01 -5.03128477e-03 1.77247587e+01] [ 1.35107550e-01 9.90830770e-01 -5.79280578e-04 2.13235416e+00] [ 5.06341764e-03 -1.05802935e-04 9.99987175e-01 6.64498273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:17.76, Y:2.14, Z:0.06 [[ 9.90724564e-01 -1.35792201e-01 -5.03146836e-03 1.77571807e+01] [ 1.35791018e-01 9.90737334e-01 -5.77681598e-04 2.13558709e+00] [ 5.06330820e-03 -1.10904860e-04 9.99987175e-01 6.44653947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:17.79, Y:2.14, Z:0.06 [[ 9.90328522e-01 -1.38651005e-01 -5.03163860e-03 1.77905726e+01] [ 1.38649866e-01 9.90341296e-01 -5.76194922e-04 2.13764977e+00] [ 5.06292950e-03 -1.27013750e-04 9.99987175e-01 6.48039849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418000002 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:17.82, Y:2.14, Z:0.07 [[ 9.90349076e-01 -1.38504112e-01 -5.03182516e-03 1.78192192e+01] [ 1.38502979e-01 9.90361850e-01 -5.74561120e-04 2.13975987e+00] [ 5.06290675e-03 -1.27906702e-04 9.99987175e-01 6.51656517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:17.85, Y:2.14, Z:0.07 [[ 9.89862083e-01 -1.41942902e-01 -5.02680101e-03 1.78544941e+01] [ 1.41941591e-01 9.89874842e-01 -6.18395626e-04 2.14448048e+00] [ 5.06368072e-03 -1.01385752e-04 9.99987174e-01 6.56071866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:17.89, Y:2.15, Z:0.07 [[ 9.89522912e-01 -1.44288206e-01 -5.03185737e-03 1.78870230e+01] [ 1.44287150e-01 9.89535694e-01 -5.74075986e-04 2.14982994e+00] [ 5.06203486e-03 -1.57971017e-04 9.99987175e-01 6.58822677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714391418 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:17.92, Y:2.15, Z:0.07 [[ 9.89354787e-01 -1.45436530e-01 -5.03203353e-03 1.79200859e+01] [ 1.45435497e-01 9.89367570e-01 -5.72527655e-04 2.15446193e+00] [ 5.06179722e-03 -1.65403321e-04 9.99987175e-01 6.61392682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:17.95, Y:2.16, Z:0.07 [[ 9.89256449e-01 -1.46103923e-01 -5.03209964e-03 1.79515384e+01] [ 1.46102902e-01 9.89269233e-01 -5.71946016e-04 2.15846363e+00] [ 5.06166491e-03 -1.69403075e-04 9.99987175e-01 6.62776506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774391418 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:17.98, Y:2.16, Z:0.07 [[ 9.89211326e-01 -1.46409117e-01 -5.03226245e-03 1.79842768e+01] [ 1.46408107e-01 9.89224110e-01 -5.70509891e-04 2.16209821e+00] [ 5.06156320e-03 -1.72409176e-04 9.99987175e-01 6.52970586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:18.02, Y:2.17, Z:0.06 [[ 9.89029238e-01 -1.47634148e-01 -5.03244784e-03 1.80171690e+01] [ 1.47633162e-01 9.89042024e-01 -5.68869870e-04 2.16653087e+00] [ 5.06128702e-03 -1.80327255e-04 9.99987175e-01 6.46776060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:18.05, Y:2.17, Z:0.07 [[ 9.88809373e-01 -1.49099618e-01 -5.03263132e-03 1.80492356e+01] [ 1.49098659e-01 9.88822162e-01 -5.67241992e-04 2.17207234e+00] [ 5.06095295e-03 -1.89464383e-04 9.99987175e-01 6.69752276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:18.08, Y:2.18, Z:0.07 [[ 9.88659330e-01 -1.50091306e-01 -5.03280143e-03 1.80809535e+01] [ 1.50090368e-01 9.88672120e-01 -5.65728729e-04 2.17816078e+00] [ 5.06070142e-03 -1.96062034e-04 9.99987175e-01 6.76747024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:18.11, Y:2.18, Z:0.07 [[ 9.88836938e-01 -1.48916711e-01 -5.03213221e-03 1.81129025e+01] [ 1.48915728e-01 9.88849725e-01 -5.71694349e-04 2.18231616e+00] [ 5.06115740e-03 -1.84051140e-04 9.99987175e-01 6.71005338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:18.15, Y:2.19, Z:0.07 [[ 9.88967845e-01 -1.48044827e-01 -5.03303774e-03 1.81454518e+01] [ 1.48043873e-01 9.88980634e-01 -5.63607958e-04 2.18873002e+00] [ 5.06101610e-03 -1.87720254e-04 9.99987175e-01 6.67074339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:18.18, Y:2.19, Z:0.07 [[ 9.89033602e-01 -1.47604879e-01 -5.03321290e-03 1.81770706e+01] [ 1.47603927e-01 9.89046392e-01 -5.62039367e-04 2.19410539e+00] [ 5.06104081e-03 -1.87046170e-04 9.99987175e-01 6.73955288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:18.21, Y:2.20, Z:0.07 [[ 9.89112685e-01 -1.47073999e-01 -5.03337563e-03 1.82099280e+01] [ 1.47073048e-01 9.89125474e-01 -5.60578180e-04 2.20007810e+00] [ 5.06108654e-03 -1.85798909e-04 9.99987175e-01 6.75507860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014391418 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:18.24, Y:2.21, Z:0.06 [[ 9.89270117e-01 -1.46011295e-01 -5.03354799e-03 1.82429524e+01] [ 1.46010338e-01 9.89282906e-01 -5.59026268e-04 2.20599466e+00] [ 5.06122713e-03 -1.81922061e-04 9.99987175e-01 6.46487598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:18.27, Y:2.21, Z:0.07 [[ 9.89144209e-01 -1.46861824e-01 -5.03371957e-03 1.82747592e+01] [ 1.46860886e-01 9.89156999e-01 -5.57477001e-04 2.21252704e+00] [ 5.06101103e-03 -1.87831367e-04 9.99987175e-01 6.60317399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:18.31, Y:2.22, Z:0.07 [[ 9.88832420e-01 -1.48946655e-01 -5.03387859e-03 1.83067699e+01] [ 1.48945751e-01 9.88845212e-01 -5.56037327e-04 2.22192353e+00] [ 5.06054665e-03 -1.99947094e-04 9.99987175e-01 6.67063146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:18.34, Y:2.23, Z:0.07 [[ 9.88651874e-01 -1.50140371e-01 -5.03405820e-03 1.83390720e+01] [ 1.50139491e-01 9.88664668e-01 -5.54406468e-04 2.22773316e+00] [ 5.06023427e-03 -2.07695944e-04 9.99987175e-01 6.62886888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:18.37, Y:2.23, Z:0.07 [[ 9.88499983e-01 -1.51137157e-01 -5.03423723e-03 1.83720641e+01] [ 1.51136298e-01 9.88512779e-01 -5.52776013e-04 2.23304528e+00] [ 5.05995283e-03 -2.14436897e-04 9.99987175e-01 6.57075918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:18.40, Y:2.24, Z:0.06 [[ 9.88241251e-01 -1.52819777e-01 -5.03441596e-03 1.84036553e+01] [ 1.52818948e-01 9.88254049e-01 -5.51143438e-04 2.24052277e+00] [ 5.05950757e-03 -2.24691471e-04 9.99987175e-01 6.44380581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:18.43, Y:2.25, Z:0.07 [[ 9.88083620e-01 -1.53835668e-01 -5.03458164e-03 1.84349490e+01] [ 1.53834860e-01 9.88096419e-01 -5.49625803e-04 2.24658630e+00] [ 5.05920414e-03 -2.31417908e-04 9.99987175e-01 6.54610966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:18.47, Y:2.25, Z:0.07 [[ 9.87886119e-01 -1.55098895e-01 -5.03474384e-03 1.84661779e+01] [ 1.55098111e-01 9.87898920e-01 -5.48135968e-04 2.25315745e+00] [ 5.05883328e-03 -2.39383343e-04 9.99987175e-01 6.54315790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:18.50, Y:2.26, Z:0.07 [[ 9.87934148e-01 -1.54792667e-01 -5.03490328e-03 1.84996140e+01] [ 1.54791886e-01 9.87946949e-01 -5.46667444e-04 2.25663068e+00] [ 5.05883745e-03 -2.39290741e-04 9.99987175e-01 6.56013601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:18.53, Y:2.27, Z:0.07 [[ 9.87308820e-01 -1.58732298e-01 -5.03507225e-03 1.85320802e+01] [ 1.58731576e-01 9.87321624e-01 -5.45106713e-04 2.26633904e+00] [ 5.05776175e-03 -2.61036289e-04 9.99987175e-01 6.75795285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:18.56, Y:2.27, Z:0.07 [[ 9.87052236e-01 -1.60320087e-01 -5.03524555e-03 1.85642382e+01] [ 1.60319394e-01 9.87065042e-01 -5.43501215e-04 2.27199850e+00] [ 5.05724902e-03 -2.70783426e-04 9.99987175e-01 6.76586139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:18.60, Y:2.28, Z:0.07 [[ 9.86794394e-01 -1.61899565e-01 -5.03540622e-03 1.85973397e+01] [ 1.61898901e-01 9.86807201e-01 -5.42008540e-04 2.27722182e+00] [ 5.05672606e-03 -2.80375742e-04 9.99987175e-01 6.81716915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374391418000002 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:18.63, Y:2.28, Z:0.07 [[ 9.86442721e-01 -1.64028657e-01 -5.03557533e-03 1.86304574e+01] [ 1.64028028e-01 9.86455531e-01 -5.40432806e-04 2.28264787e+00] [ 5.05601760e-03 -2.92869486e-04 9.99987175e-01 6.90200563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:18.66, Y:2.29, Z:0.07 [[ 9.86174897e-01 -1.65631257e-01 -5.03574983e-03 1.86625746e+01] [ 1.65630657e-01 9.86187708e-01 -5.38801861e-04 2.28782216e+00] [ 5.05543702e-03 -3.02721684e-04 9.99987175e-01 6.98202004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:18.70, Y:2.30, Z:0.07 [[ 9.85445036e-01 -1.69919749e-01 -5.03591159e-03 1.86950014e+01] [ 1.69919213e-01 9.85457849e-01 -5.37285747e-04 2.29561677e+00] [ 5.05397406e-03 -3.26232563e-04 9.99987175e-01 7.07385879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391418 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:18.73, Y:2.30, Z:0.07 [[ 9.85180184e-01 -1.71448661e-01 -5.03608030e-03 1.87270503e+01] [ 1.71448153e-01 9.85192998e-01 -5.35699741e-04 2.30047978e+00] [ 5.05335605e-03 -3.35665895e-04 9.99987175e-01 6.95451888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:18.76, Y:2.31, Z:0.07 [[ 9.84894569e-01 -1.73081843e-01 -5.03623673e-03 1.87596736e+01] [ 1.73081363e-01 9.84907385e-01 -5.34225022e-04 2.30507459e+00] [ 5.05269140e-03 -3.45523394e-04 9.99987175e-01 6.78438544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:18.79, Y:2.31, Z:0.07 [[ 9.84084282e-01 -1.77630965e-01 -5.03640639e-03 1.87909322e+01] [ 1.77630553e-01 9.84097100e-01 -5.32620701e-04 2.31185824e+00] [ 5.05092286e-03 -3.70475991e-04 9.99987175e-01 6.85706764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:18.82, Y:2.32, Z:0.07 [[ 9.83989562e-01 -1.78154919e-01 -5.03656360e-03 1.88238156e+01] [ 1.78154521e-01 9.84002380e-01 -5.31129935e-04 2.31648967e+00] [ 5.05061398e-03 -3.74660263e-04 9.99987175e-01 6.70253507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:18.86, Y:2.32, Z:0.07 [[ 9.83663277e-01 -1.79947737e-01 -5.03672951e-03 1.88557104e+01] [ 1.79947371e-01 9.83676097e-01 -5.29551913e-04 2.32156081e+00] [ 5.04980209e-03 -3.85445463e-04 9.99987175e-01 6.90596155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:18.89, Y:2.33, Z:0.07 [[ 9.83539072e-01 -1.80625369e-01 -5.03688331e-03 1.88883425e+01] [ 1.80625019e-01 9.83551892e-01 -5.28084991e-04 2.32599842e+00] [ 5.04942165e-03 -3.90394922e-04 9.99987175e-01 6.89151691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:18.92, Y:2.33, Z:0.07 [[ 9.83809144e-01 -1.79148531e-01 -5.03704599e-03 1.89213213e+01] [ 1.79148170e-01 9.83821964e-01 -5.26528677e-04 2.32964930e+00] [ 5.04988332e-03 -3.84373844e-04 9.99987175e-01 6.65540604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:18.95, Y:2.33, Z:0.07 [[ 9.83839882e-01 -1.78979644e-01 -5.03720710e-03 1.89537369e+01] [ 1.78979288e-01 9.83852702e-01 -5.24982880e-04 2.33452815e+00] [ 5.04983106e-03 -3.85056645e-04 9.99987175e-01 6.78901405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:18.99, Y:2.34, Z:0.07 [[ 9.84069524e-01 -1.77712679e-01 -5.03736820e-03 1.89858004e+01] [ 1.77712315e-01 9.84082344e-01 -5.23432491e-04 2.33810491e+00] [ 5.05020569e-03 -3.80108401e-04 9.99987175e-01 6.60171054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.02, Y:2.34, Z:0.07 [[ 9.84019006e-01 -1.77992186e-01 -5.03751770e-03 1.90183791e+01] [ 1.77991833e-01 9.84031826e-01 -5.21989674e-04 2.34235659e+00] [ 5.04998783e-03 -3.82989249e-04 9.99987175e-01 6.81653484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.05, Y:2.35, Z:0.07 [[ 9.84262416e-01 -1.76641211e-01 -5.03767381e-03 1.90510890e+01] [ 1.76640847e-01 9.84275236e-01 -5.20478752e-04 2.34590292e+00] [ 5.05039557e-03 -3.77571297e-04 9.99987175e-01 6.74347338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:19.08, Y:2.35, Z:0.07 [[ 9.84431835e-01 -1.75694570e-01 -5.03782823e-03 1.90838557e+01] [ 1.75694202e-01 9.84444655e-01 -5.18979697e-04 2.34879223e+00] [ 5.05064499e-03 -3.74217079e-04 9.99987175e-01 6.81505673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:19.12, Y:2.35, Z:0.07 [[ 9.84539378e-01 -1.75090922e-01 -5.03799441e-03 1.91165851e+01] [ 1.75090555e-01 9.84552198e-01 -5.17361454e-04 2.35108562e+00] [ 5.05075377e-03 -3.72742513e-04 9.99987175e-01 6.60092648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.15, Y:2.35, Z:0.07 [[ 9.84398480e-01 -1.75881351e-01 -5.03816213e-03 1.91483531e+01] [ 1.75881002e-01 9.84411300e-01 -5.15723054e-04 2.35413010e+00] [ 5.05032980e-03 -3.78440012e-04 9.99987175e-01 6.78370061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:19.18, Y:2.36, Z:0.07 [[ 9.84372682e-01 -1.76025678e-01 -5.03826598e-03 1.91816564e+01] [ 1.76025336e-01 9.84385502e-01 -5.14706459e-04 2.35722397e+00] [ 5.05019754e-03 -3.80199486e-04 9.99987175e-01 6.81267939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:19.21, Y:2.36, Z:0.07 [[ 9.84262483e-01 -1.76640820e-01 -5.03842988e-03 1.92142204e+01] [ 1.76640495e-01 9.84275303e-01 -5.13097046e-04 2.36036613e+00] [ 5.04983598e-03 -3.84968573e-04 9.99987175e-01 6.95553874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:19.25, Y:2.36, Z:0.07 [[ 9.84279573e-01 -1.76545558e-01 -5.03859218e-03 1.92458049e+01] [ 1.76545239e-01 9.84292394e-01 -5.11498228e-04 2.36270424e+00] [ 5.04975070e-03 -3.86082204e-04 9.99987175e-01 6.81806656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:19.28, Y:2.37, Z:0.07 [[ 9.84185433e-01 -1.77069606e-01 -5.03874273e-03 1.92791921e+01] [ 1.77069301e-01 9.84198254e-01 -5.10010909e-04 2.36505347e+00] [ 5.04942922e-03 -3.90261346e-04 9.99987175e-01 7.00950317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:19.31, Y:2.37, Z:0.07 [[ 9.83993252e-01 -1.78134469e-01 -5.03890170e-03 1.93122118e+01] [ 1.78134187e-01 9.84006074e-01 -5.08435427e-04 2.36502153e+00] [ 5.04887975e-03 -3.97303627e-04 9.99987175e-01 6.87020826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:19.35, Y:2.37, Z:0.07 [[ 9.83917783e-01 -1.78550847e-01 -5.03906108e-03 1.93452641e+01] [ 1.78550577e-01 9.83930604e-01 -5.06850866e-04 2.36666720e+00] [ 5.04858507e-03 -4.01027686e-04 9.99987175e-01 6.69089110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:19.38, Y:2.37, Z:0.07 [[ 9.83667820e-01 -1.79922832e-01 -5.03922001e-03 1.93786373e+01] [ 1.79922589e-01 9.83680643e-01 -5.05265819e-04 2.36856326e+00] [ 5.04789203e-03 -4.09655785e-04 9.99987175e-01 6.84973065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:19.41, Y:2.37, Z:0.07 [[ 9.83436580e-01 -1.81182499e-01 -5.03937848e-03 1.94119363e+01] [ 1.81182280e-01 9.83449403e-01 -5.03680285e-04 2.37050991e+00] [ 5.04723181e-03 -4.17708467e-04 9.99987175e-01 6.91475118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:19.44, Y:2.37, Z:0.07 [[ 9.83183289e-01 -1.82551973e-01 -5.03953589e-03 1.94449419e+01] [ 1.82551780e-01 9.83196112e-01 -5.02100319e-04 2.37183193e+00] [ 5.04651150e-03 -4.26319604e-04 9.99987175e-01 6.87415551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:19.48, Y:2.37, Z:0.07 [[ 9.83242979e-01 -1.82230201e-01 -5.03969155e-03 1.94780127e+01] [ 1.82230012e-01 9.83255802e-01 -5.00533092e-04 2.37437381e+00] [ 5.04651820e-03 -4.26237402e-04 9.99987175e-01 6.79029368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:19.51, Y:2.38, Z:0.07 [[ 9.83159938e-01 -1.82677684e-01 -5.03985268e-03 1.95106803e+01] [ 1.82677509e-01 9.83172761e-01 -4.98905392e-04 2.37694578e+00] [ 5.04618476e-03 -4.30163940e-04 9.99987175e-01 6.96252536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:19.54, Y:2.38, Z:0.07 [[ 9.83217115e-01 -1.82369685e-01 -5.04001210e-03 1.95436515e+01] [ 1.82369515e-01 9.83229939e-01 -4.97289642e-04 2.37771245e+00] [ 5.04618135e-03 -4.30200873e-04 9.99987175e-01 6.89794464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:19.58, Y:2.38, Z:0.07 [[ 9.83128928e-01 -1.82844488e-01 -5.04017174e-03 1.95758553e+01] [ 1.82844332e-01 9.83141752e-01 -4.95666387e-04 2.37960382e+00] [ 5.04583314e-03 -4.34262869e-04 9.99987175e-01 7.08128906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:19.61, Y:2.38, Z:0.07 [[ 9.83167677e-01 -1.82636015e-01 -5.04031964e-03 1.96086149e+01] [ 1.82635864e-01 9.83180501e-01 -4.94157794e-04 2.38147129e+00] [ 5.04579500e-03 -4.34703162e-04 9.99987175e-01 6.91025537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:19.64, Y:2.38, Z:0.07 [[ 9.83022527e-01 -1.83415664e-01 -5.04047555e-03 1.96414784e+01] [ 1.83415531e-01 9.83035351e-01 -4.92562328e-04 2.38330706e+00] [ 5.04530930e-03 -4.40301634e-04 9.99987175e-01 7.16336450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:19.67, Y:2.38, Z:0.07 [[ 9.82806986e-01 -1.84567115e-01 -5.04063111e-03 1.96737845e+01] [ 1.84567005e-01 9.82819810e-01 -4.90965284e-04 2.38349773e+00] [ 5.04464816e-03 -4.47810076e-04 9.99987175e-01 7.12771642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:19.71, Y:2.38, Z:0.07 [[ 9.83092929e-01 -1.83037929e-01 -5.04077530e-03 1.97067743e+01] [ 1.83037807e-01 9.83105753e-01 -4.89480377e-04 2.38366077e+00] [ 5.04520867e-03 -4.41447758e-04 9.99987175e-01 7.05563014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:19.74, Y:2.39, Z:0.07 [[ 9.82984455e-01 -1.83619558e-01 -5.04182047e-03 1.97402280e+01] [ 1.83619498e-01 9.82997279e-01 -4.78679749e-04 2.38562290e+00] [ 5.04399077e-03 -4.55241794e-04 9.99987175e-01 7.13053683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:19.77, Y:2.39, Z:0.07 [[ 9.82632026e-01 -1.85496301e-01 -5.04220285e-03 1.97709776e+01] [ 1.85496287e-01 9.82644851e-01 -4.74717413e-04 2.38778101e+00] [ 5.04275299e-03 -4.68837372e-04 9.99987175e-01 7.16080829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:19.80, Y:2.39, Z:0.07 [[ 9.82652139e-01 -1.85389756e-01 -5.04110045e-03 1.98039957e+01] [ 1.85389681e-01 9.82664963e-01 -4.86148734e-04 2.38975654e+00] [ 5.04383978e-03 -4.56852914e-04 9.99987175e-01 7.14300408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:19.84, Y:2.39, Z:0.07 [[ 9.82990836e-01 -1.83585409e-01 -5.04125766e-03 1.98374730e+01] [ 1.83585319e-01 9.83003660e-01 -4.84513012e-04 2.39005816e+00] [ 5.04452425e-03 -4.49229046e-04 9.99987175e-01 6.97094433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:19.87, Y:2.39, Z:0.07 [[ 9.82661002e-01 -1.85342741e-01 -5.04214084e-03 1.98681898e+01] [ 1.85342721e-01 9.82673827e-01 -4.75305471e-04 2.39302283e+00] [ 5.04287426e-03 -4.67459951e-04 9.99987175e-01 7.09525622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:19.90, Y:2.39, Z:0.07 [[ 9.82772966e-01 -1.84748155e-01 -5.04145227e-03 1.99008642e+01] [ 1.84748090e-01 9.82785791e-01 -4.82500063e-04 2.39120172e+00] [ 5.04380865e-03 -4.57210661e-04 9.99987175e-01 6.96427312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:19.93, Y:2.39, Z:0.07 [[ 9.82689689e-01 -1.85190572e-01 -5.04247223e-03 1.99339307e+01] [ 1.85190568e-01 9.82702514e-01 -4.71823463e-04 2.39233456e+00] [ 5.04262739e-03 -4.70162242e-04 9.99987175e-01 7.01111933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:19.96, Y:2.39, Z:0.07 [[ 9.82474620e-01 -1.86328187e-01 -5.04250890e-03 1.99649010e+01] [ 1.86328200e-01 9.82487445e-01 -4.71438149e-04 2.39456872e+00] [ 5.04204390e-03 -4.76385591e-04 9.99987175e-01 6.92854595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:20.00, Y:2.40, Z:0.07 [[ 9.82378657e-01 -1.86833493e-01 -5.04180769e-03 1.99973831e+01] [ 1.86833474e-01 9.82391482e-01 -4.78821665e-04 2.39612421e+00] [ 5.04248885e-03 -4.71594263e-04 9.99987175e-01 7.17831943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:20.03, Y:2.40, Z:0.07 [[ 9.82265395e-01 -1.87428049e-01 -5.04195231e-03 2.00304102e+01] [ 1.87428046e-01 9.82278219e-01 -4.77293952e-04 2.39679845e+00] [ 5.04205821e-03 -4.76173936e-04 9.99987175e-01 7.19811089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:20.06, Y:2.40, Z:0.07 [[ 9.82192539e-01 -1.87809462e-01 -5.04210651e-03 2.00630139e+01] [ 1.87809472e-01 9.82205363e-01 -4.75659346e-04 2.39783154e+00] [ 5.04171738e-03 -4.79766302e-04 9.99987175e-01 7.21938833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:20.09, Y:2.40, Z:0.07 [[ 9.82016062e-01 -1.88730044e-01 -5.04224922e-03 2.00949054e+01] [ 1.88730074e-01 9.82028887e-01 -4.74141730e-04 2.39839951e+00] [ 5.04111918e-03 -4.86009275e-04 9.99987175e-01 7.11102569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:20.13, Y:2.40, Z:0.07 [[ 9.81421002e-01 -1.91800395e-01 -5.04234267e-03 2.01280177e+01] [ 1.91800470e-01 9.81433826e-01 -4.73145805e-04 2.39605621e+00] [ 5.03947521e-03 -5.02768466e-04 9.99987175e-01 7.16122370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:20.16, Y:2.40, Z:0.07 [[ 9.81236576e-01 -1.92741679e-01 -5.04249547e-03 2.01605938e+01] [ 1.92741775e-01 9.81249400e-01 -4.71511750e-04 2.39686509e+00] [ 5.03882562e-03 -5.09234953e-04 9.99987175e-01 7.03605427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:20.19, Y:2.40, Z:0.07 [[ 9.80942512e-01 -1.94232746e-01 -5.04258982e-03 2.01940064e+01] [ 1.94232867e-01 9.80955336e-01 -4.70500518e-04 2.39819305e+00] [ 5.03794200e-03 -5.17902716e-04 9.99987175e-01 7.32904112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:20.23, Y:2.40, Z:0.07 [[ 9.80591597e-01 -1.95996660e-01 -5.04274191e-03 2.02263871e+01] [ 1.95996812e-01 9.80604421e-01 -4.68864779e-04 2.39706378e+00] [ 5.03683094e-03 -5.28596474e-04 9.99987175e-01 7.31906368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:20.26, Y:2.40, Z:0.07 [[ 9.80955346e-01 -1.94167913e-01 -5.04288286e-03 2.02603438e+01] [ 1.94168049e-01 9.80968170e-01 -4.67343826e-04 2.39538781e+00] [ 5.03765075e-03 -5.20723304e-04 9.99987175e-01 7.14538058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391418 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:20.29, Y:2.40, Z:0.07 [[ 9.80504038e-01 -1.96434174e-01 -5.04457626e-03 2.02907842e+01] [ 1.96434432e-01 9.80516860e-01 -4.49018821e-04 2.39854178e+00] [ 5.03449471e-03 -5.50663707e-04 9.99987175e-01 7.18286533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:20.32, Y:2.40, Z:0.07 [[ 9.81023340e-01 -1.93824081e-01 -5.04305977e-03 2.03243573e+01] [ 1.93824222e-01 9.81036164e-01 -4.65449708e-04 2.39849708e+00] [ 5.03763937e-03 -5.20850107e-04 9.99987175e-01 6.85268831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:20.36, Y:2.40, Z:0.07 [[ 9.81708262e-01 -1.90324601e-01 -5.04320667e-03 2.03581922e+01] [ 1.90324704e-01 9.81721087e-01 -4.63852494e-04 2.39887238e+00] [ 5.03930488e-03 -5.04478994e-04 9.99987175e-01 7.15291173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:20.39, Y:2.40, Z:0.07 [[ 9.81782373e-01 -1.89941873e-01 -5.04556899e-03 2.03877792e+01] [ 1.89942102e-01 9.81795196e-01 -4.38078878e-04 2.40360786e+00] [ 5.03692492e-03 -5.28267861e-04 9.99987175e-01 7.00723521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:20.42, Y:2.41, Z:0.07 [[ 9.82601979e-01 -1.85655369e-01 -5.04335815e-03 2.04207783e+01] [ 1.85655419e-01 9.82614803e-01 -4.62202646e-04 2.40510112e+00] [ 5.04148878e-03 -4.82165538e-04 9.99987175e-01 7.34527628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:20.45, Y:2.41, Z:0.07 [[ 9.83202624e-01 -1.82447702e-01 -5.04350678e-03 2.04539508e+01] [ 1.82447719e-01 9.83215448e-01 -4.60575144e-04 2.40662743e+00] [ 5.04288465e-03 -4.67337617e-04 9.99987175e-01 7.33593939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:20.49, Y:2.41, Z:0.07 [[ 9.84047618e-01 -1.77833763e-01 -5.04365657e-03 2.04857518e+01] [ 1.77833728e-01 9.84060443e-01 -4.58928909e-04 2.40757784e+00] [ 5.04487597e-03 -4.45324351e-04 9.99987175e-01 7.27625466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:20.52, Y:2.41, Z:0.07 [[ 9.84575647e-01 -1.74886712e-01 -5.04320955e-03 2.05185937e+01] [ 1.74886614e-01 9.84588471e-01 -4.63853223e-04 2.41038962e+00] [ 5.04660775e-03 -4.25291257e-04 9.99987175e-01 7.26521716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:20.55, Y:2.41, Z:0.08 [[ 9.85885553e-01 -1.67344664e-01 -5.04385534e-03 2.05507220e+01] [ 1.67344505e-01 9.85898376e-01 -4.56721440e-04 2.41432242e+00] [ 5.04915868e-03 -3.93786403e-04 9.99987175e-01 7.56415485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:20.58, Y:2.42, Z:0.08 [[ 9.85939768e-01 -1.67024946e-01 -5.04399578e-03 2.05842085e+01] [ 1.67024790e-01 9.85952591e-01 -4.55165127e-04 2.41719297e+00] [ 5.04916464e-03 -3.93706935e-04 9.99987175e-01 7.58113251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:20.62, Y:2.42, Z:0.07 [[ 9.86705371e-01 -1.62440964e-01 -5.04414285e-03 2.06174231e+01] [ 1.62440756e-01 9.86718194e-01 -4.53529397e-04 2.42097574e+00] [ 5.05081927e-03 -3.71874486e-04 9.99987175e-01 7.41964283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:20.65, Y:2.43, Z:0.07 [[ 9.87991817e-01 -1.54423848e-01 -5.04429252e-03 2.06499757e+01] [ 1.54423545e-01 9.88004638e-01 -4.51858565e-04 2.42552988e+00] [ 5.05356214e-03 -3.32524965e-04 9.99987175e-01 7.30353414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:20.68, Y:2.43, Z:0.08 [[ 9.88483743e-01 -1.51242996e-01 -5.04444024e-03 2.06820042e+01] [ 1.51242660e-01 9.88496563e-01 -4.50203392e-04 2.42861732e+00] [ 5.05450195e-03 -3.17915827e-04 9.99987175e-01 7.53786192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294391418 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:20.71, Y:2.43, Z:0.08 [[ 9.88944121e-01 -1.48202829e-01 -5.04457671e-03 2.07148496e+01] [ 1.48202462e-01 9.88956940e-01 -4.48669022e-04 2.43099338e+00] [ 5.05536316e-03 -3.03910096e-04 9.99987175e-01 7.55383996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:20.75, Y:2.43, Z:0.08 [[ 9.89265260e-01 -1.46043816e-01 -5.04472034e-03 2.07481453e+01] [ 1.46043428e-01 9.89278079e-01 -4.47048163e-04 2.43370901e+00] [ 5.05591987e-03 -2.94499036e-04 9.99987175e-01 7.58480242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:20.78, Y:2.44, Z:0.08 [[ 9.89706273e-01 -1.43024622e-01 -5.04486280e-03 2.07795039e+01] [ 1.43024204e-01 9.89719091e-01 -4.45434685e-04 2.43795815e+00] [ 5.05670515e-03 -2.80687986e-04 9.99987175e-01 7.70292005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:20.81, Y:2.44, Z:0.08 [[ 9.89858074e-01 -1.41970210e-01 -5.04499480e-03 2.08120365e+01] [ 1.41969786e-01 9.89870892e-01 -4.43934639e-04 2.44177426e+00] [ 5.05691900e-03 -2.76804543e-04 9.99987175e-01 7.75151446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:20.84, Y:2.45, Z:0.08 [[ 9.90112791e-01 -1.40182768e-01 -5.04504681e-03 2.08444583e+01] [ 1.40182324e-01 9.90125608e-01 -4.43342793e-04 2.44500951e+00] [ 5.05737906e-03 -2.68267016e-04 9.99987175e-01 7.67414629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:20.88, Y:2.45, Z:0.08 [[ 9.90240236e-01 -1.39279651e-01 -5.04517471e-03 2.08770188e+01] [ 1.39279203e-01 9.90253053e-01 -4.41882499e-04 2.44844192e+00] [ 5.05754490e-03 -2.65118080e-04 9.99987175e-01 7.72948061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:20.91, Y:2.45, Z:0.08 [[ 9.90353079e-01 -1.38474994e-01 -5.04522556e-03 2.09089829e+01] [ 1.38474537e-01 9.90365896e-01 -4.41301127e-04 2.45125325e+00] [ 5.05772850e-03 -2.61591346e-04 9.99987175e-01 7.74608295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:20.94, Y:2.45, Z:0.08 [[ 9.90394720e-01 -1.38176851e-01 -5.04535052e-03 2.09419692e+01] [ 1.38176399e-01 9.90407537e-01 -4.39867880e-04 2.45403878e+00] [ 5.05773274e-03 -2.61505539e-04 9.99987175e-01 7.55386888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:20.97, Y:2.46, Z:0.08 [[ 9.90371200e-01 -1.38345332e-01 -5.04540043e-03 2.09747050e+01] [ 1.38344884e-01 9.90384016e-01 -4.39294571e-04 2.45707610e+00] [ 5.05765830e-03 -2.62940647e-04 9.99987175e-01 7.81209534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:21.01, Y:2.46, Z:0.08 [[ 9.90122770e-01 -1.40112251e-01 -5.04553819e-03 2.10071432e+01] [ 1.40111835e-01 9.90135588e-01 -4.37706663e-04 2.45983947e+00] [ 5.05709498e-03 -2.73556278e-04 9.99987175e-01 8.01021854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:21.04, Y:2.46, Z:0.08 [[ 9.89869647e-01 -1.41889472e-01 -5.04566599e-03 2.10400525e+01] [ 1.41889086e-01 9.89882466e-01 -4.36228413e-04 2.46230558e+00] [ 5.05651251e-03 -2.84115670e-04 9.99987175e-01 8.11380246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:21.07, Y:2.46, Z:0.08 [[ 9.89617926e-01 -1.43634611e-01 -5.04571477e-03 2.10732534e+01] [ 1.43634250e-01 9.89630745e-01 -4.35663490e-04 2.46424014e+00] [ 5.05597082e-03 -2.93597057e-04 9.99987175e-01 8.22087752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:21.11, Y:2.47, Z:0.08 [[ 9.89320511e-01 -1.45669028e-01 -5.04585053e-03 2.11057261e+01] [ 1.45668702e-01 9.89333331e-01 -4.34085404e-04 2.46575670e+00] [ 5.05526091e-03 -3.05572903e-04 9.99987175e-01 8.23065167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:21.14, Y:2.47, Z:0.08 [[ 9.88670271e-01 -1.50018776e-01 -5.04597630e-03 2.11393910e+01] [ 1.50018514e-01 9.88683093e-01 -4.32618390e-04 2.46592032e+00] [ 5.05377234e-03 -3.29272923e-04 9.99987175e-01 7.88692632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714391418 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:21.17, Y:2.47, Z:0.08 [[ 9.88177265e-01 -1.53232600e-01 -5.04611144e-03 2.11720042e+01] [ 1.53232388e-01 9.88190088e-01 -4.31036362e-04 2.46859792e+00] [ 5.05256613e-03 -3.47287371e-04 9.99987175e-01 8.14236536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:21.20, Y:2.47, Z:0.08 [[ 9.87921095e-01 -1.54875583e-01 -5.04616257e-03 2.12046211e+01] [ 1.54875395e-01 9.87933918e-01 -4.30436950e-04 2.47113645e+00] [ 5.05193933e-03 -3.56288677e-04 9.99987175e-01 7.80225093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:21.24, Y:2.47, Z:0.08 [[ 9.87208137e-01 -1.59356925e-01 -5.04628134e-03 2.12372108e+01] [ 1.59356802e-01 9.87220961e-01 -4.29039956e-04 2.47352444e+00] [ 5.05016520e-03 -3.80607521e-04 9.99987175e-01 8.01714483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:21.27, Y:2.48, Z:0.08 [[ 9.87062926e-01 -1.60253905e-01 -5.04632442e-03 2.12707177e+01] [ 1.60253796e-01 9.87075750e-01 -4.28532631e-04 2.47537060e+00] [ 5.04977849e-03 -3.85703973e-04 9.99987175e-01 8.06631121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:21.30, Y:2.48, Z:0.08 [[ 9.86865067e-01 -1.61467872e-01 -5.04646243e-03 2.13025980e+01] [ 1.61467787e-01 9.86877891e-01 -4.26901201e-04 2.47688970e+00] [ 5.04917303e-03 -3.93547240e-04 9.99987175e-01 7.89749768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:21.34, Y:2.48, Z:0.08 [[ 9.86889082e-01 -1.61321018e-01 -5.04659043e-03 2.13355727e+01] [ 1.61320939e-01 9.86901907e-01 -4.25382686e-04 2.47991851e+00] [ 5.04911289e-03 -3.94315180e-04 9.99987175e-01 8.00902435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:21.37, Y:2.48, Z:0.08 [[ 9.86930624e-01 -1.61066673e-01 -5.04672180e-03 2.13686428e+01] [ 1.61066598e-01 9.86943449e-01 -4.23818344e-04 2.48345859e+00] [ 5.04909203e-03 -3.94579011e-04 9.99987175e-01 8.42304531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:21.40, Y:2.49, Z:0.09 [[ 9.87361659e-01 -1.58402912e-01 -5.04686329e-03 2.14008233e+01] [ 1.58402812e-01 9.87374484e-01 -4.22126726e-04 2.48714336e+00] [ 5.05001014e-03 -3.82645593e-04 9.99987175e-01 8.56451877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:21.43, Y:2.49, Z:0.09 [[ 9.87743217e-01 -1.56005977e-01 -5.04699415e-03 2.14341295e+01] [ 1.56005854e-01 9.87756041e-01 -4.20556286e-04 2.49041286e+00] [ 5.05080826e-03 -3.71959014e-04 9.99987175e-01 8.71574968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:21.47, Y:2.49, Z:0.09 [[ 9.88056027e-01 -1.54012383e-01 -5.04713296e-03 2.14664744e+01] [ 1.54012242e-01 9.88068851e-01 -4.18883805e-04 2.49417415e+00] [ 5.05142816e-03 -3.63439595e-04 9.99987175e-01 8.73417579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:21.50, Y:2.50, Z:0.08 [[ 9.88710916e-01 -1.49750622e-01 -5.04726119e-03 2.14985804e+01] [ 1.49750434e-01 9.88723740e-01 -4.17332944e-04 2.49781382e+00] [ 5.05284283e-03 -3.43207916e-04 9.99987175e-01 8.43457001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391418 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:21.53, Y:2.50, Z:0.09 [[ 9.88769896e-01 -1.49360695e-01 -5.04737846e-03 2.15310920e+01] [ 1.49360509e-01 9.88782719e-01 -4.15909847e-04 2.50132882e+00] [ 5.05288118e-03 -3.42639880e-04 9.99987175e-01 8.89470348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:21.56, Y:2.50, Z:0.09 [[ 9.88904175e-01 -1.48469040e-01 -5.04751100e-03 2.15641700e+01] [ 1.48468850e-01 9.88916998e-01 -4.14295070e-04 2.50449326e+00] [ 5.05307941e-03 -3.39700031e-04 9.99987175e-01 8.90193695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:21.60, Y:2.51, Z:0.09 [[ 9.89019626e-01 -1.47698003e-01 -5.04764249e-03 2.15970870e+01] [ 1.47697812e-01 9.89032449e-01 -4.12686722e-04 2.50716689e+00] [ 5.05323522e-03 -3.37370482e-04 9.99987175e-01 8.96277926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:21.63, Y:2.51, Z:0.09 [[ 9.89143938e-01 -1.46863165e-01 -5.04777616e-03 2.16285902e+01] [ 1.46862971e-01 9.89156761e-01 -4.11045196e-04 2.50905117e+00] [ 5.05340932e-03 -3.34748543e-04 9.99987175e-01 8.55730112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391418 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:21.66, Y:2.51, Z:0.09 [[ 9.89198184e-01 -1.46497344e-01 -5.04788322e-03 2.16614777e+01] [ 1.46497152e-01 9.89211007e-01 -4.09726256e-04 2.51177486e+00] [ 5.05344545e-03 -3.34200049e-04 9.99987175e-01 8.71962781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:21.69, Y:2.51, Z:0.08 [[ 9.89440330e-01 -1.44852857e-01 -5.04801405e-03 2.16921786e+01] [ 1.44852653e-01 9.89453153e-01 -4.08107942e-04 2.51441403e+00] [ 5.05388902e-03 -3.27419769e-04 9.99987175e-01 8.34904112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:21.72, Y:2.52, Z:0.09 [[ 9.89637667e-01 -1.43498451e-01 -5.04811916e-03 2.17243735e+01] [ 1.43498235e-01 9.89650489e-01 -4.06803581e-04 2.51921103e+00] [ 5.05424928e-03 -3.21808043e-04 9.99987175e-01 8.52137939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:21.76, Y:2.52, Z:0.09 [[ 9.89779737e-01 -1.42515218e-01 -5.04823072e-03 2.17568771e+01] [ 1.42514997e-01 9.89792560e-01 -4.05414441e-04 2.52272931e+00] [ 5.05447894e-03 -3.18177587e-04 9.99987175e-01 8.84795587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:21.79, Y:2.53, Z:0.09 [[ 9.90153822e-01 -1.39892538e-01 -5.04835718e-03 2.17893927e+01] [ 1.39892290e-01 9.90166645e-01 -4.03833642e-04 2.52650397e+00] [ 5.05520820e-03 -3.06368823e-04 9.99987175e-01 8.90309061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314391418 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:21.82, Y:2.53, Z:0.09 [[ 9.90300151e-01 -1.38852883e-01 -5.04847037e-03 2.18218182e+01] [ 1.38852629e-01 9.90312973e-01 -4.02413521e-04 2.52952711e+00] [ 5.05544199e-03 -3.02483216e-04 9.99987175e-01 9.07072614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:21.85, Y:2.53, Z:0.09 [[ 9.90560403e-01 -1.36983941e-01 -5.04859052e-03 2.18542282e+01] [ 1.36983671e-01 9.90573225e-01 -4.00900549e-04 2.53138586e+00] [ 5.05591553e-03 -2.94458253e-04 9.99987175e-01 8.60587625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:21.89, Y:2.53, Z:0.09 [[ 9.90742416e-01 -1.35661251e-01 -5.04870880e-03 2.18853810e+01] [ 1.35660971e-01 9.90755238e-01 -3.99405400e-04 2.53460896e+00] [ 5.05621852e-03 -2.89204868e-04 9.99987175e-01 8.82834853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:21.92, Y:2.54, Z:0.09 [[ 9.90684085e-01 -1.36086570e-01 -5.04876642e-03 2.19158575e+01] [ 1.36086299e-01 9.90696906e-01 -3.98675737e-04 2.53834385e+00] [ 5.05605168e-03 -2.92106229e-04 9.99987175e-01 9.30903819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:21.95, Y:2.54, Z:0.09 [[ 9.90820636e-01 -1.35088774e-01 -5.04878123e-03 2.19489828e+01] [ 1.35088491e-01 9.90833458e-01 -3.98488002e-04 2.54119409e+00] [ 5.05633262e-03 -2.87202104e-04 9.99987175e-01 9.26625081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391418 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:21.98, Y:2.54, Z:0.09 [[ 9.90915134e-01 -1.34393848e-01 -5.04882547e-03 2.19816907e+01] [ 1.34393559e-01 9.90927955e-01 -3.97926799e-04 2.54419593e+00] [ 5.05650121e-03 -2.84217936e-04 9.99987175e-01 9.45590940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494391418 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:22.01, Y:2.55, Z:0.10 [[ 9.90782753e-01 -1.35366331e-01 -5.04895111e-03 2.20142171e+01] [ 1.35366063e-01 9.90795575e-01 -3.96326231e-04 2.54684207e+00] [ 5.05612764e-03 -2.90783441e-04 9.99987175e-01 9.82089279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:22.05, Y:2.55, Z:0.10 [[ 9.90740879e-01 -1.35672468e-01 -5.04906477e-03 2.20457201e+01] [ 1.35672211e-01 9.90753701e-01 -3.94872847e-04 2.54877040e+00] [ 5.05595298e-03 -2.93801112e-04 9.99987175e-01 9.50470644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:22.08, Y:2.55, Z:0.10 [[ 9.90579316e-01 -1.36847089e-01 -5.04912920e-03 2.20779738e+01] [ 1.36846852e-01 9.90592138e-01 -3.94047252e-04 2.55150732e+00] [ 5.05555191e-03 -3.00622382e-04 9.99987175e-01 9.57468954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391418 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:22.11, Y:2.55, Z:0.10 [[ 9.90486691e-01 -1.37515893e-01 -5.04924424e-03 2.21110278e+01] [ 1.37515672e-01 9.90499513e-01 -3.92567567e-04 2.55393529e+00] [ 5.05525825e-03 -3.05517267e-04 9.99987175e-01 1.00229141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:22.14, Y:2.56, Z:0.10 [[ 9.90427263e-01 -1.37943248e-01 -5.04937105e-03 2.21436615e+01] [ 1.37943041e-01 9.90440086e-01 -3.90929677e-04 2.55584659e+00] [ 5.05502561e-03 -3.09338186e-04 9.99987175e-01 9.98050511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:22.17, Y:2.56, Z:0.10 [[ 9.90115779e-01 -1.40161504e-01 -5.04949811e-03 2.21747324e+01] [ 1.40161334e-01 9.90128602e-01 -3.89281536e-04 2.55762077e+00] [ 5.05421479e-03 -3.22310600e-04 9.99987175e-01 1.03844877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:22.21, Y:2.56, Z:0.10 [[ 9.90122915e-01 -1.40111080e-01 -5.04960011e-03 2.22081808e+01] [ 1.40110916e-01 9.90135739e-01 -3.87953994e-04 2.55916746e+00] [ 5.05414618e-03 -3.23381957e-04 9.99987175e-01 1.04448770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:22.24, Y:2.56, Z:0.10 [[ 9.90096395e-01 -1.40298356e-01 -5.04972203e-03 2.22416522e+01] [ 1.40298202e-01 9.90109219e-01 -3.86360418e-04 2.56018459e+00] [ 5.05398207e-03 -3.25932865e-04 9.99987175e-01 1.03060970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:22.27, Y:2.56, Z:0.10 [[ 9.89940759e-01 -1.41392334e-01 -5.04984452e-03 2.22736157e+01] [ 1.41392203e-01 9.89953583e-01 -3.84752712e-04 2.56074258e+00] [ 5.05351277e-03 -3.33126252e-04 9.99987175e-01 1.02836861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:22.31, Y:2.56, Z:0.10 [[ 9.89905467e-01 -1.41639207e-01 -5.04995814e-03 2.23054293e+01] [ 1.41639087e-01 9.89918291e-01 -3.83255724e-04 2.56311833e+00] [ 5.05332996e-03 -3.35884523e-04 9.99987175e-01 1.03920989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:22.34, Y:2.57, Z:0.11 [[ 9.89830248e-01 -1.42163907e-01 -5.05003285e-03 2.23372986e+01] [ 1.42163799e-01 9.89843072e-01 -3.82268706e-04 2.56603346e+00] [ 5.05308484e-03 -3.39550727e-04 9.99987175e-01 1.07673506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:22.37, Y:2.57, Z:0.11 [[ 9.89853344e-01 -1.42003006e-01 -5.05006259e-03 2.23697067e+01] [ 1.42002898e-01 9.89866168e-01 -3.81875361e-04 2.56832978e+00] [ 5.05311356e-03 -3.39122919e-04 9.99987175e-01 1.09552921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:22.40, Y:2.57, Z:0.11 [[ 9.89850485e-01 -1.42022936e-01 -5.05009211e-03 2.24010644e+01] [ 1.42022830e-01 9.89863309e-01 -3.81484564e-04 2.56811897e+00] [ 5.05308045e-03 -3.39615694e-04 9.99987175e-01 1.11478976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:22.43, Y:2.57, Z:0.11 [[ 9.89784774e-01 -1.42480165e-01 -5.05018661e-03 2.24338705e+01] [ 1.42480071e-01 9.89797598e-01 -3.80229514e-04 2.56910079e+00] [ 5.05283774e-03 -3.43205563e-04 9.99987175e-01 1.12308490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:22.47, Y:2.57, Z:0.11 [[ 9.89634595e-01 -1.43519555e-01 -5.05030770e-03 2.24658599e+01] [ 1.43519482e-01 9.89647419e-01 -3.78614294e-04 2.56884697e+00] [ 5.05236254e-03 -3.50127743e-04 9.99987175e-01 1.10972610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:22.50, Y:2.57, Z:0.11 [[ 9.89629582e-01 -1.43554113e-01 -5.05041986e-03 2.24993059e+01] [ 1.43554049e-01 9.89642407e-01 -3.77112237e-04 2.57070654e+00] [ 5.05224567e-03 -3.51806791e-04 9.99987175e-01 1.10970425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:22.53, Y:2.57, Z:0.11 [[ 9.89698448e-01 -1.43078557e-01 -5.05054053e-03 2.25322509e+01] [ 1.43078495e-01 9.89711273e-01 -3.75489053e-04 2.57251123e+00] [ 5.05230133e-03 -3.51002805e-04 9.99987175e-01 1.11343372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:22.56, Y:2.57, Z:0.11 [[ 9.89948733e-01 -1.41336467e-01 -5.05066363e-03 2.25646991e+01] [ 1.41336391e-01 9.89961557e-01 -3.73825928e-04 2.57393206e+00] [ 5.05279807e-03 -3.43774066e-04 9.99987175e-01 1.09678150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:22.60, Y:2.58, Z:0.11 [[ 9.90286354e-01 -1.38951170e-01 -5.05077051e-03 2.25981799e+01] [ 1.38951070e-01 9.90299178e-01 -3.72376230e-04 2.57511747e+00] [ 5.05351600e-03 -3.33050867e-04 9.99987175e-01 1.07813666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:22.63, Y:2.58, Z:0.11 [[ 9.90332009e-01 -1.38625393e-01 -5.05089227e-03 2.26317086e+01] [ 1.38625297e-01 9.90344834e-01 -3.70717292e-04 2.57743413e+00] [ 5.05351590e-03 -3.33048242e-04 9.99987175e-01 1.07983409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:22.66, Y:2.58, Z:0.11 [[ 9.90612858e-01 -1.36604000e-01 -5.05101368e-03 2.26637233e+01] [ 1.36603886e-01 9.90625682e-01 -3.69055708e-04 2.57962505e+00] [ 5.05407835e-03 -3.24396768e-04 9.99987175e-01 1.07991926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:22.70, Y:2.58, Z:0.11 [[ 9.90885860e-01 -1.34609426e-01 -5.05112601e-03 2.26970267e+01] [ 1.34609295e-01 9.90898684e-01 -3.67511752e-04 2.58385024e+00] [ 5.05462467e-03 -3.15766313e-04 9.99987175e-01 1.12877913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:22.73, Y:2.59, Z:0.11 [[ 9.91217617e-01 -1.32144317e-01 -5.05124546e-03 2.27303932e+01] [ 1.32144163e-01 9.91230441e-01 -3.65862570e-04 2.58558116e+00] [ 5.05529492e-03 -3.04843176e-04 9.99987175e-01 1.12445548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:22.76, Y:2.59, Z:0.12 [[ 9.91574838e-01 -1.29436564e-01 -5.05136474e-03 2.27616716e+01] [ 1.29436383e-01 9.91587661e-01 -3.64208190e-04 2.58887000e+00] [ 5.05601281e-03 -2.92690702e-04 9.99987175e-01 1.16978619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:22.79, Y:2.59, Z:0.12 [[ 9.91974095e-01 -1.26340327e-01 -5.05146015e-03 2.27948461e+01] [ 1.26340113e-01 9.91986917e-01 -3.62880159e-04 2.59048165e+00] [ 5.05682878e-03 -2.78234327e-04 9.99987175e-01 1.15598547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391418 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:22.83, Y:2.59, Z:0.12 [[ 9.92184406e-01 -1.24677932e-01 -5.05157436e-03 2.28277036e+01] [ 1.24677704e-01 9.92197228e-01 -3.61283152e-04 2.59323323e+00] [ 5.05720212e-03 -2.71359183e-04 9.99987175e-01 1.16175183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274391418 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:22.86, Y:2.60, Z:0.12 [[ 9.92472761e-01 -1.22361345e-01 -5.05168828e-03 2.28600915e+01] [ 1.22361095e-01 9.92485583e-01 -3.59683252e-04 2.59657246e+00] [ 5.05773911e-03 -2.61154281e-04 9.99987175e-01 1.15396668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:22.89, Y:2.60, Z:0.12 [[ 9.92537768e-01 -1.21832910e-01 -5.05179382e-03 2.28921699e+01] [ 1.21832661e-01 9.92550590e-01 -3.58194709e-04 2.59929970e+00] [ 5.05780084e-03 -2.59951705e-04 9.99987175e-01 1.16285158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:22.93, Y:2.60, Z:0.12 [[ 9.92418165e-01 -1.22803354e-01 -5.05189692e-03 2.29254674e+01] [ 1.22803125e-01 9.92430988e-01 -3.56734622e-04 2.60211851e+00] [ 5.05746726e-03 -2.66358809e-04 9.99987175e-01 1.17200202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:22.96, Y:2.60, Z:0.12 [[ 9.92275298e-01 -1.23952448e-01 -5.05200497e-03 2.29583172e+01] [ 1.23952242e-01 9.92288121e-01 -3.55197796e-04 2.60418639e+00] [ 5.05707216e-03 -2.73753343e-04 9.99987175e-01 1.19227804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:22.99, Y:2.61, Z:0.12 [[ 9.92042410e-01 -1.25802751e-01 -5.05211667e-03 2.29906412e+01] [ 1.25802577e-01 9.92055234e-01 -3.53601941e-04 2.60574144e+00] [ 5.05646288e-03 -2.84781174e-04 9.99987175e-01 1.19797637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:23.02, Y:2.61, Z:0.12 [[ 9.91974819e-01 -1.26334608e-01 -5.05222011e-03 2.30235507e+01] [ 1.26334448e-01 9.91987643e-01 -3.52117727e-04 2.60856446e+00] [ 5.05622458e-03 -2.88977520e-04 9.99987175e-01 1.20370826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454391418 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:23.06, Y:2.61, Z:0.12 [[ 9.91993043e-01 -1.26191429e-01 -5.05233345e-03 2.30568352e+01] [ 1.26191275e-01 9.92005867e-01 -3.50483938e-04 2.61136922e+00] [ 5.05617249e-03 -2.89882772e-04 9.99987175e-01 1.18789449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:23.09, Y:2.62, Z:0.12 [[ 9.91896958e-01 -1.26944462e-01 -5.05244620e-03 2.30895333e+01] [ 1.26944327e-01 9.91909782e-01 -3.48851035e-04 2.61522249e+00] [ 5.05585551e-03 -2.95355099e-04 9.99987175e-01 1.19666649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:23.12, Y:2.62, Z:0.12 [[ 9.91978554e-01 -1.26305263e-01 -5.05256029e-03 2.31193558e+01] [ 1.26305127e-01 9.91991378e-01 -3.47190596e-04 2.61800129e+00] [ 5.05594825e-03 -2.93758647e-04 9.99987175e-01 1.19550912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:23.15, Y:2.62, Z:0.12 [[ 9.91724995e-01 -1.28281012e-01 -5.05138854e-03 2.31524526e+01] [ 1.28280815e-01 9.91737818e-01 -3.64280124e-04 2.62017708e+00] [ 5.05638327e-03 -2.86730537e-04 9.99987175e-01 1.18365199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574391418 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:23.18, Y:2.62, Z:0.12 [[ 9.91568985e-01 -1.29481341e-01 -5.05269069e-03 2.31848015e+01] [ 1.29481256e-01 9.91581810e-01 -3.45221749e-04 2.62163550e+00] [ 5.05485596e-03 -3.11917559e-04 9.99987175e-01 1.18435777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:23.22, Y:2.62, Z:0.12 [[ 9.91510917e-01 -1.29925247e-01 -5.05279351e-03 2.32160223e+01] [ 1.29925176e-01 9.91523742e-01 -3.43710228e-04 2.62346826e+00] [ 5.05462137e-03 -3.15692644e-04 9.99987175e-01 1.15152631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634391418 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:23.25, Y:2.63, Z:0.12 [[ 9.91223959e-01 -1.32096727e-01 -5.05155252e-03 2.32492901e+01] [ 1.32096592e-01 9.91236783e-01 -3.62007922e-04 2.62768965e+00] [ 5.05510473e-03 -3.08461944e-04 9.99987175e-01 1.20276492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391418 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:23.28, Y:2.63, Z:0.12 [[ 9.91138465e-01 -1.32736618e-01 -5.05299332e-03 2.32825234e+01] [ 1.32736598e-01 9.91151290e-01 -3.40634947e-04 2.63187075e+00] [ 5.05349558e-03 -3.33100747e-04 9.99987176e-01 1.23117772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694391418 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:23.32, Y:2.64, Z:0.12 [[ 9.91199786e-01 -1.32277929e-01 -5.05309908e-03 2.33151585e+01] [ 1.32277912e-01 9.91212610e-01 -3.39058870e-04 2.63507636e+00] [ 5.05354553e-03 -3.32338314e-04 9.99987176e-01 1.23346619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:23.35, Y:2.64, Z:0.12 [[ 9.91196858e-01 -1.32299860e-01 -5.05320341e-03 2.33476248e+01] [ 1.32299851e-01 9.91209683e-01 -3.37496719e-04 2.63783749e+00] [ 5.05343492e-03 -3.34012372e-04 9.99987176e-01 1.23901647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754391418 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:23.38, Y:2.64, Z:0.12 [[ 9.91191880e-01 -1.32337153e-01 -5.05330016e-03 2.33803623e+01] [ 1.32337152e-01 9.91204704e-01 -3.36041903e-04 2.63943541e+00] [ 5.05332571e-03 -3.35657344e-04 9.99987176e-01 1.21792653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:23.41, Y:2.64, Z:0.12 [[ 9.91096685e-01 -1.33048207e-01 -5.05333852e-03 2.34128656e+01] [ 1.33048218e-01 9.91109509e-01 -3.35464021e-04 2.64246568e+00] [ 5.05304475e-03 -3.39860405e-04 9.99987176e-01 1.21420138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:23.45, Y:2.65, Z:0.12 [[ 9.90987449e-01 -1.33859402e-01 -5.05344356e-03 2.34450771e+01] [ 1.33859432e-01 9.91000273e-01 -3.33874063e-04 2.64631511e+00] [ 5.05265613e-03 -3.45586079e-04 9.99987176e-01 1.22621391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:23.48, Y:2.65, Z:0.12 [[ 9.90923837e-01 -1.34329489e-01 -5.05354083e-03 2.34778917e+01] [ 1.34329532e-01 9.90936661e-01 -3.32395326e-04 2.64984048e+00] [ 5.05238937e-03 -3.49461325e-04 9.99987176e-01 1.23086958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:23.51, Y:2.65, Z:0.12 [[ 9.90793023e-01 -1.35290969e-01 -5.05364759e-03 2.35097963e+01] [ 1.35291034e-01 9.90805847e-01 -3.30764091e-04 2.65232726e+00] [ 5.05193298e-03 -3.55994452e-04 9.99987176e-01 1.23462160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:23.54, Y:2.65, Z:0.12 [[ 9.90663693e-01 -1.36234746e-01 -5.05374644e-03 2.35420509e+01] [ 1.36234830e-01 9.90676518e-01 -3.29246854e-04 2.65358153e+00] [ 5.05148279e-03 -3.62323384e-04 9.99987176e-01 1.21689805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:23.58, Y:2.66, Z:0.12 [[ 9.90497430e-01 -1.37438346e-01 -5.05383798e-03 2.35751803e+01] [ 1.37438453e-01 9.90510254e-01 -3.27835697e-04 2.65524799e+00] [ 5.05093554e-03 -3.69871258e-04 9.99987176e-01 1.21296963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:23.61, Y:2.66, Z:0.12 [[ 9.90324905e-01 -1.38676031e-01 -5.05387440e-03 2.36072032e+01] [ 1.38676157e-01 9.90337728e-01 -3.27273312e-04 2.65758853e+00] [ 5.05042746e-03 -3.76744968e-04 9.99987176e-01 1.22653435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:23.64, Y:2.66, Z:0.12 [[ 9.90091226e-01 -1.40334681e-01 -5.05393425e-03 2.36404717e+01] [ 1.40334833e-01 9.90104049e-01 -3.26346427e-04 2.66201420e+00] [ 5.04971849e-03 -3.86130284e-04 9.99987176e-01 1.22135989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:23.67, Y:2.67, Z:0.12 [[ 9.90006496e-01 -1.40931169e-01 -5.05404286e-03 2.36720972e+01] [ 1.40931337e-01 9.90019319e-01 -3.24655604e-04 2.66531096e+00] [ 5.04935417e-03 -3.90861860e-04 9.99987176e-01 1.23454189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:23.71, Y:2.67, Z:0.12 [[ 9.90048911e-01 -1.40632888e-01 -5.05414331e-03 2.37052617e+01] [ 1.40633060e-01 9.90061734e-01 -3.23084245e-04 2.66762297e+00] [ 5.04935016e-03 -3.90910437e-04 9.99987176e-01 1.23510177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:23.74, Y:2.67, Z:0.13 [[ 9.89960915e-01 -1.41250988e-01 -5.05425038e-03 2.37368330e+01] [ 1.41251177e-01 9.89973738e-01 -3.21400437e-04 2.66986783e+00] [ 5.04897328e-03 -3.95744946e-04 9.99987176e-01 1.27242645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:23.77, Y:2.67, Z:0.12 [[ 9.89981225e-01 -1.41108568e-01 -5.05434944e-03 2.37702053e+01] [ 1.41108762e-01 9.89994048e-01 -3.19835150e-04 2.67094260e+00] [ 5.04890734e-03 -3.96582200e-04 9.99987176e-01 1.24647638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:23.80, Y:2.67, Z:0.13 [[ 9.90055579e-01 -1.40585928e-01 -5.05445342e-03 2.38034152e+01] [ 1.40586124e-01 9.90068402e-01 -3.18183288e-04 2.67342056e+00] [ 5.04898671e-03 -3.95566877e-04 9.99987176e-01 1.27816614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:23.83, Y:2.68, Z:0.13 [[ 9.90357608e-01 -1.38442261e-01 -5.05455751e-03 2.38349578e+01] [ 1.38442439e-01 9.90370431e-01 -3.16521016e-04 2.67720409e+00] [ 5.04970419e-03 -3.86296272e-04 9.99987176e-01 1.27808002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391418 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:23.87, Y:2.68, Z:0.13 [[ 9.90609605e-01 -1.36627454e-01 -5.05462187e-03 2.38680393e+01] [ 1.36627613e-01 9.90622428e-01 -3.15489995e-04 2.68045947e+00] [ 5.05032638e-03 -3.78073502e-04 9.99987176e-01 1.29235267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234391418 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:23.90, Y:2.68, Z:0.13 [[ 9.90888564e-01 -1.34589389e-01 -5.05472440e-03 2.39010901e+01] [ 1.34589530e-01 9.90901388e-01 -3.13838517e-04 2.68319181e+00] [ 5.05097276e-03 -3.69333986e-04 9.99987176e-01 1.27476348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:23.93, Y:2.69, Z:0.13 [[ 9.91000293e-01 -1.33764223e-01 -5.05482577e-03 2.39312608e+01] [ 1.33764362e-01 9.91013117e-01 -3.12197247e-04 2.68602132e+00] [ 5.05115947e-03 -3.66767980e-04 9.99987176e-01 1.29739049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294391418 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:23.96, Y:2.69, Z:0.13 [[ 9.91128966e-01 -1.32807518e-01 -5.05332614e-03 2.39641033e+01] [ 1.32807521e-01 9.91141791e-01 -3.36434796e-04 2.68701891e+00] [ 5.05324379e-03 -3.37669446e-04 9.99987175e-01 1.28824792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:24.00, Y:2.69, Z:0.13 [[ 9.91246035e-01 -1.31930841e-01 -5.05487655e-03 2.39969842e+01] [ 1.31930961e-01 9.91258859e-01 -3.11255777e-04 2.68792804e+00] [ 5.05175539e-03 -3.58363666e-04 9.99987176e-01 1.25382427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:24.03, Y:2.69, Z:0.12 [[ 9.91264327e-01 -1.31793327e-01 -5.05497471e-03 2.40297330e+01] [ 1.31793453e-01 9.91277151e-01 -3.09653300e-04 2.68918154e+00] [ 5.05169117e-03 -3.59264304e-04 9.99987176e-01 1.24797214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:24.06, Y:2.69, Z:0.13 [[ 9.91246454e-01 -1.31927685e-01 -5.05507299e-03 2.40628483e+01] [ 1.31927820e-01 9.91259278e-01 -3.08040580e-04 2.69132298e+00] [ 5.05152708e-03 -3.61560629e-04 9.99987176e-01 1.27115191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:24.09, Y:2.69, Z:0.13 [[ 9.91247646e-01 -1.31918721e-01 -5.05517149e-03 2.40947949e+01] [ 1.31918865e-01 9.91260470e-01 -3.06415450e-04 2.69471559e+00] [ 5.05141360e-03 -3.63138889e-04 9.99987176e-01 1.26488142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:24.12, Y:2.70, Z:0.13 [[ 9.91040066e-01 -1.33469220e-01 -5.05526268e-03 2.41222870e+01] [ 1.33469392e-01 9.91052889e-01 -3.04903593e-04 2.70017981e+00] [ 5.05072793e-03 -3.72551158e-04 9.99987176e-01 1.27561612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:24.15, Y:2.70, Z:0.13 [[ 9.91184255e-01 -1.32394323e-01 -5.05139608e-03 2.41537567e+01] [ 1.32394156e-01 9.91197080e-01 -3.68901698e-04 2.70177827e+00] [ 5.05576953e-03 -3.03125766e-04 9.99987174e-01 1.30023223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:24.19, Y:2.70, Z:0.13 [[ 9.91565987e-01 -1.29504343e-01 -5.05154536e-03 2.41904128e+01] [ 1.29504151e-01 9.91578812e-01 -3.66417788e-04 2.69907637e+00] [ 5.05645804e-03 -2.90868678e-04 9.99987174e-01 1.26289434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:24.22, Y:2.70, Z:0.13 [[ 9.91370782e-01 -1.30990134e-01 -5.05544722e-03 2.42181868e+01] [ 1.30990294e-01 9.91383605e-01 -3.00852085e-04 2.70291531e+00] [ 5.05129614e-03 -3.63958552e-04 9.99987176e-01 1.28710620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:24.25, Y:2.70, Z:0.13 [[ 9.91328225e-01 -1.31311930e-01 -5.05243858e-03 2.42498686e+01] [ 1.31311839e-01 9.91341050e-01 -3.51311979e-04 2.70484249e+00] [ 5.05482122e-03 -3.15179519e-04 9.99987175e-01 1.28590992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:24.28, Y:2.71, Z:0.13 [[ 9.91290108e-01 -1.31599361e-01 -5.05279019e-03 2.42843803e+01] [ 1.31599303e-01 9.91302933e-01 -3.45389634e-04 2.70524949e+00] [ 5.05429879e-03 -3.22562342e-04 9.99987175e-01 1.30009780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:24.32, Y:2.71, Z:0.13 [[ 9.91292574e-01 -1.31580672e-01 -5.05561923e-03 2.43169932e+01] [ 1.31580858e-01 9.91305397e-01 -2.97277974e-04 2.70737028e+00] [ 5.05077866e-03 -3.70533268e-04 9.99987176e-01 1.34323579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:24.35, Y:2.71, Z:0.13 [[ 9.91318600e-01 -1.31384445e-01 -5.05571168e-03 2.43497023e+01] [ 1.31384637e-01 9.91331423e-01 -2.95697236e-04 2.70766122e+00] [ 5.05073588e-03 -3.71112673e-04 9.99987176e-01 1.33297037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:24.38, Y:2.71, Z:0.13 [[ 9.91246667e-01 -1.31926052e-01 -5.05580315e-03 2.43824263e+01] [ 1.31926258e-01 9.91259490e-01 -2.94124998e-04 2.70792211e+00] [ 5.05041560e-03 -3.75442768e-04 9.99987176e-01 1.33682289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714391417999998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:24.42, Y:2.71, Z:0.13 [[ 9.91158497e-01 -1.32586849e-01 -5.05589402e-03 2.44155518e+01] [ 1.32587072e-01 9.91171319e-01 -2.92554638e-04 2.70671185e+00] [ 5.05004604e-03 -3.80378169e-04 9.99987176e-01 1.32887485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:24.45, Y:2.71, Z:0.13 [[ 9.91148587e-01 -1.32660908e-01 -5.05598500e-03 2.44478385e+01] [ 1.32661140e-01 9.91161408e-01 -2.90973814e-04 2.70736389e+00] [ 5.04989806e-03 -3.82334448e-04 9.99987176e-01 1.28482884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:24.48, Y:2.71, Z:0.13 [[ 9.90995545e-01 -1.33799350e-01 -5.05606908e-03 2.44794836e+01] [ 1.33799604e-01 9.91008366e-01 -2.89505280e-04 2.71013063e+00] [ 5.04934238e-03 -3.89601597e-04 9.99987176e-01 1.30551745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:24.51, Y:2.71, Z:0.13 [[ 9.91082523e-01 -1.33153549e-01 -5.05615091e-03 2.45123747e+01] [ 1.33153802e-01 9.91095345e-01 -2.88068965e-04 2.71158950e+00] [ 5.04948504e-03 -3.87745600e-04 9.99987176e-01 1.29514285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:24.54, Y:2.71, Z:0.13 [[ 9.91153833e-01 -1.32621691e-01 -5.05624056e-03 2.45446669e+01] [ 1.32621945e-01 9.91166655e-01 -2.86486764e-04 2.71272234e+00] [ 5.04957140e-03 -3.86616003e-04 9.99987176e-01 1.30482648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:24.58, Y:2.71, Z:0.13 [[ 9.91357740e-01 -1.31088770e-01 -5.05632342e-03 2.45782325e+01] [ 1.31089012e-01 9.91370561e-01 -2.85016742e-04 2.71242301e+00] [ 5.05005269e-03 -3.80274889e-04 9.99987176e-01 1.29851543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:24.61, Y:2.71, Z:0.13 [[ 9.91416815e-01 -1.30641236e-01 -5.05641439e-03 2.46101524e+01] [ 1.30641480e-01 9.91429636e-01 -2.83393705e-04 2.71308217e+00] [ 5.05010198e-03 -3.79616175e-04 9.99987176e-01 1.26851246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:24.64, Y:2.72, Z:0.13 [[ 9.91361650e-01 -1.31059192e-01 -5.05647059e-03 2.46433071e+01] [ 1.31059447e-01 9.91374471e-01 -2.82387397e-04 2.71557812e+00] [ 5.04986532e-03 -3.82750204e-04 9.99987176e-01 1.30461244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:24.68, Y:2.72, Z:0.13 [[ 9.91403022e-01 -1.30745859e-01 -5.05655925e-03 2.46768764e+01] [ 1.30746118e-01 9.91415843e-01 -2.80790783e-04 2.71728492e+00] [ 5.04986518e-03 -3.82748660e-04 9.99987176e-01 1.30630992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391418 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:24.71, Y:2.72, Z:0.13 [[ 9.91421622e-01 -1.30604741e-01 -5.05664749e-03 2.47091899e+01] [ 1.30605006e-01 9.91434443e-01 -2.79192614e-04 2.71955651e+00] [ 5.04979837e-03 -3.83625881e-04 9.99987176e-01 1.29256316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014391418 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:24.74, Y:2.72, Z:0.13 [[ 9.91560343e-01 -1.29547347e-01 -5.05672907e-03 2.47422836e+01] [ 1.29547605e-01 9.91573165e-01 -2.77707076e-04 2.72067350e+00] [ 5.05009306e-03 -3.79723820e-04 9.99987176e-01 1.26419935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391418 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:24.77, Y:2.72, Z:0.13 [[ 9.91558979e-01 -1.29557787e-01 -5.05681497e-03 2.47745455e+01] [ 1.29558054e-01 9.91571800e-01 -2.76134096e-04 2.72255882e+00] [ 5.04997044e-03 -3.81347863e-04 9.99987176e-01 1.28563028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074391418 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:24.81, Y:2.72, Z:0.12 [[ 9.91821959e-01 -1.27528937e-01 -5.05689435e-03 2.48076367e+01] [ 1.27529185e-01 9.91834780e-01 -2.74672564e-04 2.72199897e+00] [ 5.05063240e-03 -3.72475335e-04 9.99987176e-01 1.22992715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391418 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:24.84, Y:2.72, Z:0.12 [[ 9.91980009e-01 -1.26293662e-01 -5.05697953e-03 2.48406334e+01] [ 1.26293903e-01 9.91992830e-01 -2.73095277e-04 2.72355023e+00] [ 5.05097764e-03 -3.67760625e-04 9.99987176e-01 1.22262655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134391418 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:24.87, Y:2.73, Z:0.12 [[ 9.92136040e-01 -1.25061999e-01 -5.05706405e-03 2.48727100e+01] [ 1.25062231e-01 9.92148862e-01 -2.71521166e-04 2.72603184e+00] [ 5.05131732e-03 -3.63061777e-04 9.99987176e-01 1.23531177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:24.91, Y:2.73, Z:0.13 [[ 9.92454479e-01 -1.22509319e-01 -5.05711630e-03 2.49057421e+01] [ 1.22509523e-01 9.92467301e-01 -2.70544431e-04 2.73039755e+00] [ 5.05216678e-03 -3.51041874e-04 9.99987176e-01 1.25123915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194391418 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:24.94, Y:2.73, Z:0.12 [[ 9.92723556e-01 -1.20309458e-01 -5.05719795e-03 2.49385777e+01] [ 1.20309642e-01 9.92736379e-01 -2.69009479e-04 2.73273728e+00] [ 5.05282876e-03 -3.41377626e-04 9.99987176e-01 1.24073985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391418 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:24.97, Y:2.74, Z:0.12 [[ 9.93152430e-01 -1.16716216e-01 -5.05727896e-03 2.49664665e+01] [ 1.16716361e-01 9.93165253e-01 -2.67477723e-04 2.73539581e+00] [ 5.05393273e-03 -3.24621047e-04 9.99987176e-01 1.24562405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254391418 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:25.00, Y:2.74, Z:0.12 [[ 9.93140934e-01 -1.16814118e-01 -5.05433228e-03 2.50009880e+01] [ 1.16813982e-01 9.93153759e-01 -3.23125610e-04 2.73702740e+00] [ 5.05747474e-03 -2.69507408e-04 9.99987175e-01 1.21245823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:25.03, Y:2.74, Z:0.13 [[ 9.93610323e-01 -1.12751714e-01 -5.05735541e-03 2.50286427e+01] [ 1.12751817e-01 9.93623146e-01 -2.65551128e-04 2.73789808e+00] [ 5.05504674e-03 -3.06371671e-04 9.99987176e-01 1.26471235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314391418 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:25.06, Y:2.74, Z:0.12 [[ 9.93332330e-01 -1.15175262e-01 -5.05385710e-03 2.50639555e+01] [ 1.15175060e-01 9.93345154e-01 -3.32020327e-04 2.74079818e+00] [ 5.05846499e-03 -2.52271770e-04 9.99987174e-01 1.16754036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:25.09, Y:2.74, Z:0.12 [[ 9.93939824e-01 -1.09809148e-01 -5.05742090e-03 2.50908584e+01] [ 1.09809223e-01 9.93952647e-01 -2.63661664e-04 2.74193796e+00] [ 5.05578935e-03 -2.93287633e-04 9.99987176e-01 1.17108288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:25.12, Y:2.74, Z:0.12 [[ 9.94029567e-01 -1.08993972e-01 -5.05317404e-03 2.51236544e+01] [ 1.08993626e-01 9.94042389e-01 -3.44649316e-04 2.74371312e+00] [ 5.06063389e-03 -2.08172150e-04 9.99987173e-01 1.17500413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391418 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:25.16, Y:2.75, Z:0.11 [[ 9.93706943e-01 -1.11897162e-01 -5.05338791e-03 2.51585910e+01] [ 1.11896875e-01 9.93719766e-01 -3.40533783e-04 2.74689859e+00] [ 5.05975622e-03 -2.27067529e-04 9.99987174e-01 1.13408882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:25.19, Y:2.75, Z:0.11 [[ 9.93898868e-01 -1.10179220e-01 -5.05757129e-03 2.51917728e+01] [ 1.10179325e-01 9.93911691e-01 -2.58771966e-04 2.75011211e+00] [ 5.05529053e-03 -3.00046626e-04 9.99987177e-01 1.12449856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:25.22, Y:2.75, Z:0.11 [[ 9.93970628e-01 -1.09529951e-01 -5.05765506e-03 2.52238551e+01] [ 1.09530055e-01 9.93983451e-01 -2.57124201e-04 2.75264769e+00] [ 5.05538823e-03 -2.98391335e-04 9.99987177e-01 1.13689096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:25.26, Y:2.76, Z:0.11 [[ 9.94142987e-01 -1.07954348e-01 -5.05770682e-03 2.52556998e+01] [ 1.07954437e-01 9.94155810e-01 -2.56102107e-04 2.75584055e+00] [ 5.05579595e-03 -2.91399779e-04 9.99987177e-01 1.13184593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:25.29, Y:2.76, Z:0.11 [[ 9.94263803e-01 -1.06835901e-01 -5.05778277e-03 2.52872110e+01] [ 1.06835983e-01 9.94276625e-01 -2.54593289e-04 2.75872120e+00] [ 5.05603488e-03 -2.87220303e-04 9.99987177e-01 1.08911703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:25.32, Y:2.76, Z:0.11 [[ 9.94296813e-01 -1.06528237e-01 -5.05785212e-03 2.53207905e+01] [ 1.06528323e-01 9.94309636e-01 -2.53207890e-04 2.76024248e+00] [ 5.05604489e-03 -2.87040706e-04 9.99987177e-01 1.09081498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:25.35, Y:2.76, Z:0.11 [[ 9.94319700e-01 -1.06314397e-01 -5.05792999e-03 2.53540477e+01] [ 1.06314488e-01 9.94332523e-01 -2.51642815e-04 2.76300015e+00] [ 5.05601754e-03 -2.87517829e-04 9.99987177e-01 1.09197853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614391418 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:25.39, Y:2.77, Z:0.11 [[ 9.94466422e-01 -1.04933080e-01 -5.05800681e-03 2.53870099e+01] [ 1.04933161e-01 9.94479245e-01 -2.50089192e-04 2.76722438e+00] [ 5.05632542e-03 -2.82047338e-04 9.99987177e-01 1.06792017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:25.42, Y:2.77, Z:0.11 [[ 9.94604444e-01 -1.03616674e-01 -5.05809009e-03 2.54188264e+01] [ 1.03616747e-01 9.94617267e-01 -2.48393315e-04 2.76967354e+00] [ 5.05660143e-03 -2.77049745e-04 9.99987177e-01 1.07670133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:25.45, Y:2.77, Z:0.11 [[ 9.94829058e-01 -1.01437465e-01 -5.05816689e-03 2.54506386e+01] [ 1.01437518e-01 9.94841881e-01 -2.46819398e-04 2.77293607e+00] [ 5.05711300e-03 -2.67544784e-04 9.99987177e-01 1.06882346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:25.48, Y:2.78, Z:0.11 [[ 9.94998970e-01 -9.97570227e-02 -5.05823741e-03 2.54837496e+01] [ 9.97570609e-02 9.95011793e-01 -2.45365664e-04 2.77561019e+00] [ 5.05748282e-03 -2.60456314e-04 9.99987177e-01 1.06929663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:25.52, Y:2.78, Z:0.11 [[ 9.95185113e-01 -9.78826041e-02 -5.05831152e-03 2.55170603e+01] [ 9.78826260e-02 9.95197936e-01 -2.43828146e-04 2.77873862e+00] [ 5.05788772e-03 -2.52466673e-04 9.99987177e-01 1.06182670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:25.55, Y:2.78, Z:0.11 [[ 9.95363738e-01 -9.60491668e-02 -5.05839008e-03 2.55505196e+01] [ 9.60491734e-02 9.95376561e-01 -2.42187331e-04 2.78229369e+00] [ 5.05826481e-03 -2.44789699e-04 9.99987177e-01 1.05501927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:25.58, Y:2.79, Z:0.11 [[ 9.95696300e-01 -9.25380456e-02 -5.05846888e-03 2.55819217e+01] [ 9.25380153e-02 9.95709123e-01 -2.40530150e-04 2.78846049e+00] [ 5.05902180e-03 -2.28605690e-04 9.99987177e-01 1.06263155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:25.61, Y:2.79, Z:0.11 [[ 9.95888873e-01 -9.04420418e-02 -5.05854159e-03 2.56147869e+01] [ 9.04419924e-02 9.95901696e-01 -2.38991116e-04 2.79168585e+00] [ 5.05942500e-03 -2.19495986e-04 9.99987177e-01 1.05930287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:25.65, Y:2.79, Z:0.10 [[ 9.96214862e-01 -8.67776388e-02 -5.05861730e-03 2.56480577e+01] [ 8.67775504e-02 9.96227685e-01 -2.37377716e-04 2.79468913e+00] [ 5.06013368e-03 -2.02495209e-04 9.99987177e-01 1.02695927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:25.68, Y:2.80, Z:0.10 [[ 9.96336538e-01 -8.53692761e-02 -5.05869236e-03 2.56806429e+01] [ 8.53691778e-02 9.96349360e-01 -2.35767193e-04 2.79742920e+00] [ 5.06035217e-03 -1.96952939e-04 9.99987177e-01 1.02401823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:25.71, Y:2.80, Z:0.10 [[ 9.96515612e-01 -8.32528946e-02 -5.05872110e-03 2.57134522e+01] [ 8.32527721e-02 9.96528434e-01 -2.35148887e-04 2.80038339e+00] [ 5.06073625e-03 -1.86823018e-04 9.99987177e-01 1.02564020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:25.75, Y:2.81, Z:0.10 [[ 9.96888803e-01 -7.86582642e-02 -5.05879657e-03 2.57450670e+01] [ 7.86580909e-02 9.96901625e-01 -2.33513932e-04 2.80615838e+00] [ 5.06149032e-03 -1.65127856e-04 9.99987177e-01 1.02199917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:25.78, Y:2.81, Z:0.10 [[ 9.97068313e-01 -7.63491109e-02 -5.05886622e-03 2.57771182e+01] [ 7.63489156e-02 9.97081135e-01 -2.31995158e-04 2.81018474e+00] [ 5.06181270e-03 -1.54923930e-04 9.99987177e-01 1.04152004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:25.81, Y:2.81, Z:0.10 [[ 9.97225121e-01 -7.42729129e-02 -5.05893210e-03 2.58096721e+01] [ 7.42726982e-02 9.97237942e-01 -2.30549687e-04 2.81382331e+00] [ 5.06208263e-03 -1.45830597e-04 9.99987177e-01 1.04374047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:25.84, Y:2.82, Z:0.10 [[ 9.97426650e-01 -7.15156312e-02 -5.05895931e-03 2.58428907e+01] [ 7.15153841e-02 9.97439470e-01 -2.29950920e-04 2.81776934e+00] [ 5.06245078e-03 -1.32434243e-04 9.99987177e-01 1.02946814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:25.87, Y:2.82, Z:0.10 [[ 9.97519420e-01 -7.02097793e-02 -5.05898699e-03 2.58748195e+01] [ 7.02095186e-02 9.97532241e-01 -2.29340390e-04 2.81992096e+00] [ 5.06260456e-03 -1.26417548e-04 9.99987177e-01 1.02993810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:25.91, Y:2.82, Z:0.10 [[ 9.97581852e-01 -6.93170544e-02 -5.05903236e-03 2.59078047e+01] [ 6.93167872e-02 9.97594673e-01 -2.28335101e-04 2.82367243e+00] [ 5.06269125e-03 -1.22892917e-04 9.99987177e-01 1.02927641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:25.94, Y:2.83, Z:0.10 [[ 9.97610586e-01 -6.89022897e-02 -5.05905912e-03 2.59411722e+01] [ 6.89020202e-02 9.97623406e-01 -2.27740724e-04 2.82652520e+00] [ 5.06272765e-03 -1.21382837e-04 9.99987177e-01 1.03742514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:25.97, Y:2.83, Z:0.10 [[ 9.97669931e-01 -6.80375906e-02 -5.05908570e-03 2.59737202e+01] [ 6.80373130e-02 9.97682751e-01 -2.27148730e-04 2.82927960e+00] [ 5.06281719e-03 -1.17587139e-04 9.99987177e-01 1.03550326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:26.01, Y:2.83, Z:0.11 [[ 9.97675787e-01 -6.79516672e-02 -5.05911199e-03 2.60055417e+01] [ 6.79513915e-02 9.97688607e-01 -2.26561714e-04 2.83282898e+00] [ 5.06281364e-03 -1.17738563e-04 9.99987177e-01 1.05678103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214391417999998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:26.04, Y:2.84, Z:0.10 [[ 9.97716575e-01 -6.73501316e-02 -5.05912938e-03 2.60388402e+01] [ 6.73498501e-02 9.97729395e-01 -2.26172694e-04 2.83685477e+00] [ 5.06287486e-03 -1.15075360e-04 9.99987177e-01 1.04229654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:26.07, Y:2.84, Z:0.10 [[ 9.97710792e-01 -6.74357540e-02 -5.05915692e-03 2.60716357e+01] [ 6.74354768e-02 9.97723612e-01 -2.25554920e-04 2.83934482e+00] [ 5.06285078e-03 -1.16128081e-04 9.99987177e-01 1.04602011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:26.10, Y:2.84, Z:0.10 [[ 9.97673261e-01 -6.79887338e-02 -5.05922935e-03 2.61048803e+01] [ 6.79884720e-02 9.97686082e-01 -2.23918438e-04 2.84208118e+00] [ 5.06274664e-03 -1.20571834e-04 9.99987177e-01 1.04166145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:26.14, Y:2.85, Z:0.10 [[ 9.97520139e-01 -7.01995360e-02 -5.05930119e-03 2.61368356e+01] [ 7.01993108e-02 9.97532961e-01 -2.22283320e-04 2.84592471e+00] [ 5.06242388e-03 -1.33427368e-04 9.99987177e-01 1.02458093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:26.17, Y:2.85, Z:0.10 [[ 9.97387364e-01 -7.20614233e-02 -5.05934556e-03 2.61693837e+01] [ 7.20612272e-02 9.97400186e-01 -2.21268728e-04 2.84828288e+00] [ 5.06213714e-03 -1.43892017e-04 9.99987177e-01 1.01620412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:26.20, Y:2.85, Z:0.10 [[ 9.97251591e-01 -7.39166162e-02 -5.05937184e-03 2.62025740e+01] [ 7.39164470e-02 9.97264413e-01 -2.20666202e-04 2.85060212e+00] [ 5.06184239e-03 -1.53911070e-04 9.99987177e-01 1.02673773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:26.23, Y:2.85, Z:0.10 [[ 9.97084577e-01 -7.61363763e-02 -5.05944298e-03 2.62345111e+01] [ 7.61362440e-02 9.97097400e-01 -2.19022966e-04 2.85399855e+00] [ 5.06143305e-03 -1.66822563e-04 9.99987177e-01 1.02210767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:26.27, Y:2.86, Z:0.10 [[ 9.97041827e-01 -7.66941812e-02 -5.05948697e-03 2.62675572e+01] [ 7.66940613e-02 9.97054649e-01 -2.18002089e-04 2.85691032e+00] [ 5.06130449e-03 -1.70675402e-04 9.99987177e-01 1.02323119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:26.30, Y:2.86, Z:0.10 [[ 9.97046793e-01 -7.66295933e-02 -5.05951301e-03 2.62994837e+01] [ 7.66294757e-02 9.97059615e-01 -2.17395869e-04 2.85952597e+00] [ 5.06129506e-03 -1.70953975e-04 9.99987177e-01 9.96024558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:26.33, Y:2.86, Z:0.10 [[ 9.97029416e-01 -7.68553530e-02 -5.05957680e-03 2.63327857e+01] [ 7.68552458e-02 9.97042238e-01 -2.15900939e-04 2.86434494e+00] [ 5.06120492e-03 -1.73595432e-04 9.99987177e-01 1.00775533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:26.37, Y:2.87, Z:0.10 [[ 9.97058906e-01 -7.64718108e-02 -5.05964393e-03 2.63662261e+01] [ 7.64717067e-02 9.97071729e-01 -2.14316172e-04 2.86718814e+00] [ 5.06121707e-03 -1.73233759e-04 9.99987177e-01 1.00022485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:26.40, Y:2.87, Z:0.10 [[ 9.97082574e-01 -7.61625860e-02 -5.05971037e-03 2.63979906e+01] [ 7.61624859e-02 9.97095397e-01 -2.12736111e-04 2.87132481e+00] [ 5.06121645e-03 -1.73244651e-04 9.99987177e-01 1.00023857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.43, Y:2.87, Z:0.10 [[ 9.97117945e-01 -7.56981038e-02 -5.05977170e-03 2.64306084e+01] [ 7.56980052e-02 9.97130767e-01 -2.11267261e-04 2.87399791e+00] [ 5.06124657e-03 -1.72356247e-04 9.99987177e-01 1.00959753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:26.46, Y:2.88, Z:0.10 [[ 9.97154005e-01 -7.52215892e-02 -5.05983622e-03 2.64631854e+01] [ 7.52214924e-02 9.97166828e-01 -2.09710375e-04 2.87686796e+00] [ 5.06127559e-03 -1.71494891e-04 9.99987177e-01 1.01586655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:26.50, Y:2.88, Z:0.10 [[ 9.97308063e-01 -7.31507008e-02 -5.05990211e-03 2.64961218e+01] [ 7.31505854e-02 9.97320885e-01 -2.08108317e-04 2.87957237e+00] [ 5.06156933e-03 -1.62586699e-04 9.99987177e-01 1.01421593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:26.53, Y:2.88, Z:0.10 [[ 9.97495905e-01 -7.05430044e-02 -5.05996897e-03 2.65279405e+01] [ 7.05428639e-02 9.97508728e-01 -2.06469992e-04 2.88246655e+00] [ 5.06192822e-03 -1.50991730e-04 9.99987177e-01 1.01390159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.56, Y:2.88, Z:0.10 [[ 9.97528387e-01 -7.00821935e-02 -5.06003065e-03 2.65597679e+01] [ 7.00820547e-02 9.97541209e-01 -2.04947025e-04 2.88397908e+00] [ 5.06195223e-03 -1.50176870e-04 9.99987177e-01 1.01891169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:26.59, Y:2.89, Z:0.10 [[ 9.97611046e-01 -6.88955490e-02 -5.06009069e-03 2.65917174e+01] [ 6.88954026e-02 9.97623868e-01 -2.03453797e-04 2.88551850e+00] [ 5.06208431e-03 -1.45649230e-04 9.99987177e-01 1.02054862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:26.62, Y:2.89, Z:0.10 [[ 9.97714233e-01 -6.73847461e-02 -5.06014684e-03 2.66248394e+01] [ 6.73845873e-02 9.97727055e-01 -2.02047577e-04 2.88643468e+00] [ 5.06226033e-03 -1.39390164e-04 9.99987177e-01 1.00517288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:26.66, Y:2.89, Z:0.10 [[ 9.97742812e-01 -6.69602505e-02 -5.06016917e-03 2.66574351e+01] [ 6.69600891e-02 9.97755634e-01 -2.01486700e-04 2.88768170e+00] [ 5.06230390e-03 -1.37797472e-04 9.99987177e-01 1.02253232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:26.69, Y:2.89, Z:0.10 [[ 9.97733071e-01 -6.71052467e-02 -5.06019324e-03 2.66899797e+01] [ 6.71050903e-02 9.97745893e-01 -2.00880479e-04 2.88756503e+00] [ 5.06226715e-03 -1.39139627e-04 9.99987177e-01 1.00411572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:26.72, Y:2.89, Z:0.10 [[ 9.97679704e-01 -6.78940558e-02 -5.06025209e-03 2.67231288e+01] [ 6.78939171e-02 9.97692526e-01 -1.99386810e-04 2.88856620e+00] [ 5.06211287e-03 -1.44636162e-04 9.99987177e-01 1.00537817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:26.76, Y:2.89, Z:0.10 [[ 9.97687781e-01 -6.77752495e-02 -5.06031454e-03 2.67566595e+01] [ 6.77751173e-02 9.97700604e-01 -1.97789010e-04 2.88975870e+00] [ 5.06208407e-03 -1.45631733e-04 9.99987177e-01 1.00707117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391418 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:26.79, Y:2.89, Z:0.10 [[ 9.97648048e-01 -6.83576300e-02 -5.06033802e-03 2.67892548e+01] [ 6.83575084e-02 9.97660870e-01 -1.97186448e-04 2.89009789e+00] [ 5.06198044e-03 -1.49189424e-04 9.99987177e-01 9.68005644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:26.82, Y:2.89, Z:0.10 [[ 9.97525372e-01 -7.01250620e-02 -5.06039546e-03 2.68216155e+01] [ 7.01249706e-02 9.97538195e-01 -1.95701278e-04 2.89169416e+00] [ 5.06166132e-03 -1.59643093e-04 9.99987177e-01 9.70856468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.85, Y:2.89, Z:0.10 [[ 9.97436112e-01 -7.13834390e-02 -5.06040944e-03 2.68535075e+01] [ 7.13833656e-02 9.97448935e-01 -1.95339122e-04 2.89136123e+00] [ 5.06144398e-03 -1.66390763e-04 9.99987177e-01 9.65519571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:26.89, Y:2.89, Z:0.09 [[ 9.97387708e-01 -7.20565882e-02 -5.06042449e-03 2.68869607e+01] [ 7.20565255e-02 9.97400531e-01 -1.94948457e-04 2.89070174e+00] [ 5.06131739e-03 -1.70197411e-04 9.99987177e-01 9.47133084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:26.92, Y:2.89, Z:0.10 [[ 9.97248983e-01 -7.39517204e-02 -5.06044779e-03 2.69181299e+01] [ 7.39516851e-02 9.97261806e-01 -1.94341843e-04 2.88932450e+00] [ 5.06096321e-03 -1.80421436e-04 9.99987177e-01 9.88100455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:26.95, Y:2.89, Z:0.10 [[ 9.97258945e-01 -7.38172592e-02 -5.06049713e-03 2.69503240e+01] [ 7.38172287e-02 9.97271768e-01 -1.93048337e-04 2.88943303e+00] [ 5.06094122e-03 -1.81032693e-04 9.99987177e-01 1.00925683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:26.98, Y:2.89, Z:0.10 [[ 9.97331965e-01 -7.28240471e-02 -5.06051280e-03 2.69828577e+01] [ 7.28240060e-02 9.97344788e-01 -1.92636655e-04 2.89054974e+00] [ 5.06110465e-03 -1.76404121e-04 9.99987177e-01 1.02576825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:27.01, Y:2.89, Z:0.10 [[ 9.97380014e-01 -7.21629999e-02 -5.06057052e-03 2.70149214e+01] [ 7.21629580e-02 9.97392837e-01 -1.91108430e-04 2.89209751e+00] [ 5.06116774e-03 -1.74578009e-04 9.99987177e-01 1.04729828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:27.05, Y:2.89, Z:0.11 [[ 9.97442410e-01 -7.12953583e-02 -5.06062642e-03 2.70473205e+01] [ 7.12953128e-02 9.97455233e-01 -1.89616502e-04 2.89306253e+00] [ 5.06126708e-03 -1.71667402e-04 9.99987177e-01 1.06481002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:27.08, Y:2.89, Z:0.11 [[ 9.97383014e-01 -7.21215155e-02 -5.06068070e-03 2.70802771e+01] [ 7.21214881e-02 9.97395837e-01 -1.88156401e-04 2.89218997e+00] [ 5.06107199e-03 -1.77319824e-04 9.99987177e-01 1.06265166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:27.11, Y:2.89, Z:0.10 [[ 9.97046535e-01 -7.66328729e-02 -5.06070148e-03 2.71134715e+01] [ 7.66329063e-02 9.97059358e-01 -1.87595949e-04 2.88783853e+00] [ 5.06019578e-03 -2.00774372e-04 9.99987177e-01 1.04583270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:27.15, Y:2.89, Z:0.10 [[ 9.96845447e-01 -7.92057035e-02 -5.06076063e-03 2.71456831e+01] [ 7.92057781e-02 9.96858270e-01 -1.85986318e-04 2.88582265e+00] [ 5.05959227e-03 -2.15441869e-04 9.99987177e-01 1.01963572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:27.18, Y:2.88, Z:0.10 [[ 9.96617512e-01 -8.20239237e-02 -5.06077531e-03 2.71773909e+01] [ 8.20240366e-02 9.96630334e-01 -1.85586235e-04 2.88464298e+00] [ 5.05894469e-03 -2.30146728e-04 9.99987177e-01 1.01913756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:27.21, Y:2.88, Z:0.10 [[ 9.96222012e-01 -8.66953942e-02 -5.06082937e-03 2.72108281e+01] [ 8.66955748e-02 9.96234833e-01 -1.84099881e-04 2.88280046e+00] [ 5.05773512e-03 -2.55347158e-04 9.99987177e-01 1.01318973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:27.24, Y:2.88, Z:0.10 [[ 9.96109761e-01 -8.79757429e-02 -5.06088533e-03 2.72441550e+01] [ 8.79759478e-02 9.96122582e-01 -1.82548675e-04 2.88249960e+00] [ 5.05732202e-03 -2.63397667e-04 9.99987177e-01 1.00640436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:27.28, Y:2.88, Z:0.10 [[ 9.95965242e-01 -8.95970048e-02 -5.06094246e-03 2.72767506e+01] [ 8.95972387e-02 9.95978063e-01 -1.80950676e-04 2.88236857e+00] [ 5.05680031e-03 -2.73225886e-04 9.99987177e-01 1.01590063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:27.31, Y:2.88, Z:0.10 [[ 9.95867944e-01 -9.06720724e-02 -5.06099518e-03 2.73097587e+01] [ 9.06723276e-02 9.95880764e-01 -1.79463885e-04 2.88151128e+00] [ 5.05642012e-03 -2.80169883e-04 9.99987177e-01 1.01456115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:27.34, Y:2.88, Z:0.10 [[ 9.95626721e-01 -9.32835405e-02 -5.06105038e-03 2.73430992e+01] [ 9.32838373e-02 9.95639540e-01 -1.77893629e-04 2.87805787e+00] [ 5.05557642e-03 -2.94998550e-04 9.99987177e-01 9.90866701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:27.38, Y:2.88, Z:0.10 [[ 9.95424719e-01 -9.54149578e-02 -5.06110542e-03 2.73764523e+01] [ 9.54152901e-02 9.95437538e-01 -1.76313563e-04 2.87806320e+00] [ 5.05483727e-03 -3.07399963e-04 9.99987177e-01 1.01735089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:27.41, Y:2.88, Z:0.10 [[ 9.95241555e-01 -9.73068926e-02 -5.06116254e-03 2.74083462e+01] [ 9.73072576e-02 9.95254373e-01 -1.74658563e-04 2.87683541e+00] [ 5.05413963e-03 -3.18660387e-04 9.99987177e-01 1.01467202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:27.44, Y:2.88, Z:0.10 [[ 9.95226119e-01 -9.74646388e-02 -5.06119779e-03 2.74418493e+01] [ 9.74650111e-02 9.95238937e-01 -1.73631005e-04 2.87683878e+00] [ 5.05402399e-03 -3.20487587e-04 9.99987177e-01 1.02544084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:27.47, Y:2.88, Z:0.10 [[ 9.95282865e-01 -9.68834466e-02 -5.06125339e-03 2.74749654e+01] [ 9.68838197e-02 9.95295683e-01 -1.71994793e-04 2.87677900e+00] [ 5.05410710e-03 -3.19170090e-04 9.99987177e-01 1.02769782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:27.51, Y:2.88, Z:0.10 [[ 9.95440645e-01 -9.52486490e-02 -5.06130805e-03 2.75081435e+01] [ 9.52490092e-02 9.95453463e-01 -1.70371096e-04 2.87504010e+00] [ 5.05452424e-03 -3.12490263e-04 9.99987177e-01 1.03169546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:27.54, Y:2.87, Z:0.10 [[ 9.95604936e-01 -9.35157472e-02 -5.06136218e-03 2.75418294e+01] [ 9.35160933e-02 9.95617754e-01 -1.68747382e-04 2.87373879e+00] [ 5.05496259e-03 -3.05313092e-04 9.99987177e-01 1.01425228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:27.57, Y:2.87, Z:0.10 [[ 9.95675880e-01 -9.27573366e-02 -5.06141604e-03 2.75747528e+01] [ 9.27576813e-02 9.95688699e-01 -1.67116154e-04 2.87358680e+00] [ 5.05509600e-03 -3.03091692e-04 9.99987177e-01 1.02688630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:27.61, Y:2.87, Z:0.10 [[ 9.95766384e-01 -9.17806675e-02 -5.06146975e-03 2.76075470e+01] [ 9.17810079e-02 9.95779202e-01 -1.65473409e-04 2.87334097e+00] [ 5.05529357e-03 -2.99773937e-04 9.99987177e-01 1.03982494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:27.64, Y:2.87, Z:0.11 [[ 9.95805639e-01 -9.13537665e-02 -5.06152292e-03 2.76400391e+01] [ 9.13541097e-02 9.95818457e-01 -1.63830646e-04 2.87392469e+00] [ 5.05532449e-03 -2.99247439e-04 9.99987177e-01 1.05333617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714391417999998 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:27.67, Y:2.87, Z:0.11 [[ 9.95885567e-01 -9.04782741e-02 -5.06157192e-03 2.76734111e+01] [ 9.04786138e-02 9.95898385e-01 -1.62302529e-04 2.87348848e+00] [ 5.05549616e-03 -2.96329264e-04 9.99987177e-01 1.06630548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:27.71, Y:2.87, Z:0.11 [[ 9.95973270e-01 -8.95076881e-02 -5.06162351e-03 2.77069025e+01] [ 8.95080235e-02 9.95986088e-01 -1.60677364e-04 2.87257048e+00] [ 5.05568846e-03 -2.93025557e-04 9.99987177e-01 1.06684198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:27.74, Y:2.87, Z:0.10 [[ 9.96036587e-01 -8.88003168e-02 -5.06167430e-03 2.77391119e+01] [ 8.88006514e-02 9.96049406e-01 -1.59060977e-04 2.86957464e+00] [ 5.05580235e-03 -2.91049422e-04 9.99987177e-01 1.04747933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:27.77, Y:2.87, Z:0.10 [[ 9.96034867e-01 -8.88196110e-02 -5.06168701e-03 2.77713757e+01] [ 8.88199478e-02 9.96047685e-01 -1.58655689e-04 2.86865641e+00] [ 5.05577337e-03 -2.91552177e-04 9.99987177e-01 1.04113251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:27.80, Y:2.87, Z:0.10 [[ 9.95980339e-01 -8.94289846e-02 -5.06169965e-03 2.78044156e+01] [ 8.94293313e-02 9.95993157e-01 -1.58251258e-04 2.86818821e+00] [ 5.05557047e-03 -2.95049273e-04 9.99987177e-01 1.04001119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:27.84, Y:2.87, Z:0.10 [[ 9.95856765e-01 -9.07947301e-02 -5.06175129e-03 2.78358909e+01] [ 9.07951028e-02 9.95869582e-01 -1.56581857e-04 2.86621995e+00] [ 5.05506095e-03 -3.03649127e-04 9.99987177e-01 1.03358466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:27.87, Y:2.87, Z:0.10 [[ 9.95802623e-01 -9.13866225e-02 -5.06179248e-03 2.78689924e+01] [ 9.13870097e-02 9.95815440e-01 -1.55238982e-04 2.86539525e+00] [ 5.05479787e-03 -3.07994692e-04 9.99987177e-01 1.02997545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:27.90, Y:2.86, Z:0.10 [[ 9.95737560e-01 -9.20928351e-02 -5.06184230e-03 2.79025752e+01] [ 9.20932397e-02 9.95750376e-01 -1.53597048e-04 2.86205948e+00] [ 5.05447656e-03 -3.13219107e-04 9.99987177e-01 1.02200158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:27.94, Y:2.86, Z:0.10 [[ 9.95735545e-01 -9.21146063e-02 -5.06189205e-03 2.79360411e+01] [ 9.21150195e-02 9.95748362e-01 -1.51939695e-04 2.86124941e+00] [ 5.05436658e-03 -3.14984530e-04 9.99987177e-01 1.03027260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:27.97, Y:2.86, Z:0.10 [[ 9.95806433e-01 -9.13450825e-02 -5.06191062e-03 2.79691412e+01] [ 9.13454890e-02 9.95819250e-01 -1.51318393e-04 2.86047281e+00] [ 5.05457023e-03 -3.11698872e-04 9.99987177e-01 1.02853616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:28.00, Y:2.86, Z:0.10 [[ 9.95864623e-01 -9.07084907e-02 -5.06192927e-03 2.80010254e+01] [ 9.07088922e-02 9.95877439e-01 -1.50691895e-04 2.85916644e+00] [ 5.05473020e-03 -3.09093269e-04 9.99987177e-01 1.04792145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:28.03, Y:2.86, Z:0.10 [[ 9.95887135e-01 -9.04609879e-02 -5.06197471e-03 2.80344912e+01] [ 9.04613940e-02 9.95899952e-01 -1.49149845e-04 2.85857631e+00] [ 5.05471261e-03 -3.09376877e-04 9.99987177e-01 1.04802868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:28.07, Y:2.86, Z:0.10 [[ 9.95907535e-01 -9.02361260e-02 -5.06199258e-03 2.80662342e+01] [ 9.02365322e-02 9.95920351e-01 -1.48540824e-04 2.85777734e+00] [ 5.05474518e-03 -3.08843730e-04 9.99987177e-01 1.04420000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:28.10, Y:2.86, Z:0.10 [[ 9.95874547e-01 -9.05994575e-02 -5.06203622e-03 2.80990145e+01] [ 9.05998760e-02 9.95887364e-01 -1.47038384e-04 2.85723270e+00] [ 5.05453951e-03 -3.12188070e-04 9.99987177e-01 1.04443739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:28.13, Y:2.85, Z:0.10 [[ 9.95796630e-01 -9.14518855e-02 -5.06205376e-03 2.81308329e+01] [ 9.14523181e-02 9.95809446e-01 -1.46432142e-04 2.85459279e+00] [ 5.05423244e-03 -3.17119917e-04 9.99987177e-01 1.04711444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:28.16, Y:2.85, Z:0.11 [[ 9.95753320e-01 -9.19222592e-02 -5.06209661e-03 2.81641799e+01] [ 9.19227054e-02 9.95766135e-01 -1.44935680e-04 2.85329100e+00] [ 5.05398719e-03 -3.21001431e-04 9.99987177e-01 1.05067913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:28.20, Y:2.85, Z:0.11 [[ 9.95692345e-01 -9.25803938e-02 -5.06211348e-03 2.81959646e+01] [ 9.25808515e-02 9.95705160e-01 -1.44343945e-04 2.85165675e+00] [ 5.05373593e-03 -3.24932615e-04 9.99987177e-01 1.05774346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:28.23, Y:2.85, Z:0.11 [[ 9.95612950e-01 -9.34303391e-02 -5.06212467e-03 2.82279437e+01] [ 9.34308097e-02 9.95625765e-01 -1.43950246e-04 2.84760509e+00] [ 5.05343107e-03 -3.29639678e-04 9.99987177e-01 1.05832433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:28.26, Y:2.85, Z:0.11 [[ 9.95594038e-01 -9.36316559e-02 -5.06213586e-03 2.82603924e+01] [ 9.36321311e-02 9.95606852e-01 -1.43555780e-04 2.84718193e+00] [ 5.05333851e-03 -3.31055290e-04 9.99987177e-01 1.05005291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:28.29, Y:2.85, Z:0.11 [[ 9.95584372e-01 -9.37343674e-02 -5.06217699e-03 2.82927544e+01] [ 9.37348513e-02 9.95597186e-01 -1.42090565e-04 2.84721176e+00] [ 5.05320793e-03 -3.33039261e-04 9.99987177e-01 1.05505959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:28.32, Y:2.85, Z:0.11 [[ 9.95576994e-01 -9.38127052e-02 -5.06218785e-03 2.83245349e+01] [ 9.38131921e-02 9.95589808e-01 -1.41702450e-04 2.84700419e+00] [ 5.05315612e-03 -3.33824302e-04 9.99987177e-01 1.05029907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:28.36, Y:2.85, Z:0.11 [[ 9.95619131e-01 -9.33644426e-02 -5.06219871e-03 2.83574109e+01] [ 9.33649257e-02 9.95631945e-01 -1.41313590e-04 2.84582596e+00] [ 5.05328041e-03 -3.31937293e-04 9.99987177e-01 1.05574934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:28.39, Y:2.84, Z:0.11 [[ 9.95729214e-01 -9.21830011e-02 -5.06221567e-03 2.83899821e+01] [ 9.21834721e-02 9.95742029e-01 -1.40703403e-04 2.84224080e+00] [ 5.05363136e-03 -3.26550128e-04 9.99987177e-01 1.05517387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:28.42, Y:2.84, Z:0.10 [[ 9.95799391e-01 -9.14218113e-02 -5.06222704e-03 2.84220333e+01] [ 9.14222746e-02 9.95812205e-01 -1.40293102e-04 2.84125007e+00] [ 5.05385332e-03 -3.23096525e-04 9.99987177e-01 1.04767242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:28.45, Y:2.84, Z:0.11 [[ 9.95894653e-01 -9.03781664e-02 -5.06226875e-03 2.84546520e+01] [ 9.03786240e-02 9.95907468e-01 -1.38771386e-04 2.84088185e+00] [ 5.05409316e-03 -3.19319203e-04 9.99987177e-01 1.06937769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999998 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:28.49, Y:2.84, Z:0.11 [[ 9.96051874e-01 -8.86286527e-02 -5.06230933e-03 2.84868874e+01] [ 8.86290953e-02 9.96064689e-01 -1.37274861e-04 2.84107782e+00] [ 5.05455406e-03 -3.11935014e-04 9.99987177e-01 1.07375662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:28.52, Y:2.84, Z:0.11 [[ 9.96059212e-01 -8.85461448e-02 -5.06234913e-03 2.85188123e+01] [ 8.85465939e-02 9.96072027e-01 -1.35791335e-04 2.84204579e+00] [ 5.05448815e-03 -3.12997562e-04 9.99987177e-01 1.08683295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:28.55, Y:2.84, Z:0.10 [[ 9.96173134e-01 -8.72551363e-02 -5.06238805e-03 2.85498705e+01] [ 8.72555762e-02 9.96185950e-01 -1.34324274e-04 2.83984240e+00] [ 5.05480033e-03 -3.07911353e-04 9.99987177e-01 1.04856971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554391417999998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:28.58, Y:2.84, Z:0.11 [[ 9.96161311e-01 -8.73900182e-02 -5.06242105e-03 2.85826052e+01] [ 8.73904662e-02 9.96174126e-01 -1.33068999e-04 2.83954583e+00] [ 5.05468177e-03 -3.09849147e-04 9.99987177e-01 1.07253786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:28.61, Y:2.84, Z:0.11 [[ 9.96181532e-01 -8.71592061e-02 -5.06243737e-03 2.86146258e+01] [ 8.71596542e-02 9.96194347e-01 -1.32445303e-04 2.83923744e+00] [ 5.05471532e-03 -3.09300726e-04 9.99987177e-01 1.07345228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:28.65, Y:2.84, Z:0.11 [[ 9.96199558e-01 -8.69529292e-02 -5.06246401e-03 2.86472357e+01] [ 8.69533799e-02 9.96212373e-01 -1.31419079e-04 2.83948602e+00] [ 5.05471656e-03 -3.09278728e-04 9.99987177e-01 1.09179208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:28.68, Y:2.84, Z:0.11 [[ 9.96233762e-01 -8.65601721e-02 -5.06250318e-03 2.86792215e+01] [ 8.65606255e-02 9.96246577e-01 -1.29892208e-04 2.84011796e+00] [ 5.05474496e-03 -3.08810439e-04 9.99987177e-01 1.10277096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674391418 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:28.71, Y:2.84, Z:0.11 [[ 9.96252442e-01 -8.63449042e-02 -5.06254158e-03 2.87125924e+01] [ 8.63453625e-02 9.96265257e-01 -1.28378175e-04 2.84056706e+00] [ 5.05471909e-03 -3.09229918e-04 9.99987177e-01 1.10612134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391418 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:28.74, Y:2.84, Z:0.11 [[ 9.96150549e-01 -8.75125990e-02 -5.06255697e-03 2.87443584e+01] [ 8.75130754e-02 9.96163363e-01 -1.27768232e-04 2.83929748e+00] [ 5.05431511e-03 -3.15763536e-04 9.99987177e-01 1.09554929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:28.78, Y:2.84, Z:0.11 [[ 9.96066797e-01 -8.84607652e-02 -5.06259442e-03 2.87771451e+01] [ 8.84612614e-02 9.96079610e-01 -1.26266705e-04 2.83839656e+00] [ 5.05391672e-03 -3.22073416e-04 9.99987177e-01 1.09451108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:28.81, Y:2.84, Z:0.11 [[ 9.96077734e-01 -8.83375257e-02 -5.06260994e-03 2.88106779e+01] [ 8.83380234e-02 9.96090547e-01 -1.25641325e-04 2.83911228e+00] [ 5.05391675e-03 -3.22072430e-04 9.99987177e-01 1.09620791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:28.84, Y:2.84, Z:0.11 [[ 9.95945924e-01 -8.98113974e-02 -5.06262541e-03 2.88426609e+01] [ 8.98119173e-02 9.95958736e-01 -1.25014957e-04 2.83819292e+00] [ 5.05339377e-03 -3.30175958e-04 9.99987177e-01 1.08053840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:28.87, Y:2.84, Z:0.11 [[ 9.95702236e-01 -9.24739301e-02 -5.06265066e-03 2.88746184e+01] [ 9.24744895e-02 9.95715046e-01 -1.23983905e-04 2.83685905e+00] [ 5.05242271e-03 -3.44714984e-04 9.99987177e-01 1.07426454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:28.91, Y:2.84, Z:0.11 [[ 9.95624647e-01 -9.33055815e-02 -5.06266063e-03 2.89071814e+01] [ 9.33061536e-02 9.95637457e-01 -1.23575466e-04 2.83665916e+00] [ 5.05210484e-03 -3.49342611e-04 9.99987177e-01 1.05499709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:28.94, Y:2.84, Z:0.11 [[ 9.95439499e-01 -9.52605512e-02 -5.06267059e-03 2.89389552e+01] [ 9.52611506e-02 9.95452308e-01 -1.23165958e-04 2.83743678e+00] [ 5.05137998e-03 -3.59671566e-04 9.99987177e-01 1.07771008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:28.97, Y:2.84, Z:0.11 [[ 9.95191374e-01 -9.78187017e-02 -5.06270715e-03 2.89713157e+01] [ 9.78193417e-02 9.95204181e-01 -1.21644517e-04 2.83526878e+00] [ 5.05032643e-03 -3.74171107e-04 9.99987177e-01 1.07361449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:29.00, Y:2.83, Z:0.11 [[ 9.95095638e-01 -9.87878524e-02 -5.06274288e-03 2.90034390e+01] [ 9.87885125e-02 9.95108444e-01 -1.20138795e-04 2.83481823e+00] [ 5.04984644e-03 -3.80591247e-04 9.99987177e-01 1.09524947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:29.04, Y:2.83, Z:0.11 [[ 9.95087708e-01 -9.88676992e-02 -5.06275260e-03 2.90358786e+01] [ 9.88683624e-02 9.95100514e-01 -1.19727765e-04 2.83454256e+00] [ 5.04978492e-03 -3.81406432e-04 9.99987177e-01 1.09286221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:29.07, Y:2.84, Z:0.11 [[ 9.95105984e-01 -9.86835801e-02 -5.06278823e-03 2.90682584e+01] [ 9.86842486e-02 9.95118789e-01 -1.18201628e-04 2.83616997e+00] [ 5.04974025e-03 -3.81994305e-04 9.99987177e-01 1.09344729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:29.10, Y:2.84, Z:0.11 [[ 9.95248951e-01 -9.72311299e-02 -5.06279786e-03 2.90991979e+01] [ 9.72317819e-02 9.95261758e-01 -1.17787632e-04 2.83785431e+00] [ 5.05026172e-03 -3.75036840e-04 9.99987177e-01 1.07030536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:29.13, Y:2.84, Z:0.11 [[ 9.95342632e-01 -9.62674006e-02 -5.06281650e-03 2.91313884e+01] [ 9.62680442e-02 9.95355439e-01 -1.16980996e-04 2.84029304e+00] [ 5.05056340e-03 -3.70951270e-04 9.99987177e-01 1.09638903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:29.16, Y:2.84, Z:0.11 [[ 9.95737790e-01 -9.20902870e-02 -5.06282559e-03 2.91642570e+01] [ 9.20908789e-02 9.95750600e-01 -1.16586297e-04 2.84113159e+00] [ 5.05204808e-03 -3.50150676e-04 9.99987177e-01 1.11338383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:29.19, Y:2.84, Z:0.11 [[ 9.95796654e-01 -9.14515759e-02 -5.06283993e-03 2.91946390e+01] [ 9.14521627e-02 9.95809464e-01 -1.15959987e-04 2.84367731e+00] [ 5.05222864e-03 -3.47535094e-04 9.99987177e-01 1.10724827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:29.23, Y:2.84, Z:0.11 [[ 9.96335120e-01 -8.53856360e-02 -5.06176337e-03 2.92295978e+01] [ 8.53859056e-02 9.96347941e-01 -1.63207181e-04 2.84324256e+00] [ 5.05721307e-03 -2.69594204e-04 9.99987176e-01 1.13083989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:29.26, Y:2.85, Z:0.11 [[ 9.96511119e-01 -8.33064050e-02 -5.06288255e-03 2.92623200e+01] [ 8.33069014e-02 9.96523932e-01 -1.13114614e-04 2.84565841e+00] [ 5.05470679e-03 -3.09053087e-04 9.99987177e-01 1.12421355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214391417999998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:29.30, Y:2.85, Z:0.11 [[ 9.96648569e-01 -8.16455555e-02 -5.06289614e-03 2.92953523e+01] [ 8.16460337e-02 9.96661383e-01 -1.12502753e-04 2.84931767e+00] [ 5.05517842e-03 -3.01239681e-04 9.99987177e-01 1.14719595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:29.33, Y:2.85, Z:0.11 [[ 9.96848212e-01 -7.91707566e-02 -5.06290955e-03 2.93278138e+01] [ 7.91712061e-02 9.96861027e-01 -1.11896206e-04 2.85158207e+00] [ 5.05587612e-03 -2.89293123e-04 9.99987177e-01 1.13828793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:29.36, Y:2.85, Z:0.12 [[ 9.97062758e-01 -7.64213598e-02 -5.06293142e-03 2.93596289e+01] [ 7.64217790e-02 9.97075574e-01 -1.10897721e-04 2.85426642e+00] [ 5.05660020e-03 -2.76346238e-04 9.99987177e-01 1.15031812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999998 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:29.39, Y:2.86, Z:0.11 [[ 9.97180298e-01 -7.48720289e-02 -5.06294223e-03 2.93921829e+01] [ 7.48724307e-02 9.97193114e-01 -1.10401932e-04 2.85504890e+00] [ 5.05699714e-03 -2.68984160e-04 9.99987177e-01 1.14464796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334391418 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:29.43, Y:2.86, Z:0.12 [[ 9.97284142e-01 -7.34758942e-02 -5.06295109e-03 2.94253160e+01] [ 7.34762800e-02 9.97296959e-01 -1.09994098e-04 2.85792820e+00] [ 5.05734764e-03 -2.62311442e-04 9.99987177e-01 1.16487001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:29.46, Y:2.86, Z:0.12 [[ 9.97343244e-01 -7.26692520e-02 -5.06296458e-03 2.94581377e+01] [ 7.26696306e-02 9.97356061e-01 -1.09369740e-04 2.86038237e+00] [ 5.05752623e-03 -2.58844595e-04 9.99987177e-01 1.16799296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:29.49, Y:2.87, Z:0.12 [[ 9.97408109e-01 -7.17734635e-02 -5.06297786e-03 2.94901869e+01] [ 7.17738338e-02 9.97420927e-01 -1.08751207e-04 2.86507272e+00] [ 5.05772552e-03 -2.54919996e-04 9.99987177e-01 1.15639013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:29.52, Y:2.87, Z:0.12 [[ 9.97338457e-01 -7.27349227e-02 -5.06298881e-03 2.95222914e+01] [ 7.27353080e-02 9.97351274e-01 -1.08239021e-04 2.86784891e+00] [ 5.05745110e-03 -2.60307112e-04 9.99987177e-01 1.16981754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454391418 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:29.55, Y:2.87, Z:0.12 [[ 9.97304109e-01 -7.32043734e-02 -5.06299935e-03 2.95549112e+01] [ 7.32047672e-02 9.97316926e-01 -1.07743967e-04 2.86889196e+00] [ 5.05730227e-03 -2.63182187e-04 9.99987177e-01 1.15423577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:29.59, Y:2.87, Z:0.11 [[ 9.97206508e-01 -7.45221134e-02 -5.06301252e-03 2.95883590e+01] [ 7.45225273e-02 9.97219325e-01 -1.07121261e-04 2.86963484e+00] [ 5.05691683e-03 -2.70486470e-04 9.99987177e-01 1.14739184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:29.62, Y:2.87, Z:0.11 [[ 9.96849585e-01 -7.91534681e-02 -5.06302550e-03 2.96209580e+01] [ 7.91539446e-02 9.96862399e-01 -1.06504558e-04 2.87034349e+00] [ 5.05556994e-03 -2.94589415e-04 9.99987177e-01 1.14913257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:29.65, Y:2.87, Z:0.11 [[ 9.96650153e-01 -8.16262082e-02 -5.06303413e-03 2.96529006e+01] [ 8.16267187e-02 9.96662966e-01 -1.06092670e-04 2.87118166e+00] [ 5.05479855e-03 -3.07541586e-04 9.99987177e-01 1.13984001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:29.69, Y:2.87, Z:0.11 [[ 9.96446988e-01 -8.40700055e-02 -5.06306570e-03 2.96854767e+01] [ 8.40705550e-02 9.96459799e-01 -1.04563692e-04 2.87274338e+00] [ 5.05393210e-03 -3.21462568e-04 9.99987177e-01 1.12893069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:29.72, Y:2.88, Z:0.12 [[ 9.96001185e-01 -8.91964406e-02 -5.06307413e-03 2.97177867e+01] [ 8.91970582e-02 9.96013993e-01 -1.04153906e-04 2.87723774e+00] [ 5.05218284e-03 -3.47873904e-04 9.99987177e-01 1.16378917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:29.75, Y:2.88, Z:0.12 [[ 9.95848719e-01 -9.08828550e-02 -5.06310499e-03 2.97500261e+01] [ 9.08835019e-02 9.95861526e-01 -1.02631532e-04 2.87857832e+00] [ 5.05147891e-03 -3.57947233e-04 9.99987177e-01 1.16756462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:29.78, Y:2.88, Z:0.11 [[ 9.95557295e-01 -9.40214716e-02 -5.06313502e-03 2.97827439e+01] [ 9.40221665e-02 9.95570099e-01 -1.01128368e-04 2.87861286e+00] [ 5.05021407e-03 -3.75367839e-04 9.99987177e-01 1.14537892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:29.82, Y:2.88, Z:0.12 [[ 9.95386990e-01 -9.58076481e-02 -5.06314476e-03 2.98157229e+01] [ 9.58083685e-02 9.95399792e-01 -1.00638177e-04 2.87944722e+00] [ 5.04949515e-03 -3.84917707e-04 9.99987177e-01 1.16017735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:29.85, Y:2.88, Z:0.12 [[ 9.95243995e-01 -9.72818324e-02 -5.06315652e-03 2.98474515e+01] [ 9.72825747e-02 9.95256796e-01 -1.00043047e-04 2.88017929e+00] [ 5.04887331e-03 -3.92989661e-04 9.99987177e-01 1.15298117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:29.88, Y:2.88, Z:0.12 [[ 9.94985189e-01 -9.98941358e-02 -5.06316427e-03 2.98784262e+01] [ 9.98949137e-02 9.94997988e-01 -9.96493136e-05 2.88323521e+00] [ 5.04779264e-03 -4.06634767e-04 9.99987177e-01 1.15349621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:29.91, Y:2.89, Z:0.12 [[ 9.94886551e-01 -1.00871772e-01 -5.06318884e-03 2.99116171e+01] [ 1.00872568e-01 9.94899349e-01 -9.83846334e-05 2.88529531e+00] [ 5.04728752e-03 -4.12855314e-04 9.99987177e-01 1.15911465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814391418 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:29.94, Y:2.89, Z:0.11 [[ 9.94875906e-01 -1.00976708e-01 -5.06320031e-03 2.99432849e+01] [ 1.00977509e-01 9.94888704e-01 -9.77906581e-05 2.88668144e+00] [ 5.04719538e-03 -4.13979785e-04 9.99987177e-01 1.12773652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:29.98, Y:2.89, Z:0.12 [[ 9.94867040e-01 -1.01064020e-01 -5.06322448e-03 2.99766467e+01] [ 1.01064828e-01 9.94879838e-01 -9.65231119e-05 2.88798332e+00] [ 5.04705496e-03 -4.15686250e-04 9.99987177e-01 1.17261025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:30.01, Y:2.89, Z:0.12 [[ 9.94870673e-01 -1.01028253e-01 -5.06325608e-03 3.00082715e+01] [ 1.01029069e-01 9.94883470e-01 -9.48360072e-05 2.88883167e+00] [ 5.04693089e-03 -4.17186488e-04 9.99987177e-01 1.17494111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:30.04, Y:2.90, Z:0.12 [[ 9.94588822e-01 -1.03766270e-01 -5.06328500e-03 3.00358619e+01] [ 1.03767130e-01 9.94601616e-01 -9.32659091e-05 2.89694113e+00] [ 5.04562930e-03 -4.32641324e-04 9.99987177e-01 1.19809961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:30.07, Y:2.90, Z:0.12 [[ 9.94800061e-01 -1.01721257e-01 -5.06206620e-03 3.00691654e+01] [ 1.01721755e-01 9.94812876e-01 -1.59661969e-04 2.89855688e+00] [ 5.05204965e-03 -3.56090522e-04 9.99987175e-01 1.21215926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:30.10, Y:2.90, Z:0.12 [[ 9.94918399e-01 -1.00557223e-01 -5.06213029e-03 3.01003255e+01] [ 1.00557724e-01 9.94931214e-01 -1.56087117e-04 2.90025448e+00] [ 5.05216712e-03 -3.53742356e-04 9.99987175e-01 1.21016447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:30.14, Y:2.90, Z:0.12 [[ 9.95532516e-01 -9.42835362e-02 -5.06202499e-03 3.01370707e+01] [ 9.42839266e-02 9.95545335e-01 -1.61988483e-04 2.89617530e+00] [ 5.05474822e-03 -3.16002791e-04 9.99987175e-01 1.22046304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:30.17, Y:2.90, Z:0.12 [[ 9.95594810e-01 -9.36233792e-02 -5.06331305e-03 3.01687844e+01] [ 9.36241395e-02 9.95607610e-01 -8.71833258e-05 2.89739452e+00] [ 5.04923540e-03 -3.87249061e-04 9.99987178e-01 1.24285732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054391417999998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:30.20, Y:2.90, Z:0.12 [[ 9.95656946e-01 -9.29602553e-02 -5.06332000e-03 3.02006218e+01] [ 9.29610091e-02 9.95669746e-01 -8.67779568e-05 2.89789841e+00] [ 5.04946144e-03 -3.84290261e-04 9.99987178e-01 1.23823202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:30.23, Y:2.90, Z:0.12 [[ 9.95725499e-01 -9.22230585e-02 -5.06332700e-03 3.02326459e+01] [ 9.22238050e-02 9.95738300e-01 -8.63675670e-05 2.89797553e+00] [ 5.04971370e-03 -3.80960893e-04 9.99987178e-01 1.21828608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:30.26, Y:2.90, Z:0.12 [[ 9.95729248e-01 -9.21825701e-02 -5.06335250e-03 3.02645944e+01] [ 9.21833236e-02 9.95742049e-01 -8.48459323e-05 2.89906345e+00] [ 5.04961430e-03 -3.82273085e-04 9.99987178e-01 1.19736792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:30.29, Y:2.90, Z:0.12 [[ 9.95369728e-01 -9.59868066e-02 -5.06335912e-03 3.02923203e+01] [ 9.59876111e-02 9.95382525e-01 -8.44484611e-05 2.90474608e+00] [ 5.04808513e-03 -4.01962305e-04 9.99987178e-01 1.21617319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:30.33, Y:2.90, Z:0.12 [[ 9.95541710e-01 -9.41863916e-02 -5.06229341e-03 3.03280107e+01] [ 9.41868512e-02 9.95554526e-01 -1.48053623e-04 2.89984431e+00] [ 5.05373376e-03 -3.29407919e-04 9.99987176e-01 1.20922492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391418 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:30.36, Y:2.90, Z:0.12 [[ 9.95515639e-01 -9.44614945e-02 -5.06336393e-03 3.03597068e+01] [ 9.44622930e-02 9.95528437e-01 -8.17461695e-05 2.89939148e+00] [ 5.04844465e-03 -3.96917377e-04 9.99987178e-01 1.20627963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:30.39, Y:2.90, Z:0.12 [[ 9.95490098e-01 -9.47302900e-02 -5.06338713e-03 3.03928234e+01] [ 9.47310994e-02 9.95502894e-01 -8.02831380e-05 2.89908521e+00] [ 5.04822179e-03 -3.99739161e-04 9.99987178e-01 1.20302155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:30.43, Y:2.90, Z:0.12 [[ 9.95501559e-01 -9.46097647e-02 -5.06339636e-03 3.04261518e+01] [ 9.46105755e-02 9.95514356e-01 -7.96964915e-05 2.90048049e+00] [ 5.04822384e-03 -3.99712862e-04 9.99987178e-01 1.22882301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:30.46, Y:2.90, Z:0.12 [[ 9.95555671e-01 -9.40386521e-02 -5.06340610e-03 3.04595483e+01] [ 9.40394587e-02 9.95568468e-01 -7.90730575e-05 2.90209431e+00] [ 5.04840338e-03 -3.97438338e-04 9.99987178e-01 1.23248093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:30.49, Y:2.90, Z:0.12 [[ 9.95680199e-01 -9.27108623e-02 -5.06341593e-03 3.04913480e+01] [ 9.27116551e-02 9.95692996e-01 -7.84383749e-05 2.90310186e+00] [ 5.04887987e-03 -3.91338135e-04 9.99987178e-01 1.23087522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:30.52, Y:2.90, Z:0.12 [[ 9.95795617e-01 -9.14628405e-02 -5.06343965e-03 3.05245810e+01] [ 9.14636251e-02 9.95808415e-01 -7.68760624e-05 2.90354786e+00] [ 5.04924712e-03 -3.86567700e-04 9.99987178e-01 1.23553002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:30.56, Y:2.91, Z:0.12 [[ 9.95953173e-01 -8.97309264e-02 -5.06344897e-03 3.05550410e+01] [ 8.97316918e-02 9.95965972e-01 -7.62570958e-05 2.90601593e+00] [ 5.04986550e-03 -3.78403346e-04 9.99987178e-01 1.22962038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:30.59, Y:2.90, Z:0.12 [[ 9.96229003e-01 -8.66148937e-02 -5.06294864e-03 3.05892129e+01] [ 8.66154505e-02 9.96241814e-01 -1.09597800e-04 2.90426747e+00] [ 5.05341394e-03 -3.29345070e-04 9.99987177e-01 1.21954850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:30.62, Y:2.91, Z:0.12 [[ 9.96371791e-01 -8.49565451e-02 -5.06346883e-03 3.06210714e+01] [ 8.49572606e-02 9.96384594e-01 -7.40074766e-05 2.90672896e+00] [ 5.05144975e-03 -3.56439479e-04 9.99987178e-01 1.23095990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:30.65, Y:2.91, Z:0.12 [[ 9.96443096e-01 -8.41160971e-02 -5.06348340e-03 3.06535676e+01] [ 8.41168069e-02 9.96455898e-01 -7.29966997e-05 2.90778761e+00] [ 5.05167810e-03 -3.53186998e-04 9.99987178e-01 1.21313994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:30.69, Y:2.91, Z:0.12 [[ 9.96446806e-01 -8.40721396e-02 -5.06348913e-03 3.06853943e+01] [ 8.40728509e-02 9.96459608e-01 -7.25967720e-05 2.90877287e+00] [ 5.05166576e-03 -3.53363145e-04 9.99987178e-01 1.23941090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:30.72, Y:2.91, Z:0.12 [[ 9.96423840e-01 -8.43438951e-02 -5.06349479e-03 3.07172098e+01] [ 8.43446119e-02 9.96436642e-01 -7.22000673e-05 2.90856077e+00] [ 5.05154138e-03 -3.55136635e-04 9.99987178e-01 1.24525653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:30.75, Y:2.91, Z:0.12 [[ 9.96440169e-01 -8.41507586e-02 -5.06351536e-03 3.07492397e+01] [ 8.41514803e-02 9.96452971e-01 -7.07273606e-05 2.90899028e+00] [ 5.05150669e-03 -3.55626730e-04 9.99987178e-01 1.23679922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:30.78, Y:2.91, Z:0.13 [[ 9.96328690e-01 -8.54605289e-02 -5.06353527e-03 3.07790819e+01] [ 8.54612748e-02 9.96341491e-01 -6.92721039e-05 2.91231572e+00] [ 5.05093031e-03 -3.63718395e-04 9.99987178e-01 1.25357906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:30.81, Y:2.91, Z:0.13 [[ 9.96340593e-01 -8.53216826e-02 -5.06299211e-03 3.08127989e+01] [ 8.53222263e-02 9.96353404e-01 -1.08900104e-04 2.91042103e+00] [ 5.05382097e-03 -3.23484165e-04 9.99987177e-01 1.25331122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:30.85, Y:2.91, Z:0.12 [[ 9.96265153e-01 -8.61980624e-02 -5.06354515e-03 3.08460169e+01] [ 8.61988279e-02 9.96277952e-01 -6.72767527e-05 2.91005888e+00] [ 5.05049751e-03 -3.69446172e-04 9.99987178e-01 1.24583966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:30.88, Y:2.91, Z:0.12 [[ 9.96274876e-01 -8.60856048e-02 -5.06355268e-03 3.08795566e+01] [ 8.60863717e-02 9.96287675e-01 -6.67050122e-05 2.91037453e+00] [ 5.05049747e-03 -3.69446350e-04 9.99987178e-01 1.24753638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714391417999998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:30.91, Y:2.91, Z:0.12 [[ 9.96151652e-01 -8.74999815e-02 -5.06356014e-03 3.09124194e+01] [ 8.75007695e-02 9.96164450e-01 -6.61334518e-05 2.90974434e+00] [ 5.04992528e-03 -3.77186462e-04 9.99987178e-01 1.24395019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:30.94, Y:2.91, Z:0.12 [[ 9.95932162e-01 -8.99638242e-02 -5.06356750e-03 3.09449517e+01] [ 8.99646467e-02 9.95944957e-01 -6.55649786e-05 2.90922074e+00] [ 5.04893300e-03 -3.90243791e-04 9.99987178e-01 1.23622273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:30.98, Y:2.91, Z:0.13 [[ 9.95862753e-01 -9.07289181e-02 -5.06357946e-03 3.09775133e+01] [ 9.07297552e-02 9.95875548e-01 -6.46284512e-05 2.90985432e+00] [ 5.04855864e-03 -3.95056257e-04 9.99987178e-01 1.25565613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:31.01, Y:2.91, Z:0.13 [[ 9.95846170e-01 -9.09107526e-02 -5.06358720e-03 3.10093954e+01] [ 9.09115951e-02 9.95858965e-01 -6.40161388e-05 2.91008358e+00] [ 5.04843846e-03 -3.96588562e-04 9.99987178e-01 1.25076215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:31.04, Y:2.91, Z:0.13 [[ 9.95786229e-01 -9.15649781e-02 -5.06360584e-03 3.10419645e+01] [ 9.15658367e-02 9.95799023e-01 -6.25063860e-05 2.90915251e+00] [ 5.04805714e-03 -4.01410306e-04 9.99987178e-01 1.26846773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:31.07, Y:2.91, Z:0.12 [[ 9.95798771e-01 -9.14284851e-02 -5.06361076e-03 3.10739297e+01] [ 9.14293439e-02 9.95811564e-01 -6.21048656e-05 2.90801425e+00] [ 5.04808030e-03 -4.01118661e-04 9.99987178e-01 1.24561481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:31.11, Y:2.91, Z:0.13 [[ 9.95718137e-01 -9.23025017e-02 -5.06361562e-03 3.11061742e+01] [ 9.23033738e-02 9.95730929e-01 -6.17057148e-05 2.90852272e+00] [ 5.04769428e-03 -4.05947306e-04 9.99987178e-01 1.26567508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:31.14, Y:2.91, Z:0.13 [[ 9.95722064e-01 -9.22601277e-02 -5.06362749e-03 3.11391789e+01] [ 9.22610042e-02 9.95734856e-01 -6.07160392e-05 2.90972422e+00] [ 5.04763206e-03 -4.06719057e-04 9.99987178e-01 1.27296360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:31.17, Y:2.91, Z:0.12 [[ 9.95842560e-01 -9.09502850e-02 -5.06363455e-03 3.11712245e+01] [ 9.09511477e-02 9.95855354e-01 -6.01217423e-05 2.91021587e+00] [ 5.04811566e-03 -4.00671584e-04 9.99987178e-01 1.24940110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:31.20, Y:2.91, Z:0.12 [[ 9.96019099e-01 -8.89961446e-02 -5.06365152e-03 3.12021952e+01] [ 8.89969896e-02 9.96031893e-01 -5.86561004e-05 2.91080829e+00] [ 5.04877858e-03 -3.92227146e-04 9.99987178e-01 1.23849567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014391417999995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:31.23, Y:2.91, Z:0.12 [[ 9.96150250e-01 -8.75159482e-02 -5.06342948e-03 3.12346975e+01] [ 8.75166774e-02 9.96163051e-01 -7.78017273e-05 2.90910808e+00] [ 5.05081025e-03 -3.65632314e-04 9.99987178e-01 1.24481450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044391418 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:31.27, Y:2.91, Z:0.12 [[ 9.96255517e-01 -8.63093557e-02 -5.06366515e-03 3.12677902e+01] [ 8.63101756e-02 9.96268312e-01 -5.67876463e-05 2.90850241e+00] [ 5.04967044e-03 -3.80470822e-04 9.99987178e-01 1.23492207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:31.30, Y:2.91, Z:0.12 [[ 9.96481738e-01 -8.36570654e-02 -5.06367175e-03 3.12987544e+01] [ 8.36578543e-02 9.96494536e-01 -5.61928030e-05 2.91103795e+00] [ 5.05062216e-03 -3.67620811e-04 9.99987178e-01 1.24666133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:31.33, Y:2.91, Z:0.13 [[ 9.96634265e-01 -8.18199470e-02 -5.06350542e-03 3.13310329e+01] [ 8.18206356e-02 9.96647068e-01 -7.13688206e-05 2.91266643e+00] [ 5.05236723e-03 -3.43170620e-04 9.99987178e-01 1.27216452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13439141799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:31.36, Y:2.91, Z:0.13 [[ 9.96837908e-01 -7.93003396e-02 -5.06368841e-03 3.13630092e+01] [ 7.93010820e-02 9.96850709e-01 -5.43068167e-05 2.91462261e+00] [ 5.05204793e-03 -3.47420876e-04 9.99987178e-01 1.26155403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:31.40, Y:2.92, Z:0.13 [[ 9.97106316e-01 -7.58508629e-02 -5.06369276e-03 3.13954574e+01] [ 7.58515631e-02 9.97119119e-01 -5.38978575e-05 2.91669342e+00] [ 5.05319307e-03 -3.30347117e-04 9.99987178e-01 1.27612871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194391417999995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:31.43, Y:2.92, Z:0.13 [[ 9.97235189e-01 -7.41372842e-02 -5.06370844e-03 3.14286486e+01] [ 7.41379701e-02 9.97247993e-01 -5.23822642e-05 2.91616677e+00] [ 5.05365656e-03 -3.23175628e-04 9.99987178e-01 1.26273264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224391417999996 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:31.46, Y:2.92, Z:0.13 [[ 9.97306911e-01 -7.31661359e-02 -5.06371472e-03 3.14609280e+01] [ 7.31668125e-02 9.97319715e-01 -5.17677558e-05 2.91597000e+00] [ 5.05393018e-03 -3.18867525e-04 9.99987178e-01 1.26695661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:31.49, Y:2.92, Z:0.13 [[ 9.97303882e-01 -7.32074161e-02 -5.06372977e-03 3.14941213e+01] [ 7.32081008e-02 9.97316686e-01 -5.02521560e-05 2.91627633e+00] [ 5.05382102e-03 -3.20589369e-04 9.99987178e-01 1.26483705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:31.53, Y:2.92, Z:0.13 [[ 9.97311922e-01 -7.30978062e-02 -5.06373555e-03 3.15275919e+01] [ 7.30984925e-02 9.97324725e-01 -4.96622548e-05 2.91733562e+00] [ 5.05381887e-03 -3.20622676e-04 9.99987178e-01 1.27464539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:31.56, Y:2.92, Z:0.13 [[ 9.97337885e-01 -7.27427111e-02 -5.06374130e-03 3.15601852e+01] [ 7.27433959e-02 9.97350689e-01 -4.90688321e-05 2.91840312e+00] [ 5.05389527e-03 -3.19415533e-04 9.99987178e-01 1.26481302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:31.59, Y:2.92, Z:0.13 [[ 9.97353728e-01 -7.25251625e-02 -5.06374699e-03 3.15920378e+01] [ 7.25258474e-02 9.97366532e-01 -4.84742510e-05 2.91982199e+00] [ 5.05392738e-03 -3.18906567e-04 9.99987178e-01 1.28220469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374391417999995 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:31.62, Y:2.92, Z:0.13 [[ 9.97326429e-01 -7.28996016e-02 -5.06375618e-03 3.16242385e+01] [ 7.29002963e-02 9.97339232e-01 -4.74947878e-05 2.92084248e+00] [ 5.05374505e-03 -3.21781519e-04 9.99987178e-01 1.28027398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:31.66, Y:2.92, Z:0.13 [[ 9.97250749e-01 -7.39276745e-02 -5.06376936e-03 3.16571013e+01] [ 7.39283897e-02 9.97263551e-01 -4.60454575e-05 2.92035006e+00] [ 5.05331665e-03 -3.28437448e-04 9.99987178e-01 1.28001232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:31.69, Y:2.92, Z:0.13 [[ 9.97008571e-01 -7.71250102e-02 -5.06377460e-03 3.16903503e+01] [ 7.71257695e-02 9.97021371e-01 -4.54613521e-05 2.91936360e+00] [ 5.05219770e-03 -3.45222155e-04 9.99987178e-01 1.28915798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:31.72, Y:2.92, Z:0.13 [[ 9.96892359e-01 -7.86128650e-02 -5.06377974e-03 3.17238406e+01] [ 7.86136462e-02 9.96905157e-01 -4.48820193e-05 2.91894565e+00] [ 5.05163644e-03 -3.53339647e-04 9.99987178e-01 1.28158388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:31.76, Y:2.92, Z:0.13 [[ 9.96766008e-01 -8.01990285e-02 -5.06378492e-03 3.17571591e+01] [ 8.01998331e-02 9.96778804e-01 -4.42900886e-05 2.91890162e+00] [ 5.05102550e-03 -3.61967850e-04 9.99987178e-01 1.27848805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:31.79, Y:2.92, Z:0.13 [[ 9.96533706e-01 -8.30357219e-02 -5.06379012e-03 3.17905928e+01] [ 8.30365660e-02 9.96546500e-01 -4.36870366e-05 2.91978551e+00] [ 5.04992990e-03 -3.76944138e-04 9.99987178e-01 1.30134713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554391417999994 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:31.82, Y:2.92, Z:0.13 [[ 9.96518030e-01 -8.32236425e-02 -5.06379540e-03 3.18228944e+01] [ 8.32244922e-02 9.96530823e-01 -4.30657992e-05 2.91966288e+00] [ 5.04981229e-03 -3.78515955e-04 9.99987178e-01 1.29659869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:31.86, Y:2.92, Z:0.13 [[ 9.96517355e-01 -8.32317229e-02 -5.06380796e-03 3.18559575e+01] [ 8.32325804e-02 9.96530148e-01 -4.15346533e-05 2.91931462e+00] [ 5.04969430e-03 -3.80083800e-04 9.99987178e-01 1.29426767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:31.89, Y:2.92, Z:0.13 [[ 9.96490780e-01 -8.35492860e-02 -5.06381289e-03 3.18891965e+01] [ 8.35501506e-02 9.96503573e-01 -4.09242737e-05 2.91824742e+00] [ 5.04952683e-03 -3.82301669e-04 9.99987178e-01 1.28848981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:31.92, Y:2.92, Z:0.13 [[ 9.96483596e-01 -8.36349234e-02 -5.06381772e-03 3.19220353e+01] [ 8.36357922e-02 9.96496389e-01 -4.03178205e-05 2.91753226e+00] [ 5.04944805e-03 -3.83340360e-04 9.99987178e-01 1.28678884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:31.95, Y:2.92, Z:0.13 [[ 9.96488861e-01 -8.35721730e-02 -5.06382246e-03 3.19541980e+01] [ 8.35730440e-02 9.96501653e-01 -3.97138488e-05 2.91710695e+00] [ 5.04942642e-03 -3.83624649e-04 9.99987178e-01 1.28741157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:31.99, Y:2.92, Z:0.13 [[ 9.96626882e-01 -8.19097963e-02 -5.06383370e-03 3.19882789e+01] [ 8.19106535e-02 9.96639676e-01 -3.82243848e-05 2.91563700e+00] [ 5.04994853e-03 -3.76686478e-04 9.99987178e-01 1.28695902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734391417999994 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:32.02, Y:2.92, Z:0.13 [[ 9.96587701e-01 -8.23851393e-02 -5.06399402e-03 3.20185406e+01] [ 8.23861158e-02 9.96600485e-01 -1.58178385e-05 2.91726513e+00] [ 5.04808206e-03 -4.01438935e-04 9.99987178e-01 1.29713494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:32.05, Y:2.92, Z:0.13 [[ 9.96642049e-01 -8.17250536e-02 -5.06384604e-03 3.20517809e+01] [ 8.17259176e-02 9.96654841e-01 -3.64028395e-05 2.91701844e+00] [ 5.04988170e-03 -3.77566864e-04 9.99987178e-01 1.29623194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:32.08, Y:2.92, Z:0.13 [[ 9.96753974e-01 -8.03484486e-02 -5.06385023e-03 3.20846178e+01] [ 8.03492980e-02 9.96766768e-01 -3.58106325e-05 2.91632193e+00] [ 5.05035496e-03 -3.71182421e-04 9.99987178e-01 1.30256508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:32.12, Y:2.92, Z:0.13 [[ 9.96801895e-01 -7.97517355e-02 -5.06385432e-03 3.21173285e+01] [ 7.97525802e-02 9.96814689e-01 -3.52228015e-05 2.91615515e+00] [ 5.05053345e-03 -3.68745293e-04 9.99987178e-01 1.30792191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:32.15, Y:2.92, Z:0.13 [[ 9.96839877e-01 -7.92755706e-02 -5.06385844e-03 3.21505459e+01] [ 7.92764122e-02 9.96852672e-01 -3.46200980e-05 2.91613280e+00] [ 5.05066535e-03 -3.66933835e-04 9.99987178e-01 1.30455774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:32.18, Y:2.92, Z:0.13 [[ 9.96834737e-01 -7.93401772e-02 -5.06386264e-03 3.21831267e+01] [ 7.93410228e-02 9.96847531e-01 -3.39949464e-05 2.91626653e+00] [ 5.05059614e-03 -3.67884698e-04 9.99987178e-01 1.31905780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914391417999994 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:32.22, Y:2.92, Z:0.13 [[ 9.96901563e-01 -7.84960611e-02 -5.06387252e-03 3.22160059e+01] [ 7.84969037e-02 9.96914357e-01 -3.24538730e-05 2.91570655e+00] [ 5.05079471e-03 -3.65144996e-04 9.99987178e-01 1.30047949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:32.25, Y:2.92, Z:0.13 [[ 9.96891921e-01 -7.86184195e-02 -5.06387632e-03 3.22486721e+01] [ 7.86192667e-02 9.96904715e-01 -3.18483362e-05 2.91541098e+00] [ 5.05070605e-03 -3.66368894e-04 9.99987178e-01 1.31990123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974391417999996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:32.28, Y:2.91, Z:0.13 [[ 9.96810144e-01 -7.96485680e-02 -5.06388015e-03 3.22805013e+01] [ 7.96494316e-02 9.96822937e-01 -3.12280573e-05 2.91347722e+00] [ 5.05027915e-03 -3.72206731e-04 9.99987178e-01 1.30678547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:32.31, Y:2.91, Z:0.13 [[ 9.96752611e-01 -8.03653466e-02 -5.06388624e-03 3.23140545e+01] [ 8.03662245e-02 9.96765403e-01 -3.02062924e-05 2.91209911e+00] [ 5.04993415e-03 -3.76857218e-04 9.99987178e-01 1.28852592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:32.35, Y:2.91, Z:0.13 [[ 9.96656073e-01 -8.15538420e-02 -5.06388995e-03 3.23459453e+01] [ 8.15547383e-02 9.96668864e-01 -2.95715503e-05 2.91139105e+00] [ 5.04943312e-03 -3.83511555e-04 9.99987178e-01 1.28479611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:32.38, Y:2.91, Z:0.13 [[ 9.96425628e-01 -8.43227432e-02 -5.06389859e-03 3.23791807e+01] [ 8.43236830e-02 9.96438415e-01 -2.80090962e-05 2.91092590e+00] [ 5.04822489e-03 -3.99097599e-04 9.99987178e-01 1.31554216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094391417999994 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:32.41, Y:2.91, Z:0.13 [[ 9.96395173e-01 -8.46818563e-02 -5.06390199e-03 3.24110607e+01] [ 8.46828039e-02 9.96407960e-01 -2.73806755e-05 2.91052875e+00] [ 5.04803090e-03 -4.01543446e-04 9.99987178e-01 1.32338707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:32.44, Y:2.91, Z:0.13 [[ 9.96295629e-01 -8.58450749e-02 -5.06390989e-03 3.24443582e+01] [ 8.58460452e-02 9.96308414e-01 -2.58319698e-05 2.90903027e+00] [ 5.04743358e-03 -4.08980359e-04 9.99987178e-01 1.32335885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154391417999996 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:32.48, Y:2.91, Z:0.13 [[ 9.96221082e-01 -8.67058932e-02 -5.06391301e-03 3.24762729e+01] [ 8.67068778e-02 9.96233866e-01 -2.52051417e-05 2.90782512e+00] [ 5.04702707e-03 -4.13966193e-04 9.99987178e-01 1.32230425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:32.51, Y:2.91, Z:0.13 [[ 9.96176241e-01 -8.72195719e-02 -5.06392023e-03 3.25091628e+01] [ 8.72205709e-02 9.96189024e-01 -2.36592616e-05 2.90605431e+00] [ 5.04668531e-03 -4.18109219e-04 9.99987178e-01 1.32029078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214391418 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:32.54, Y:2.90, Z:0.13 [[ 9.96253012e-01 -8.63382519e-02 -5.06392301e-03 3.25435503e+01] [ 8.63392426e-02 9.96265795e-01 -2.30482167e-05 2.90249635e+00] [ 5.04700323e-03 -4.14253422e-04 9.99987178e-01 1.31688289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:32.57, Y:2.90, Z:0.13 [[ 9.96160566e-01 -8.73984154e-02 -5.06406057e-03 3.25730601e+01] [ 8.73995789e-02 9.96173335e-01 8.48937880e-06 2.90367941e+00] [ 5.04394015e-03 -4.51053546e-04 9.99987178e-01 1.30659749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27439141799999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:32.60, Y:2.90, Z:0.13 [[ 9.96238194e-01 -8.65090575e-02 -5.06392171e-03 3.26046719e+01] [ 8.65100526e-02 9.96250978e-01 -2.26100532e-05 2.90451086e+00] [ 5.04689293e-03 -4.15555135e-04 9.99987178e-01 1.30522370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:32.64, Y:2.90, Z:0.13 [[ 9.96600383e-01 -8.22315870e-02 -5.06392610e-03 3.26388192e+01] [ 8.22325324e-02 9.96613170e-01 -2.15819410e-05 2.90353658e+00] [ 5.04855016e-03 -3.94910896e-04 9.99987178e-01 1.28774419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334391417999996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:32.67, Y:2.90, Z:0.13 [[ 9.96665091e-01 -8.14435499e-02 -5.06405121e-03 3.26676156e+01] [ 8.14446411e-02 9.96677867e-01 9.28576529e-06 2.90484821e+00] [ 5.04647149e-03 -4.21694631e-04 9.99987178e-01 1.29610626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:32.70, Y:2.90, Z:0.13 [[ 9.96943812e-01 -7.79576305e-02 -5.06392458e-03 3.27015357e+01] [ 7.79585235e-02 9.96956603e-01 -2.11016089e-05 2.90320564e+00] [ 5.05015808e-03 -3.73738965e-04 9.99987178e-01 1.28347195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:32.73, Y:2.90, Z:0.13 [[ 9.97258805e-01 -7.38189133e-02 -5.06403953e-03 3.27316228e+01] [ 7.38199018e-02 9.97271589e-01 8.31070922e-06 2.90476089e+00] [ 5.04960926e-03 -3.82114829e-04 9.99987178e-01 1.29071925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:32.76, Y:2.91, Z:0.13 [[ 9.97407975e-01 -7.17752562e-02 -5.06393433e-03 3.27631735e+01] [ 7.17760790e-02 9.97420771e-01 -1.92971287e-05 2.90635880e+00] [ 5.05225834e-03 -3.44222240e-04 9.99987178e-01 1.31336155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45439141799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:32.80, Y:2.91, Z:0.13 [[ 9.97933908e-01 -6.40489754e-02 -5.06393616e-03 3.27983443e+01] [ 6.40497016e-02 9.97946710e-01 -1.88029461e-05 2.90784510e+00] [ 5.05474274e-03 -3.05579503e-04 9.99987178e-01 1.32742777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:32.83, Y:2.91, Z:0.13 [[ 9.98005900e-01 -6.29172372e-02 -5.06408703e-03 3.28273278e+01] [ 6.29181673e-02 9.98018689e-01 2.43990519e-05 2.91153871e+00] [ 5.05251838e-03 -3.42973473e-04 9.99987177e-01 1.34016688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514391417999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:32.86, Y:2.91, Z:0.13 [[ 9.98159058e-01 -6.04388197e-02 -5.06393289e-03 3.28603171e+01] [ 6.04395022e-02 9.98171862e-01 -1.82868265e-05 2.91238060e+00] [ 5.05578056e-03 -2.87808422e-04 9.99987178e-01 1.34011453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:32.90, Y:2.91, Z:0.13 [[ 9.98394783e-01 -5.64111153e-02 -5.06393490e-03 3.28952205e+01] [ 5.64117490e-02 9.98407589e-01 -1.77114112e-05 2.91057414e+00] [ 5.05687016e-03 -2.67982444e-04 9.99987178e-01 1.32529784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:32.93, Y:2.91, Z:0.13 [[ 9.98392662e-01 -5.64486268e-02 -5.06404830e-03 3.29277147e+01] [ 5.64494407e-02 9.98405459e-01 1.78220330e-05 2.91065107e+00] [ 5.05496744e-03 -3.03656081e-04 9.99987177e-01 1.32683426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:32.96, Y:2.91, Z:0.13 [[ 9.98518405e-01 -5.41788647e-02 -5.06404903e-03 3.29572855e+01] [ 5.41796506e-02 9.98531204e-01 1.80517255e-05 2.91421896e+00] [ 5.05563295e-03 -2.92393387e-04 9.99987177e-01 1.30729440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63439141799999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:32.99, Y:2.92, Z:0.13 [[ 9.98567377e-01 -5.32686641e-02 -5.06393957e-03 3.29896283e+01] [ 5.32692652e-02 9.98580185e-01 -1.61882860e-05 2.91535828e+00] [ 5.05761204e-03 -2.53587246e-04 9.99987178e-01 1.31752081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:33.02, Y:2.92, Z:0.13 [[ 9.98588819e-01 -5.28651809e-02 -5.06394115e-03 3.30222854e+01] [ 5.28657794e-02 9.98601627e-01 -1.56775828e-05 2.91771454e+00] [ 5.05768867e-03 -2.52053737e-04 9.99987178e-01 1.33803875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694391417999995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:33.05, Y:2.92, Z:0.13 [[ 9.98592604e-01 -5.27936297e-02 -5.06394294e-03 3.30540585e+01] [ 5.27942304e-02 9.98605412e-01 -1.50766904e-05 2.91859131e+00] [ 5.05767678e-03 -2.52291499e-04 9.99987178e-01 1.33749264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724391417999996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:33.09, Y:2.92, Z:0.13 [[ 9.98581010e-01 -5.30124844e-02 -5.06394570e-03 3.30869941e+01] [ 5.30130928e-02 9.98593817e-01 -1.40869527e-05 2.91887131e+00] [ 5.05757165e-03 -2.54388460e-04 9.99987178e-01 1.33520571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:33.12, Y:2.92, Z:0.13 [[ 9.98464080e-01 -5.51709784e-02 -5.06394735e-03 3.31190504e+01] [ 5.51716178e-02 9.98476886e-01 -1.34640472e-05 2.91858200e+00] [ 5.05697721e-03 -2.65942800e-04 9.99987178e-01 1.32845008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:33.15, Y:2.92, Z:0.13 [[ 9.98363517e-01 -5.69617781e-02 -5.06394867e-03 3.31516152e+01] [ 5.69624430e-02 9.98376322e-01 -1.29488213e-05 2.91895471e+00] [ 5.05646404e-03 -2.75527257e-04 9.99987178e-01 1.32765981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:33.18, Y:2.92, Z:0.13 [[ 9.98276855e-01 -5.84608958e-02 -5.06395018e-03 3.31840916e+01] [ 5.84615831e-02 9.98289659e-01 -1.23304626e-05 2.91938521e+00] [ 5.05600994e-03 -2.83737329e-04 9.99987178e-01 1.32925063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:33.22, Y:2.92, Z:0.13 [[ 9.98167699e-01 -6.02959501e-02 -5.06395343e-03 3.32175417e+01] [ 6.02966686e-02 9.98180501e-01 -1.08039744e-05 2.91960661e+00] [ 5.05539101e-03 -2.94555344e-04 9.99987178e-01 1.33059622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874391417999995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:33.25, Y:2.92, Z:0.13 [[ 9.97995785e-01 -6.30774913e-02 -5.06395468e-03 3.32506087e+01] [ 6.30782486e-02 9.98008584e-01 -1.01862007e-05 2.91825858e+00] [ 5.05451276e-03 -3.09259606e-04 9.99987178e-01 1.31990391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904391417999996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:33.28, Y:2.92, Z:0.13 [[ 9.97965904e-01 -6.35484878e-02 -5.06395584e-03 3.32838067e+01] [ 6.35492543e-02 9.97978703e-01 -9.56842678e-06 2.91698929e+00] [ 5.05432814e-03 -3.12261654e-04 9.99987178e-01 1.29926041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:33.32, Y:2.92, Z:0.13 [[ 9.97837986e-01 -6.55264013e-02 -5.06395693e-03 3.33172232e+01] [ 6.55271963e-02 9.97850784e-01 -8.95549445e-06 2.91717322e+00] [ 5.05366021e-03 -3.22890767e-04 9.99987178e-01 1.32472052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:33.35, Y:2.92, Z:0.13 [[ 9.97839999e-01 -6.54957519e-02 -5.06395793e-03 3.33499261e+01] [ 6.54965495e-02 9.97852796e-01 -8.34696518e-06 2.91826828e+00] [ 5.05363127e-03 -3.23342836e-04 9.99987178e-01 1.32750018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:33.38, Y:2.92, Z:0.13 [[ 9.97869477e-01 -6.50450878e-02 -5.06395886e-03 3.33825156e+01] [ 6.50458827e-02 9.97882274e-01 -7.73900275e-06 2.91960131e+00] [ 5.05373817e-03 -3.21667159e-04 9.99987178e-01 1.32649666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:33.41, Y:2.92, Z:0.13 [[ 9.98005900e-01 -6.29172440e-02 -5.06395971e-03 3.34132641e+01] [ 6.29180147e-02 9.98018699e-01 -7.13628721e-06 2.92079136e+00] [ 5.05437548e-03 -3.11492235e-04 9.99987178e-01 1.30540881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054391417999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:33.45, Y:2.92, Z:0.13 [[ 9.98071009e-01 -6.18758290e-02 -5.06396011e-03 3.34453472e+01] [ 6.18765878e-02 9.98083808e-01 -6.83808923e-06 2.92090611e+00] [ 5.05467970e-03 -3.06515674e-04 9.99987178e-01 1.31508490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:33.48, Y:2.92, Z:0.13 [[ 9.98236145e-01 -5.91519673e-02 -5.06396073e-03 3.34781298e+01] [ 5.91526936e-02 9.98248946e-01 -6.34368011e-06 2.92067351e+00] [ 5.05546870e-03 -2.93214427e-04 9.99987178e-01 1.29543857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:33.51, Y:2.92, Z:0.13 [[ 9.98285104e-01 -5.83198761e-02 -5.06396141e-03 3.35111828e+01] [ 5.83205949e-02 9.98297906e-01 -5.74278554e-06 2.92159087e+00] [ 5.05567699e-03 -2.89600305e-04 9.99987178e-01 1.32157444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:33.54, Y:2.92, Z:0.13 [[ 9.98373587e-01 -5.67850135e-02 -5.06396202e-03 3.35445788e+01] [ 5.67857155e-02 9.98386389e-01 -5.14631983e-06 2.92294618e+00] [ 5.05608299e-03 -2.82422757e-04 9.99987178e-01 1.32808872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:33.58, Y:2.92, Z:0.13 [[ 9.98512889e-01 -5.42804393e-02 -5.06396256e-03 3.35763121e+01] [ 5.42811123e-02 9.98525694e-01 -4.54423826e-06 2.92431112e+00] [ 5.05674339e-03 -2.70340040e-04 9.99987178e-01 1.31956552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:33.61, Y:2.93, Z:0.14 [[ 9.98612769e-01 -5.24108190e-02 -5.06396296e-03 3.36094448e+01] [ 5.24114706e-02 9.98625574e-01 -4.04611384e-06 2.92620818e+00] [ 5.05721498e-03 -2.61369245e-04 9.99987178e-01 1.35007131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234391417999994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:33.64, Y:2.93, Z:0.14 [[ 9.98904867e-01 -4.65126135e-02 -5.06396337e-03 3.36428389e+01] [ 4.65131925e-02 9.98917676e-01 -3.43223471e-06 2.92857724e+00] [ 5.05864216e-03 -2.32112627e-04 9.99987178e-01 1.35738235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:33.68, Y:2.93, Z:0.14 [[ 9.99039978e-01 -4.35141115e-02 -5.06396371e-03 3.36750934e+01] [ 4.35146552e-02 9.99052789e-01 -2.81703525e-06 2.92970353e+00] [ 5.05928965e-03 -2.17542304e-04 9.99987178e-01 1.35978033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:33.71, Y:2.93, Z:0.14 [[ 9.99258891e-01 -3.81579019e-02 -5.06396395e-03 3.37079417e+01] [ 3.81583795e-02 9.99271704e-01 -2.30820510e-06 2.93180762e+00] [ 5.06036396e-03 -1.90926163e-04 9.99987178e-01 1.37908450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:33.74, Y:2.93, Z:0.14 [[ 9.99340389e-01 -3.59603091e-02 -5.06396415e-03 3.37401893e+01] [ 3.59607616e-02 9.99353203e-01 -1.69461448e-06 2.93322519e+00] [ 5.06074973e-03 -1.80410511e-04 9.99987178e-01 1.38414964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:33.77, Y:2.94, Z:0.14 [[ 9.99487953e-01 -3.15941154e-02 -5.06396427e-03 3.37730720e+01] [ 3.15945145e-02 9.99500769e-01 -1.18734175e-06 2.93637208e+00] [ 5.06147369e-03 -1.58806759e-04 9.99987178e-01 1.35977604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.81, Y:2.94, Z:0.14 [[ 9.99510456e-01 -3.08740160e-02 -5.06396434e-03 3.38062652e+01] [ 3.08744089e-02 9.99523272e-01 -5.85459916e-07 2.93845775e+00] [ 5.06156828e-03 -1.55761732e-04 9.99987178e-01 1.38859230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414391417999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:33.84, Y:2.94, Z:0.14 [[ 9.99548017e-01 -2.96330710e-02 -5.06396434e-03 3.38393268e+01] [ 2.96334511e-02 9.99560833e-01 1.90884268e-08 2.93939314e+00] [ 5.06173985e-03 -1.50081819e-04 9.99987178e-01 1.37688895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:33.87, Y:2.94, Z:0.14 [[ 9.99577847e-01 -2.86091590e-02 -5.06396426e-03 3.38713268e+01] [ 2.86095290e-02 9.99590664e-01 6.26485358e-07 2.94027440e+00] [ 5.06187348e-03 -1.45503853e-04 9.99987178e-01 1.36860891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474391417999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:33.90, Y:2.94, Z:0.14 [[ 9.99583125e-01 -2.84241515e-02 -5.06396418e-03 3.39032655e+01] [ 2.84245213e-02 9.99595942e-01 1.03673206e-06 2.94206253e+00] [ 5.06188857e-03 -1.44977057e-04 9.99987178e-01 1.35025313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:33.93, Y:2.94, Z:0.14 [[ 9.99610275e-01 -2.74527559e-02 -5.06396406e-03 3.39332206e+01] [ 2.74531152e-02 9.99623092e-01 1.44489047e-06 2.94240933e+00] [ 5.06201575e-03 -1.40465916e-04 9.99987178e-01 1.35428725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:33.97, Y:2.95, Z:0.14 [[ 9.99487514e-01 -3.16080094e-02 -5.06396832e-03 3.39675031e+01] [ 3.16082782e-02 9.99500333e-01 -2.69540456e-05 2.94519240e+00] [ 5.06228999e-03 -1.33123088e-04 9.99987178e-01 1.35506891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:34.00, Y:2.95, Z:0.13 [[ 9.99450107e-01 -3.27695066e-02 -5.06395612e-03 3.40007147e+01] [ 3.27699375e-02 9.99462921e-01 2.12571014e-06 2.94616321e+00] [ 5.06116672e-03 -1.68070067e-04 9.99987178e-01 1.34441101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594391417999994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:34.03, Y:2.95, Z:0.14 [[ 9.99383305e-01 -3.47471761e-02 -5.06395579e-03 3.40324943e+01] [ 3.47476354e-02 9.99396119e-01 2.73210088e-06 2.94720783e+00] [ 5.06080283e-03 -1.78690906e-04 9.99987178e-01 1.35163688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:34.06, Y:2.95, Z:0.14 [[ 9.99241733e-01 -3.86045968e-02 -5.06395547e-03 3.40644099e+01] [ 3.86051081e-02 9.99254545e-01 3.23399591e-06 2.94806596e+00] [ 5.06005567e-03 -1.98726092e-04 9.99987178e-01 1.38151738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654391417999996 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:34.10, Y:2.95, Z:0.14 [[ 9.99186441e-01 -4.00101584e-02 -5.06395517e-03 3.40968645e+01] [ 4.00106898e-02 9.99199252e-01 3.64341413e-06 2.94835062e+00] [ 5.05975445e-03 -2.06252790e-04 9.99987178e-01 1.36537858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:34.13, Y:2.95, Z:0.14 [[ 9.99106365e-01 -4.19622296e-02 -5.06395424e-03 3.41302552e+01] [ 4.19627912e-02 9.99119174e-01 4.65893110e-06 2.94934315e+00] [ 5.05929828e-03 -2.17152422e-04 9.99987178e-01 1.38657201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:34.16, Y:2.95, Z:0.14 [[ 9.98948363e-01 -4.55688910e-02 -5.06395363e-03 3.41636212e+01] [ 4.55695018e-02 9.98961171e-01 5.24973408e-06 2.95024453e+00] [ 5.05845382e-03 -2.36006057e-04 9.99987178e-01 1.39357629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.20, Y:2.95, Z:0.14 [[ 9.98857910e-01 -4.75103359e-02 -5.06395291e-03 3.41958380e+01] [ 4.75109748e-02 9.98870716e-01 5.86617635e-06 2.95029824e+00] [ 5.05795557e-03 -2.46452816e-04 9.99987178e-01 1.39395994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:34.23, Y:2.95, Z:0.14 [[ 9.98755410e-01 -4.96184164e-02 -5.06395227e-03 3.42284043e+01] [ 4.96190849e-02 9.98768215e-01 6.37688074e-06 2.94997095e+00] [ 5.05739816e-03 -2.57637622e-04 9.99987178e-01 1.37003485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:34.26, Y:2.95, Z:0.14 [[ 9.98477825e-01 -5.49216617e-02 -5.06395145e-03 3.42613708e+01] [ 5.49224012e-02 9.98490626e-01 6.97299647e-06 2.95029486e+00] [ 5.05592508e-03 -2.85086755e-04 9.99987178e-01 1.39271927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834391417999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.29, Y:2.95, Z:0.14 [[ 9.98384076e-01 -5.66002956e-02 -5.06395053e-03 3.42944911e+01] [ 5.66010597e-02 9.98396875e-01 7.58687404e-06 2.94974458e+00] [ 5.05540296e-03 -2.94199580e-04 9.99987178e-01 1.38394952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:2.95, Z:0.14 [[ 9.98356573e-01 -5.70833521e-02 -5.06394954e-03 3.43268961e+01] [ 5.70841255e-02 9.98369372e-01 8.19613010e-06 2.94848253e+00] [ 5.05522426e-03 -2.97253792e-04 9.99987178e-01 1.37242629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:34.36, Y:2.95, Z:0.13 [[ 9.98321495e-01 -5.76935773e-02 -5.06394886e-03 3.43590308e+01] [ 5.76943605e-02 9.98334293e-01 8.59974734e-06 2.94780570e+00] [ 5.05501765e-03 -3.00746604e-04 9.99987178e-01 1.34701484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:34.39, Y:2.95, Z:0.14 [[ 9.98303239e-01 -5.80086147e-02 -5.06394812e-03 3.43912686e+01] [ 5.80094040e-02 9.98316037e-01 9.01473578e-06 2.94795599e+00] [ 5.05489768e-03 -3.02756052e-04 9.99987178e-01 1.35059155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95439141799999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:34.42, Y:2.95, Z:0.13 [[ 9.98295113e-01 -5.81482922e-02 -5.06394491e-03 3.44234142e+01] [ 5.81490911e-02 9.98307910e-01 1.05549967e-05 2.94786239e+00] [ 5.05476250e-03 -3.05000795e-04 9.99987178e-01 1.34624014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:34.46, Y:2.95, Z:0.14 [[ 9.98269946e-01 -5.85787657e-02 -5.06394402e-03 3.44559252e+01] [ 5.85795722e-02 9.98282742e-01 1.09658775e-05 2.94782345e+00] [ 5.05460555e-03 -3.07590580e-04 9.99987178e-01 1.39434866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014391417999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:34.49, Y:2.95, Z:0.14 [[ 9.98303743e-01 -5.79999466e-02 -5.06394310e-03 3.44881478e+01] [ 5.80007477e-02 9.98316540e-01 1.13765631e-05 2.94754020e+00] [ 5.05475831e-03 -3.05069752e-04 9.99987178e-01 1.39584653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:34.52, Y:2.95, Z:0.14 [[ 9.98366814e-01 -5.69039689e-02 -5.06394061e-03 3.45197810e+01] [ 5.69047612e-02 9.98379611e-01 1.23936355e-05 2.94720492e+00] [ 5.05502981e-03 -3.00535725e-04 9.99987178e-01 1.38978090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:34.55, Y:2.95, Z:0.14 [[ 9.98462723e-01 -5.51955455e-02 -5.06393648e-03 3.45526395e+01] [ 5.51963235e-02 9.98475521e-01 1.38989152e-05 2.94697102e+00] [ 5.05544945e-03 -2.93388224e-04 9.99987178e-01 1.36652957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.59, Y:2.95, Z:0.14 [[ 9.98469823e-01 -5.50669517e-02 -5.06393470e-03 3.45852256e+01] [ 5.50677312e-02 9.98482621e-01 1.45169791e-05 2.94736551e+00] [ 5.05545139e-03 -2.93354161e-04 9.99987178e-01 1.40250787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13439141799999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.62, Y:2.95, Z:0.14 [[ 9.98499410e-01 -5.45278265e-02 -5.06392988e-03 3.46173556e+01] [ 5.45286068e-02 9.98512209e-01 1.60411202e-05 2.94744033e+00] [ 5.05552112e-03 -2.92146090e-04 9.99987178e-01 1.40522601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:34.65, Y:2.95, Z:0.14 [[ 9.98492330e-01 -5.46573242e-02 -5.06392467e-03 3.46507871e+01] [ 5.46581137e-02 9.98505128e-01 1.75445181e-05 2.94763752e+00] [ 5.05539581e-03 -2.94302637e-04 9.99987178e-01 1.40804517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194391417999995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:34.68, Y:2.95, Z:0.14 [[ 9.98435998e-01 -5.56768740e-02 -5.06392248e-03 3.46825412e+01] [ 5.56776797e-02 9.98448795e-01 1.81547056e-05 2.94695386e+00] [ 5.05505650e-03 -3.00073765e-04 9.99987178e-01 1.41175197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224391417999996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:34.72, Y:2.95, Z:0.14 [[ 9.98385394e-01 -5.65770422e-02 -5.06391663e-03 3.47155727e+01] [ 5.65778670e-02 9.98398189e-01 1.96603778e-05 2.94618877e+00] [ 5.05469287e-03 -3.06134236e-04 9.99987178e-01 1.41816085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:34.75, Y:2.95, Z:0.14 [[ 9.98327418e-01 -5.75909929e-02 -5.06391416e-03 3.47476865e+01] [ 5.75918339e-02 9.98340213e-01 2.02793186e-05 2.94536917e+00] [ 5.05434123e-03 -3.11885503e-04 9.99987178e-01 1.41080445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:34.78, Y:2.94, Z:0.14 [[ 9.98157558e-01 -6.04635993e-02 -5.06390758e-03 3.47804683e+01] [ 6.04644848e-02 9.98170349e-01 2.18062027e-05 2.94232010e+00] [ 5.05332391e-03 -3.27952589e-04 9.99987178e-01 1.39118425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31439141799999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:34.81, Y:2.94, Z:0.14 [[ 9.98043595e-01 -6.23164430e-02 -5.06390485e-03 3.48123479e+01] [ 6.23173553e-02 9.98056385e-01 2.24230123e-05 2.94054647e+00] [ 5.05266524e-03 -3.37948301e-04 9.99987178e-01 1.38909136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:34.85, Y:2.94, Z:0.14 [[ 9.97960902e-01 -6.36269963e-02 -5.06390015e-03 3.48456138e+01] [ 6.36279306e-02 9.97973690e-01 2.34385184e-05 2.93894941e+00] [ 5.05214779e-03 -3.45596212e-04 9.99987178e-01 1.38952357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374391417999995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:34.88, Y:2.94, Z:0.14 [[ 9.97874777e-01 -6.49637371e-02 -5.06389730e-03 3.48788376e+01] [ 6.49646915e-02 9.97887563e-01 2.40394828e-05 2.93750199e+00] [ 5.05163844e-03 -3.52962919e-04 9.99987178e-01 1.38141932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404391417999996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:34.91, Y:2.94, Z:0.14 [[ 9.97878155e-01 -6.49118235e-02 -5.06389436e-03 3.49109244e+01] [ 6.49127803e-02 9.97890941e-01 2.46422685e-05 2.93734974e+00] [ 5.05161474e-03 -3.53301444e-04 9.99987178e-01 1.41216880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:34.94, Y:2.94, Z:0.14 [[ 9.97926035e-01 -6.41715323e-02 -5.06388934e-03 3.49443136e+01] [ 6.41724846e-02 9.97938822e-01 2.56349597e-05 2.93718859e+00] [ 5.05180672e-03 -3.50544154e-04 9.99987178e-01 1.43125946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:34.98, Y:2.94, Z:0.14 [[ 9.97984915e-01 -6.32492435e-02 -5.06388627e-03 3.49772397e+01] [ 6.32501870e-02 9.97997702e-01 2.62262904e-05 2.93671542e+00] [ 5.05208807e-03 -3.46465196e-04 9.99987178e-01 1.44008709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:35.01, Y:2.94, Z:0.14 [[ 9.97992273e-01 -6.31330337e-02 -5.06388315e-03 3.50107839e+01] [ 6.31339786e-02 9.98005060e-01 2.68156014e-05 2.93641529e+00] [ 5.05208806e-03 -3.46464854e-04 9.99987178e-01 1.44178382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:35.04, Y:2.94, Z:0.14 [[ 9.98042207e-01 -6.23386717e-02 -5.06387996e-03 3.50441185e+01] [ 6.23396095e-02 9.98054995e-01 2.74052527e-05 2.93536311e+00] [ 5.05232228e-03 -3.43031898e-04 9.99987178e-01 1.44405592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554391417999994 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:35.08, Y:2.93, Z:0.14 [[ 9.98119118e-01 -6.10948728e-02 -5.06387671e-03 3.50757811e+01] [ 6.10957976e-02 9.98131906e-01 2.79928955e-05 2.93371058e+00] [ 5.05270670e-03 -3.37321831e-04 9.99987178e-01 1.42334625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584391417999996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:35.11, Y:2.93, Z:0.15 [[ 9.98201955e-01 -5.97261523e-02 -5.06387118e-03 3.51085039e+01] [ 5.97270645e-02 9.98214745e-01 2.89609370e-05 2.93244913e+00] [ 5.05310115e-03 -3.31359024e-04 9.99987178e-01 1.45176007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:35.14, Y:2.93, Z:0.15 [[ 9.98276803e-01 -5.84618032e-02 -5.06386779e-03 3.51417500e+01] [ 5.84627021e-02 9.98289593e-01 2.95424909e-05 2.93267586e+00] [ 5.05347940e-03 -3.25538977e-04 9.99987178e-01 1.46235958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:35.17, Y:2.93, Z:0.15 [[ 9.98351066e-01 -5.71795901e-02 -5.06386428e-03 3.51734575e+01] [ 5.71804755e-02 9.98363858e-01 3.01320659e-05 2.93288618e+00] [ 5.05385613e-03 -3.19636548e-04 9.99987178e-01 1.46249849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:35.20, Y:2.93, Z:0.14 [[ 9.98502328e-01 -5.44743804e-02 -5.06386178e-03 3.52044076e+01] [ 5.44752333e-02 9.98515122e-01 3.05457006e-05 2.93171110e+00] [ 5.05467860e-03 -3.06355005e-04 9.99987178e-01 1.42556228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:35.24, Y:2.93, Z:0.14 [[ 9.98517431e-01 -5.41968420e-02 -5.06385991e-03 3.52370838e+01] [ 5.41976929e-02 9.98530224e-01 3.08535883e-05 2.93090807e+00] [ 5.05474500e-03 -3.05257370e-04 9.99987178e-01 1.44394440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734391417999994 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:35.27, Y:2.93, Z:0.15 [[ 9.98544388e-01 -5.36978828e-02 -5.06385604e-03 3.52699288e+01] [ 5.36987304e-02 9.98557182e-01 3.14755085e-05 2.92917143e+00] [ 5.05485965e-03 -3.03352333e-04 9.99987178e-01 1.46257832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:35.30, Y:2.93, Z:0.14 [[ 9.98590246e-01 -5.28382273e-02 -5.06385212e-03 3.53014923e+01] [ 5.28390671e-02 9.98603040e-01 3.20944417e-05 2.92790165e+00] [ 5.05508231e-03 -2.99618418e-04 9.99987178e-01 1.44600240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:35.33, Y:2.93, Z:0.14 [[ 9.98618588e-01 -5.22998474e-02 -5.06385016e-03 3.53339554e+01] [ 5.23006818e-02 9.98631382e-01 3.24007222e-05 2.92717126e+00] [ 5.05522513e-03 -2.97198779e-04 9.99987178e-01 1.43649971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:35.37, Y:2.93, Z:0.15 [[ 9.98586057e-01 -5.29173364e-02 -5.06384753e-03 3.53682339e+01] [ 5.29181807e-02 9.98598851e-01 3.28055639e-05 2.92708391e+00] [ 5.05501635e-03 -3.00728778e-04 9.99987178e-01 1.48876726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:35.40, Y:2.93, Z:0.15 [[ 9.98612339e-01 -5.24190442e-02 -5.06371196e-03 3.53985235e+01] [ 5.24199843e-02 9.98625126e-01 5.30339236e-05 2.92576420e+00] [ 5.05397001e-03 -3.18400032e-04 9.99987178e-01 1.47374054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:35.43, Y:2.92, Z:0.15 [[ 9.98631854e-01 -5.20459283e-02 -5.06383768e-03 3.54305633e+01] [ 5.20467709e-02 9.98644648e-01 3.46731847e-05 2.92430401e+00] [ 5.05516980e-03 -2.98182146e-04 9.99987178e-01 1.47958193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914391417999994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:35.46, Y:2.92, Z:0.15 [[ 9.98664837e-01 -5.14091458e-02 -5.06383423e-03 3.54636407e+01] [ 5.14099828e-02 9.98677632e-01 3.51705490e-05 2.92150568e+00] [ 5.05532989e-03 -2.95455221e-04 9.99987178e-01 1.47628686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:35.50, Y:2.92, Z:0.15 [[ 9.98661095e-01 -5.14818016e-02 -5.06382988e-03 3.54960108e+01] [ 5.14826426e-02 9.98673889e-01 3.57857322e-05 2.92023959e+00] [ 5.05527236e-03 -2.96437162e-04 9.99987178e-01 1.47135128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974391417999996 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:35.53, Y:2.92, Z:0.15 [[ 9.98671429e-01 -5.12809411e-02 -5.06382623e-03 3.55283804e+01] [ 5.12817821e-02 9.98684223e-01 3.62946172e-05 2.91920116e+00] [ 5.05530214e-03 -2.95928431e-04 9.99987178e-01 1.46843606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:35.56, Y:2.92, Z:0.15 [[ 9.98674868e-01 -5.12139306e-02 -5.06381889e-03 3.55609473e+01] [ 5.12147758e-02 9.98687662e-01 3.72917747e-05 2.91857852e+00] [ 5.05526359e-03 -2.96584707e-04 9.99987178e-01 1.48457673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:35.59, Y:2.92, Z:0.15 [[ 9.98687646e-01 -5.09641459e-02 -5.06381441e-03 3.55938056e+01] [ 5.09649910e-02 9.98700440e-01 3.78900174e-05 2.91775398e+00] [ 5.05530265e-03 -2.95917548e-04 9.99987178e-01 1.49641146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:35.63, Y:2.92, Z:0.15 [[ 9.98707773e-01 -5.05681944e-02 -5.06380984e-03 3.56272206e+01] [ 5.05690373e-02 9.98720567e-01 3.84921588e-05 2.91645462e+00] [ 5.05538455e-03 -2.94514407e-04 9.99987178e-01 1.49987117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094391417999994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:35.66, Y:2.92, Z:0.15 [[ 9.98715467e-01 -5.04160000e-02 -5.06380517e-03 3.56598160e+01] [ 5.04168441e-02 9.98728261e-01 3.90969683e-05 2.91500993e+00] [ 5.05539422e-03 -2.94347823e-04 9.99987178e-01 1.49991277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:35.69, Y:2.91, Z:0.15 [[ 9.98773138e-01 -4.92602908e-02 -5.06380039e-03 3.56920575e+01] [ 4.92611231e-02 9.98785933e-01 3.97062064e-05 2.91233437e+00] [ 5.05569666e-03 -2.89105987e-04 9.99987178e-01 1.49015495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154391417999996 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:35.72, Y:2.91, Z:0.15 [[ 9.98821846e-01 -4.82625858e-02 -5.06379638e-03 3.57238764e+01] [ 4.82634079e-02 9.98834642e-01 4.02111440e-05 2.91143213e+00] [ 5.05595455e-03 -2.84559839e-04 9.99987178e-01 1.47379125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:35.76, Y:2.91, Z:0.15 [[ 9.98863418e-01 -4.73944026e-02 -5.06379326e-03 3.57570355e+01] [ 4.73952156e-02 9.98876215e-01 4.05995569e-05 2.91099070e+00] [ 5.05617846e-03 -2.80552986e-04 9.99987178e-01 1.48737474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:35.79, Y:2.91, Z:0.15 [[ 9.98980992e-01 -4.48479120e-02 -5.06378851e-03 3.57904284e+01] [ 4.48486953e-02 9.98993790e-01 4.11839256e-05 2.90983142e+00] [ 5.05684627e-03 -2.68246267e-04 9.99987178e-01 1.49038911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:35.82, Y:2.91, Z:0.15 [[ 9.99071349e-01 -4.27878325e-02 -5.06378371e-03 3.58227606e+01] [ 4.27885923e-02 9.99084148e-01 4.17658017e-05 2.90848506e+00] [ 5.05735897e-03 -2.58399193e-04 9.99987178e-01 1.46760690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27439141799999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:35.85, Y:2.91, Z:0.15 [[ 9.99126872e-01 -4.14710982e-02 -5.06378032e-03 3.58543126e+01] [ 4.14718432e-02 9.99139672e-01 4.21730758e-05 2.90772046e+00] [ 5.05767485e-03 -2.52140557e-04 9.99987178e-01 1.48742527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:35.89, Y:2.91, Z:0.15 [[ 9.99229509e-01 -3.89197439e-02 -5.06377370e-03 3.58877725e+01] [ 3.89204602e-02 9.99242311e-01 4.29540741e-05 2.90754766e+00] [ 5.05826517e-03 -2.40005381e-04 9.99987178e-01 1.50184494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334391417999996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:35.92, Y:2.91, Z:0.15 [[ 9.99269849e-01 -3.78698655e-02 -5.06376837e-03 3.59200490e+01] [ 3.78705715e-02 9.99282652e-01 4.35729359e-05 2.90711860e+00] [ 5.05848578e-03 -2.35308923e-04 9.99987178e-01 1.50025796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:35.95, Y:2.91, Z:0.15 [[ 9.99326753e-01 -3.63372830e-02 -5.06376392e-03 3.59527567e+01] [ 3.63379719e-02 9.99339557e-01 4.40841696e-05 2.90581425e+00] [ 5.05881769e-03 -2.28061401e-04 9.99987178e-01 1.49416809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:35.98, Y:2.90, Z:0.15 [[ 9.99402468e-01 -3.41916100e-02 -5.06375850e-03 3.59848590e+01] [ 3.41922745e-02 9.99415272e-01 4.46986833e-05 2.90374854e+00] [ 5.05926926e-03 -2.17813395e-04 9.99987178e-01 1.50580164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:36.02, Y:2.90, Z:0.15 [[ 9.99444166e-01 -3.29502203e-02 -5.06375486e-03 3.60176281e+01] [ 3.29508711e-02 9.99456972e-01 4.51072609e-05 2.90263801e+00] [ 5.05951880e-03 -2.11937322e-04 9.99987178e-01 1.51609815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45439141799999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:36.05, Y:2.90, Z:0.15 [[ 9.99485035e-01 -3.16863293e-02 -5.06374927e-03 3.60487128e+01] [ 3.16869669e-02 9.99497841e-01 4.57255951e-05 2.90183659e+00] [ 5.05975759e-03 -2.06156904e-04 9.99987178e-01 1.51387278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:36.08, Y:2.90, Z:0.15 [[ 9.99559439e-01 -2.92452955e-02 -5.06374318e-03 3.60805854e+01] [ 2.92459052e-02 9.99572246e-01 4.63902816e-05 2.90067595e+00] [ 5.06022045e-03 -1.94463597e-04 9.99987178e-01 1.51131420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514391417999995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:36.11, Y:2.90, Z:0.15 [[ 9.99628740e-01 -2.67719981e-02 -5.06373946e-03 3.61114306e+01] [ 2.67725782e-02 9.99641549e-01 4.67932197e-05 2.89966809e+00] [ 5.06067161e-03 -1.82345208e-04 9.99987178e-01 1.52878460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:36.14, Y:2.90, Z:0.15 [[ 9.99646217e-01 -2.61112436e-02 -5.06392071e-03 3.61439085e+01] [ 2.61117161e-02 9.99659031e-01 2.72100961e-05 2.89872054e+00] [ 5.06148358e-03 -1.59428130e-04 9.99987178e-01 1.51958970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:36.18, Y:2.90, Z:0.15 [[ 9.99692265e-01 -2.42844355e-02 -5.06372859e-03 3.61756919e+01] [ 2.42849880e-02 9.99705075e-01 4.76336945e-05 2.89717800e+00] [ 5.06107841e-03 -1.70591624e-04 9.99987178e-01 1.51792423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:36.21, Y:2.89, Z:0.15 [[ 9.99793426e-01 -1.96840943e-02 -5.06372479e-03 3.62072246e+01] [ 1.96845898e-02 9.99806239e-01 4.80350375e-05 2.89457596e+00] [ 5.06179810e-03 -1.47702460e-04 9.99987178e-01 1.50772659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63439141799999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:36.24, Y:2.89, Z:0.15 [[ 9.99845180e-01 -1.68515318e-02 -5.06372193e-03 3.62396026e+01] [ 1.68519925e-02 9.99857994e-01 4.83336693e-05 2.89430375e+00] [ 5.06218836e-03 -1.33659991e-04 9.99987178e-01 1.52272836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:36.27, Y:2.89, Z:0.15 [[ 9.99894194e-01 -1.36367231e-02 -5.06371795e-03 3.62711284e+01] [ 1.36371447e-02 9.99907009e-01 4.87472922e-05 2.89426853e+00] [ 5.06258232e-03 -1.17796789e-04 9.99987178e-01 1.52764011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694391417999995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:36.30, Y:2.89, Z:0.15 [[ 9.99942047e-01 -9.50060079e-03 -5.06371118e-03 3.63013905e+01] [ 9.50097293e-03 9.99954864e-01 4.94410742e-05 2.89421618e+00] [ 5.06301290e-03 -9.75483918e-05 9.99987178e-01 1.53889760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724391417999996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:36.33, Y:2.89, Z:0.15 [[ 9.99983116e-01 -2.85041306e-03 -5.06385004e-03 3.63317522e+01] [ 2.85062685e-03 9.99995936e-01 3.50025684e-05 2.89341947e+00] [ 5.06372969e-03 -4.94371243e-05 9.99987178e-01 1.52409850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:36.36, Y:2.89, Z:0.15 [[ 9.99986994e-01 6.09050417e-04 -5.06371937e-03 3.63606885e+01] [-6.08812054e-04 9.99999813e-01 4.86140261e-05 2.89227774e+00] [ 5.06374803e-03 -4.55305404e-05 9.99987178e-01 1.52293310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:36.39, Y:2.89, Z:0.15 [[ 9.99978079e-01 4.26625758e-03 -5.06373280e-03 3.63888446e+01] [-4.26607340e-03 9.99990899e-01 4.71717481e-05 2.89110760e+00] [ 5.06388796e-03 -2.55684582e-05 9.99987178e-01 1.52620737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81439141799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:36.42, Y:2.89, Z:0.15 [[ 9.99920441e-01 1.15529453e-02 -5.06373750e-03 3.64164295e+01] [-1.15528571e-02 9.99933262e-01 4.66621982e-05 2.89032768e+00] [ 5.06393864e-03 1.18421501e-05 9.99987178e-01 1.54210980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:36.44, Y:2.89, Z:0.16 [[ 9.99877671e-01 1.47986846e-02 -5.06375197e-03 3.64440398e+01] [-1.47986463e-02 9.99890493e-01 4.50350770e-05 2.89046527e+00] [ 5.06386391e-03 2.99071064e-05 9.99987178e-01 1.55373414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874391417999995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:36.47, Y:2.89, Z:0.16 [[ 9.99826851e-01 1.79060462e-02 -5.06375638e-03 3.64722075e+01] [-1.79060503e-02 9.99839673e-01 4.45329502e-05 2.88987914e+00] [ 5.06374194e-03 4.61466373e-05 9.99987178e-01 1.56092938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904391417999996 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:36.50, Y:2.89, Z:0.16 [[ 9.99762680e-01 2.11882659e-02 -5.06376153e-03 3.64989694e+01] [-2.11883151e-02 9.99775501e-01 4.39394130e-05 2.88847003e+00] [ 5.06355573e-03 6.33635898e-05 9.99987178e-01 1.57714038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934391418 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:36.53, Y:2.88, Z:0.15 [[ 9.99727760e-01 2.27763577e-02 -5.06395791e-03 3.65279084e+01] [-2.27765472e-02 9.99740581e-01 2.02555667e-05 2.88443160e+00] [ 5.06310557e-03 9.50894239e-05 9.99987178e-01 1.54138007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:36.56, Y:2.88, Z:0.16 [[ 9.99722933e-01 2.29872767e-02 -5.06377998e-03 3.65563219e+01] [-2.29873597e-02 9.99735755e-01 4.18069368e-05 2.88198422e+00] [ 5.06340293e-03 7.46075784e-05 9.99987178e-01 1.55081615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:36.58, Y:2.88, Z:0.16 [[ 9.99741938e-01 2.21453485e-02 -5.06378506e-03 3.65831784e+01] [-2.21454239e-02 9.99754759e-01 4.11817405e-05 2.87990438e+00] [ 5.06345520e-03 7.09685537e-05 9.99987178e-01 1.55098643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:36.61, Y:2.88, Z:0.16 [[ 9.99767702e-01 2.09499301e-02 -5.06379083e-03 3.66115359e+01] [-2.09499939e-02 9.99780524e-01 4.04601403e-05 2.87845387e+00] [ 5.06352709e-03 6.56356453e-05 9.99987178e-01 1.55374282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054391417999994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:36.64, Y:2.88, Z:0.16 [[ 9.99842779e-01 1.69933929e-02 -5.06379568e-03 3.66396182e+01] [-1.69934091e-02 9.99855601e-01 3.98438893e-05 2.87648358e+00] [ 5.06374155e-03 4.62135263e-05 9.99987178e-01 1.56061754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084391417999996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:36.67, Y:2.87, Z:0.16 [[ 9.99889515e-01 1.39755490e-02 -5.06380030e-03 3.66687151e+01] [-1.39755294e-02 9.99902337e-01 3.92476498e-05 2.87407164e+00] [ 5.06385426e-03 3.15259766e-05 9.99987178e-01 1.56334857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:36.70, Y:2.87, Z:0.15 [[ 9.99966634e-01 6.41005773e-03 -5.06380342e-03 3.66976606e+01] [-6.40994323e-03 9.99979455e-01 3.88404263e-05 2.86750180e+00] [ 5.06394836e-03 -6.38043785e-06 9.99987178e-01 1.54945522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:36.73, Y:2.86, Z:0.15 [[ 9.99985461e-01 1.85332988e-03 -5.06380652e-03 3.67259309e+01] [-1.85315903e-03 9.99998282e-01 3.84326226e-05 2.86433375e+00] [ 5.06386905e-03 -2.90480251e-05 9.99987178e-01 1.54494210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:36.75, Y:2.86, Z:0.15 [[ 9.99983036e-01 -2.87847857e-03 -5.06381031e-03 3.67545803e+01] [ 2.87870753e-03 9.99995856e-01 3.79266574e-05 2.86151378e+00] [ 5.06368015e-03 -5.25032429e-05 9.99987178e-01 1.54626318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:36.78, Y:2.86, Z:0.15 [[ 9.99957029e-01 -7.76513075e-03 -5.06381337e-03 3.67832274e+01] [ 7.76542027e-03 9.99969848e-01 3.75131286e-05 2.85889866e+00] [ 5.06336939e-03 -7.68341556e-05 9.99987178e-01 1.53404941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234391417999994 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:36.81, Y:2.85, Z:0.16 [[ 9.99856077e-01 -1.61920706e-02 -5.06381563e-03 3.68133540e+01] [ 1.61924665e-02 9.99868893e-01 3.72062813e-05 2.85395926e+00] [ 5.06254928e-03 -1.19196592e-04 9.99987178e-01 1.55082516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264391417999995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:36.85, Y:2.85, Z:0.16 [[ 9.99794086e-01 -1.96505204e-02 -5.06381563e-03 3.68455445e+01] [ 1.96509607e-02 9.99806901e-01 3.72062813e-05 2.85139913e+00] [ 5.06210668e-03 -1.36707462e-04 9.99987178e-01 1.55450963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:36.88, Y:2.85, Z:0.16 [[ 9.99741268e-01 -2.21755293e-02 -5.06381266e-03 3.68772767e+01] [ 2.21760040e-02 9.99754081e-01 3.76058168e-05 2.84840775e+00] [ 5.06173344e-03 -1.49891217e-04 9.99987178e-01 1.55979983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:36.91, Y:2.85, Z:0.16 [[ 9.99694939e-01 -2.41740936e-02 -5.06380961e-03 3.69085733e+01] [ 2.41745960e-02 9.99707751e-01 3.80112746e-05 2.84573253e+00] [ 5.06141083e-03 -1.60415230e-04 9.99987178e-01 1.55919879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:36.94, Y:2.84, Z:0.16 [[ 9.99658195e-01 -2.56485983e-02 -5.06380733e-03 3.69402896e+01] [ 2.56491210e-02 9.99671006e-01 3.83135431e-05 2.84356189e+00] [ 5.06115868e-03 -1.68182654e-04 9.99987178e-01 1.56652613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:36.97, Y:2.84, Z:0.16 [[ 9.99660249e-01 -2.55684420e-02 -5.06380423e-03 3.69729795e+01] [ 2.55689658e-02 9.99673060e-01 3.87188103e-05 2.84323409e+00] [ 5.06115869e-03 -1.68181893e-04 9.99987178e-01 1.56818056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414391417999994 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:37.00, Y:2.84, Z:0.16 [[ 9.99608105e-01 -2.75317087e-02 -5.06380109e-03 3.70037525e+01] [ 2.75322597e-02 9.99620915e-01 3.91248387e-05 2.84083380e+00] [ 5.06080431e-03 -1.78527393e-04 9.99987178e-01 1.57389587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:37.04, Y:2.84, Z:0.16 [[ 9.99576954e-01 -2.86403856e-02 -5.06379874e-03 3.70361992e+01] [ 2.86409524e-02 9.99589763e-01 3.94270690e-05 2.84031115e+00] [ 5.06059217e-03 -1.84442408e-04 9.99987178e-01 1.58582244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474391417999996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:37.07, Y:2.84, Z:0.16 [[ 9.99527819e-01 -3.03067094e-02 -5.06391515e-03 3.70682620e+01] [ 3.03072214e-02 9.99540630e-01 2.43908523e-05 2.83760424e+00] [ 5.06084973e-03 -1.77852533e-04 9.99987178e-01 1.57720225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:37.10, Y:2.83, Z:0.15 [[ 9.99530949e-01 -3.02033022e-02 -5.06390381e-03 3.71000510e+01] [ 3.02038202e-02 9.99543760e-01 2.58372626e-05 2.83438100e+00] [ 5.06081309e-03 -1.78774384e-04 9.99987178e-01 1.54542379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:37.13, Y:2.83, Z:0.16 [[ 9.99481943e-01 -3.17836984e-02 -5.06377966e-03 3.71317474e+01] [ 3.17843140e-02 9.99494750e-01 4.11245054e-05 2.83253088e+00] [ 5.05991410e-03 -2.02051963e-04 9.99987178e-01 1.55667862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:37.16, Y:2.83, Z:0.16 [[ 9.99438652e-01 -3.31170370e-02 -5.06377638e-03 3.71638174e+01] [ 3.31176717e-02 9.99451459e-01 4.15244076e-05 2.83077042e+00] [ 5.05962352e-03 -2.09201582e-04 9.99987178e-01 1.55156250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594391417999994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:37.20, Y:2.83, Z:0.15 [[ 9.99371812e-01 -3.50762054e-02 -5.06377308e-03 3.71958374e+01] [ 3.50768672e-02 9.99384616e-01 4.19233388e-05 2.82899421e+00] [ 5.05918640e-03 -2.19518299e-04 9.99987178e-01 1.54476965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:37.23, Y:2.83, Z:0.15 [[ 9.99340314e-01 -3.59624073e-02 -5.06376973e-03 3.72265641e+01] [ 3.59630825e-02 9.99353118e-01 4.23232405e-05 2.82889972e+00] [ 5.05897203e-03 -2.24404089e-04 9.99987178e-01 1.54054837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654391417999996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:37.26, Y:2.83, Z:0.15 [[ 9.99324793e-01 -3.63911712e-02 -5.06376723e-03 3.72579272e+01] [ 3.63918534e-02 9.99337596e-01 4.26209807e-05 2.82884492e+00] [ 5.05886194e-03 -2.26872077e-04 9.99987178e-01 1.53544749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:37.29, Y:2.83, Z:0.15 [[ 9.99315722e-01 -3.66394107e-02 -5.06376477e-03 3.72899108e+01] [ 3.66400976e-02 9.99328525e-01 4.29109066e-05 2.82865867e+00] [ 5.05879235e-03 -2.28418379e-04 9.99987178e-01 1.53180983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:37.32, Y:2.83, Z:0.15 [[ 9.99305690e-01 -3.69120001e-02 -5.06376149e-03 3.73220710e+01] [ 3.69126925e-02 9.99318493e-01 4.32948177e-05 2.82835769e+00] [ 5.05871240e-03 -2.30181828e-04 9.99987178e-01 1.53295213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:37.35, Y:2.83, Z:0.15 [[ 9.99313456e-01 -3.67011606e-02 -5.06375794e-03 3.73537317e+01] [ 3.67018523e-02 9.99326259e-01 4.37056834e-05 2.82744727e+00] [ 5.05874223e-03 -2.29524973e-04 9.99987178e-01 1.52224859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77439141799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:37.39, Y:2.83, Z:0.15 [[ 9.99297221e-01 -3.71405668e-02 -5.06375529e-03 3.73852491e+01] [ 3.71412656e-02 9.99310024e-01 4.40113434e-05 2.82748018e+00] [ 5.05862681e-03 -2.32054693e-04 9.99987178e-01 1.53757985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:37.42, Y:2.83, Z:0.15 [[ 9.99283460e-01 -3.75089987e-02 -5.06374941e-03 3.74176173e+01] [ 3.75097056e-02 9.99296262e-01 4.46772798e-05 2.82763928e+00] [ 5.05851006e-03 -2.34585017e-04 9.99987178e-01 1.53903253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834391417999996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:37.45, Y:2.83, Z:0.16 [[ 9.99258844e-01 -3.81591629e-02 -5.06374587e-03 3.74495054e+01] [ 3.81598801e-02 9.99271646e-01 4.50751950e-05 2.82801158e+00] [ 5.05833763e-03 -2.38273723e-04 9.99987178e-01 1.55009152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:37.48, Y:2.83, Z:0.16 [[ 9.99235348e-01 -3.87695420e-02 -5.06374233e-03 3.74816874e+01] [ 3.87702691e-02 9.99248149e-01 4.54696054e-05 2.82859802e+00] [ 5.05817231e-03 -2.41757490e-04 9.99987178e-01 1.56709689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:37.51, Y:2.83, Z:0.16 [[ 9.99234003e-01 -3.88042072e-02 -5.06373876e-03 3.75143429e+01] [ 3.88049367e-02 9.99246804e-01 4.58629780e-05 2.82919021e+00] [ 5.05814510e-03 -2.42325909e-04 9.99987178e-01 1.57403372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:37.55, Y:2.83, Z:0.16 [[ 9.99208060e-01 -3.94665974e-02 -5.06373517e-03 3.75466917e+01] [ 3.94673374e-02 9.99220860e-01 4.62569348e-05 2.83005311e+00] [ 5.05796420e-03 -2.46072447e-04 9.99987178e-01 1.58658895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95439141799999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:37.58, Y:2.83, Z:0.16 [[ 9.99176955e-01 -4.02463714e-02 -5.06383224e-03 3.75791016e+01] [ 4.02470682e-02 9.99189758e-01 3.57404440e-05 2.82933885e+00] [ 5.05829089e-03 -2.39515430e-04 9.99987178e-01 1.59023965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:37.61, Y:2.83, Z:0.16 [[ 9.99166545e-01 -4.05039946e-02 -5.06372534e-03 3.76098624e+01] [ 4.05047527e-02 9.99179345e-01 4.72077310e-05 2.82898588e+00] [ 5.05765766e-03 -2.52273328e-04 9.99987178e-01 1.59225594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014391417999995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:37.64, Y:2.83, Z:0.16 [[ 9.99150064e-01 -4.09085311e-02 -5.06372264e-03 3.76417686e+01] [ 4.09092958e-02 9.99162863e-01 4.74951064e-05 2.82924911e+00] [ 5.05754066e-03 -2.54608066e-04 9.99987178e-01 1.59039504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:37.67, Y:2.83, Z:0.16 [[ 9.99147069e-01 -4.09816141e-02 -5.06371902e-03 3.76735985e+01] [ 4.09823817e-02 9.99159868e-01 4.78779057e-05 2.82917846e+00] [ 5.05750272e-03 -2.55360335e-04 9.99987178e-01 1.58485113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:37.70, Y:2.83, Z:0.16 [[ 9.99117302e-01 -4.17010215e-02 -5.06371514e-03 3.77049316e+01] [ 4.17018004e-02 9.99130100e-01 4.82854167e-05 2.83013670e+00] [ 5.05729666e-03 -2.59408833e-04 9.99987178e-01 1.58512085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:37.74, Y:2.83, Z:0.16 [[ 9.99110986e-01 -4.18520857e-02 -5.06371222e-03 3.77368503e+01] [ 4.18528680e-02 9.99123784e-01 4.85887427e-05 2.83079224e+00] [ 5.05724178e-03 -2.60476426e-04 9.99987178e-01 1.58827940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13439141799999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:37.77, Y:2.83, Z:0.16 [[ 9.99124586e-01 -4.15261332e-02 -5.06370849e-03 3.77683186e+01] [ 4.15269133e-02 9.99137384e-01 4.89748864e-05 2.83107111e+00] [ 5.05730672e-03 -2.59212197e-04 9.99987178e-01 1.57985324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:37.80, Y:2.83, Z:0.16 [[ 9.99121504e-01 -4.16002403e-02 -5.06370569e-03 3.78009644e+01] [ 4.16010228e-02 9.99134302e-01 4.92628383e-05 2.83140080e+00] [ 5.05727270e-03 -2.59874897e-04 9.99987178e-01 1.60083475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194391417999995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:37.83, Y:2.83, Z:0.16 [[ 9.99203552e-01 -3.95805487e-02 -5.06370172e-03 3.78324037e+01] [ 3.95813074e-02 9.99216352e-01 4.96670512e-05 2.83142265e+00] [ 5.05776771e-03 -2.50055429e-04 9.99987178e-01 1.59368261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224391417999996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:37.86, Y:2.83, Z:0.16 [[ 9.99246916e-01 -3.84702430e-02 -5.06369875e-03 3.78649357e+01] [ 3.84709890e-02 9.99259716e-01 4.99683970e-05 2.83261809e+00] [ 5.05802788e-03 -2.44736266e-04 9.99987178e-01 1.61176417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:37.90, Y:2.83, Z:0.16 [[ 9.99326890e-01 -3.63335256e-02 -5.06369482e-03 3.78968332e+01] [ 3.63342462e-02 9.99339692e-01 5.03633444e-05 2.83434714e+00] [ 5.05852135e-03 -2.34314979e-04 9.99987178e-01 1.61841641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:37.93, Y:2.84, Z:0.16 [[ 9.99409622e-01 -3.39818688e-02 -5.06369089e-03 3.79279186e+01] [ 3.39825613e-02 9.99422425e-01 5.07559984e-05 2.83601216e+00] [ 5.05904144e-03 -2.22803219e-04 9.99987178e-01 1.62170197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:37.96, Y:2.84, Z:0.16 [[ 9.99584368e-01 -2.83804571e-02 -5.06368793e-03 3.79597745e+01] [ 2.83810793e-02 9.99597175e-01 5.10488743e-05 2.83939743e+00] [ 5.06019936e-03 -1.94740586e-04 9.99987178e-01 1.63362304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:37.99, Y:2.84, Z:0.16 [[ 9.99669090e-01 -2.52204300e-02 -5.06368403e-03 3.79904904e+01] [ 2.52210136e-02 9.99681898e-01 5.14335073e-05 2.84093279e+00] [ 5.06077609e-03 -1.79127731e-04 9.99987178e-01 1.63608365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374391417999995 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:38.02, Y:2.84, Z:0.16 [[ 9.99740373e-01 -2.22158784e-02 -5.06368111e-03 3.80231227e+01] [ 2.22164250e-02 9.99753183e-01 5.17195138e-05 2.84258261e+00] [ 5.06128231e-03 -1.64202977e-04 9.99987178e-01 1.63961534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404391417999996 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:38.05, Y:2.85, Z:0.16 [[ 9.99853593e-01 -1.63447730e-02 -5.06367723e-03 3.80547843e+01] [ 1.63452463e-02 9.99866406e-01 5.20959968e-05 2.84514383e+00] [ 5.06214926e-03 -1.34855421e-04 9.99987178e-01 1.61283356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:38.09, Y:2.85, Z:0.16 [[ 9.99880662e-01 -1.45952291e-02 -5.06367433e-03 3.80862416e+01] [ 1.45956813e-02 9.99893476e-01 5.23764784e-05 2.84675165e+00] [ 5.06237048e-03 -1.26278005e-04 9.99987178e-01 1.63669250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:38.12, Y:2.85, Z:0.16 [[ 9.99909496e-01 -1.24642821e-02 -5.06367243e-03 3.81175402e+01] [ 1.24647080e-02 9.99922311e-01 5.25594644e-05 2.84832866e+00] [ 5.06262392e-03 -1.15671906e-04 9.99987178e-01 1.62556876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:38.15, Y:2.85, Z:0.16 [[ 9.99941823e-01 -9.52413048e-03 -5.06367052e-03 3.81484103e+01] [ 9.52451964e-03 9.99954639e-01 5.27428002e-05 2.85132040e+00] [ 5.06293850e-03 -1.00968761e-04 9.99987178e-01 1.62945115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:38.18, Y:2.85, Z:0.16 [[ 9.99951821e-01 -8.40926297e-03 -5.06366862e-03 3.81786352e+01] [ 8.40963875e-03 9.99964637e-01 5.29243780e-05 2.85209718e+00] [ 5.06304450e-03 -9.55054520e-05 9.99987178e-01 1.62748553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554391417999994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:38.21, Y:2.85, Z:0.16 [[ 9.99961105e-01 -7.22137870e-03 -5.06366862e-03 3.82087565e+01] [ 7.22173926e-03 9.99973922e-01 5.29243780e-05 2.85288462e+00] [ 5.06315438e-03 -8.94908140e-05 9.99987178e-01 1.62878277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584391417999996 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:38.24, Y:2.85, Z:0.16 [[ 9.99972393e-01 -5.43812695e-03 -5.06366862e-03 3.82394583e+01] [ 5.43846466e-03 9.99985210e-01 5.29243780e-05 2.85321373e+00] [ 5.06330592e-03 -8.04614997e-05 9.99987178e-01 1.64704758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:38.27, Y:2.85, Z:0.16 [[ 9.99978878e-01 -4.07463431e-03 -5.06366862e-03 3.82691597e+01] [ 4.07495454e-03 9.99991696e-01 5.29243780e-05 2.85405832e+00] [ 5.06341093e-03 -7.35574796e-05 9.99987178e-01 1.64419779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:38.30, Y:2.86, Z:0.16 [[ 9.99987125e-01 3.30459193e-04 -5.06366839e-03 3.82985994e+01] [-3.30195323e-04 9.99999944e-01 5.29464348e-05 2.85588440e+00] [ 5.06368561e-03 -5.12737535e-05 9.99987178e-01 1.63801766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:38.33, Y:2.86, Z:0.17 [[ 9.99985228e-01 1.97585129e-03 -5.06367052e-03 3.83264884e+01] [-1.97560955e-03 9.99998047e-01 5.27423079e-05 2.85760275e+00] [ 5.06376484e-03 -4.27376929e-05 9.99987178e-01 1.65408622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:38.35, Y:2.86, Z:0.17 [[ 9.99972711e-01 5.37934221e-03 -5.06368690e-03 3.83546683e+01] [-5.37915231e-03 9.99985531e-01 5.11195220e-05 2.86028994e+00] [ 5.06388863e-03 -2.38797839e-05 9.99987178e-01 1.67056582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734391417999994 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:38.38, Y:2.86, Z:0.17 [[ 9.99965597e-01 6.56988028e-03 -5.06370305e-03 3.83829008e+01] [-6.56971402e-03 9.99978418e-01 4.94663745e-05 2.86056542e+00] [ 5.06391876e-03 -1.61975918e-05 9.99987178e-01 1.67338250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764391417999995 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:38.41, Y:2.86, Z:0.17 [[ 9.99958130e-01 7.62211240e-03 -5.06370798e-03 3.84108983e+01] [-7.62196222e-03 9.99970951e-01 4.89565857e-05 2.86056437e+00] [ 5.06393404e-03 -1.03591450e-05 9.99987178e-01 1.66207126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:38.44, Y:2.86, Z:0.17 [[ 9.99953906e-01 8.15744593e-03 -5.06371279e-03 3.84394545e+01] [-8.15730515e-03 9.99966727e-01 4.84542283e-05 2.86060490e+00] [ 5.06393957e-03 -7.14574450e-06 9.99987178e-01 1.67772668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:38.47, Y:2.86, Z:0.17 [[ 9.99957143e-01 7.75052625e-03 -5.06371655e-03 3.84682343e+01] [-7.75038226e-03 9.99969964e-01 4.80577846e-05 2.86090056e+00] [ 5.06393693e-03 -8.80998604e-06 9.99987178e-01 1.68268768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:38.50, Y:2.86, Z:0.17 [[ 9.99963754e-01 6.84473217e-03 -5.06372035e-03 3.84965905e+01] [-6.84457862e-03 9.99976574e-01 4.76536713e-05 2.86107727e+00] [ 5.06392791e-03 -1.29929120e-05 9.99987178e-01 1.68350549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:38.53, Y:2.86, Z:0.17 [[ 9.99972365e-01 5.44314160e-03 -5.06372409e-03 3.85257709e+01] [-5.44297210e-03 9.99985186e-01 4.72530333e-05 2.86141114e+00] [ 5.06390628e-03 -1.96900185e-05 9.99987178e-01 1.68056334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914391417999994 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:38.55, Y:2.86, Z:0.17 [[ 9.99979274e-01 3.97618327e-03 -5.06372777e-03 3.85539834e+01] [-3.97599698e-03 9.99992095e-01 4.68555835e-05 2.86100310e+00] [ 5.06387404e-03 -2.67212461e-05 9.99987178e-01 1.65224436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944391417999995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:38.58, Y:2.86, Z:0.17 [[ 9.99986263e-01 1.35368247e-03 -5.06373228e-03 3.85829163e+01] [-1.35346506e-03 9.99999083e-01 4.63629325e-05 2.86065463e+00] [ 5.06379040e-03 -3.95087109e-05 9.99987178e-01 1.67061103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974391417999996 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:38.61, Y:2.86, Z:0.17 [[ 9.99977223e-01 -4.46236812e-03 -5.06373584e-03 3.86105232e+01] [ 4.46265811e-03 9.99990041e-01 4.59703717e-05 2.85904464e+00] [ 5.06348028e-03 -6.85670465e-05 9.99987178e-01 1.65811545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:38.64, Y:2.86, Z:0.17 [[ 9.99959717e-01 -7.41103280e-03 -5.06374074e-03 3.86396404e+01] [ 7.41135782e-03 9.99972534e-01 4.54240399e-05 2.85825299e+00] [ 5.06326503e-03 -8.29514047e-05 9.99987178e-01 1.65982114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:38.67, Y:2.86, Z:0.17 [[ 9.99907707e-01 -1.26070090e-02 -5.06374331e-03 3.86701025e+01] [ 1.26073992e-02 9.99920523e-01 4.51359048e-05 2.85741121e+00] [ 5.06277183e-03 -1.08972373e-04 9.99987178e-01 1.68015737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:38.70, Y:2.86, Z:0.17 [[ 9.99878706e-01 -1.47286101e-02 -5.06374331e-03 3.87012466e+01] [ 1.47290274e-02 9.99891521e-01 4.51359048e-05 2.85672562e+00] [ 5.06252921e-03 -1.19714444e-04 9.99987178e-01 1.67176848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094391417999994 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:38.73, Y:2.86, Z:0.17 [[ 9.99845037e-01 -1.68600551e-02 -5.06374057e-03 3.87329501e+01] [ 1.68605013e-02 9.99857851e-01 4.54410948e-05 2.85617405e+00] [ 5.06225463e-03 -1.30811258e-04 9.99987178e-01 1.69199879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:38.77, Y:2.86, Z:0.17 [[ 9.99820211e-01 -1.82730606e-02 -5.06373692e-03 3.87653270e+01] [ 1.82735270e-02 9.99833024e-01 4.58448837e-05 2.85511613e+00] [ 5.06205367e-03 -1.38368974e-04 9.99987178e-01 1.68358148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154391417999996 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:38.80, Y:2.85, Z:0.17 [[ 9.99758796e-01 -2.13707272e-02 -5.06373323e-03 3.87965469e+01] [ 2.13712353e-02 9.99771608e-01 4.62486723e-05 2.85402628e+00] [ 5.06158835e-03 -1.54455751e-04 9.99987178e-01 1.68263802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:38.83, Y:2.85, Z:0.17 [[ 9.99735550e-01 -2.24318548e-02 -5.06373046e-03 3.88279548e+01] [ 2.24323780e-02 9.99748361e-01 4.65495640e-05 2.85360067e+00] [ 5.06141204e-03 -1.60128770e-04 9.99987178e-01 1.67687140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214391418 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:38.86, Y:2.85, Z:0.17 [[ 9.99712860e-01 -2.34212720e-02 -5.06372771e-03 3.88605942e+01] [ 2.34218094e-02 9.99725671e-01 4.68468567e-05 2.85324752e+00] [ 5.06124137e-03 -1.65435070e-04 9.99987178e-01 1.68470331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:38.89, Y:2.85, Z:0.17 [[ 9.99698219e-01 -2.40380728e-02 -5.06372396e-03 3.88931820e+01] [ 2.40386201e-02 9.99711030e-01 4.72496059e-05 2.85301638e+00] [ 5.06112490e-03 -1.68960283e-04 9.99987178e-01 1.68515734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27439141799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:38.93, Y:2.85, Z:0.17 [[ 9.99693762e-01 -2.42227539e-02 -5.06372019e-03 3.89251901e+01] [ 2.42233057e-02 9.99706572e-01 4.76501561e-05 2.85305359e+00] [ 5.06108013e-03 -1.70295606e-04 9.99987178e-01 1.69007919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:38.96, Y:2.85, Z:0.17 [[ 9.99695668e-01 -2.41439497e-02 -5.06371640e-03 3.89578813e+01] [ 2.41445025e-02 9.99708478e-01 4.80494513e-05 2.85266448e+00] [ 5.06108011e-03 -1.70295741e-04 9.99987178e-01 1.69173360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334391417999996 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:38.99, Y:2.85, Z:0.17 [[ 9.99696507e-01 -2.41091792e-02 -5.06371258e-03 3.89905251e+01] [ 2.41097335e-02 9.99709317e-01 4.84486098e-05 2.85311100e+00] [ 5.06107259e-03 -1.70518667e-04 9.99987178e-01 1.69687121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:39.02, Y:2.85, Z:0.17 [[ 9.99716290e-01 -2.32744037e-02 -5.06370871e-03 3.90213590e+01] [ 2.32749494e-02 9.99729100e-01 4.88501379e-05 2.85380604e+00] [ 5.06119999e-03 -1.66693843e-04 9.99987178e-01 1.69970045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:39.05, Y:2.86, Z:0.17 [[ 9.99760821e-01 -2.12758224e-02 -5.06370211e-03 3.90525842e+01] [ 2.12763459e-02 9.99773632e-01 4.95246189e-05 2.85628274e+00] [ 5.06150217e-03 -1.57249851e-04 9.99987178e-01 1.69901502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:39.08, Y:2.86, Z:0.17 [[ 9.99802102e-01 -1.92384125e-02 -5.06369920e-03 3.90843853e+01] [ 1.92389113e-02 9.99814914e-01 4.98207173e-05 2.85683991e+00] [ 5.06180350e-03 -1.47230918e-04 9.99987178e-01 1.68654847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45439141799999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:39.12, Y:2.86, Z:0.17 [[ 9.99843349e-01 -1.69598763e-02 -5.06369530e-03 3.91151533e+01] [ 1.69603480e-02 9.99856162e-01 5.02135038e-05 2.85756953e+00] [ 5.06211533e-03 -1.36087672e-04 9.99987178e-01 1.67741387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:39.15, Y:2.86, Z:0.17 [[ 9.99881055e-01 -1.45682913e-02 -5.06369238e-03 3.91477327e+01] [ 1.45687338e-02 9.99893869e-01 5.05062479e-05 2.85838673e+00] [ 5.06241918e-03 -1.24271827e-04 9.99987178e-01 1.67511076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514391417999995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:39.18, Y:2.86, Z:0.17 [[ 9.99940687e-01 -9.64267520e-03 -5.06368850e-03 3.91783228e+01] [ 9.64305650e-03 9.99953503e-01 5.08920452e-05 2.86209210e+00] [ 5.06296232e-03 -9.97184610e-05 9.99987178e-01 1.68590190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:39.21, Y:2.86, Z:0.17 [[ 9.99966792e-01 -6.38547642e-03 -5.06368754e-03 3.92090884e+01] [ 6.38581646e-03 9.99979609e-01 5.09873384e-05 2.86401755e+00] [ 5.06325871e-03 -8.33214244e-05 9.99987178e-01 1.68959942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:39.24, Y:2.87, Z:0.17 [[ 9.99982639e-01 -3.01358893e-03 -5.06368754e-03 3.92389879e+01] [ 3.01388575e-03 9.99995457e-01 5.09873384e-05 2.86603008e+00] [ 5.06351088e-03 -6.62478289e-05 9.99987178e-01 1.70076494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:39.27, Y:2.87, Z:0.17 [[ 9.99981163e-01 3.46880360e-03 -5.06368943e-03 3.92675909e+01] [-3.46859083e-03 9.99993983e-01 5.07997837e-05 2.87073366e+00] [ 5.06383517e-03 -3.32349601e-05 9.99987178e-01 1.72430221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63439141799999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:39.29, Y:2.87, Z:0.17 [[ 9.99967490e-01 6.27522545e-03 -5.06370301e-03 3.92946166e+01] [-6.27505571e-03 9.99980310e-01 4.94072942e-05 2.87251536e+00] [ 5.06391335e-03 -1.76306694e-05 9.99987178e-01 1.71736975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:39.32, Y:2.87, Z:0.17 [[ 9.99948441e-01 8.80190740e-03 -5.06370964e-03 3.93223186e+01] [-8.80177355e-03 9.99961262e-01 4.87188959e-05 2.87371495e+00] [ 5.06394230e-03 -4.14675850e-06 9.99987178e-01 1.71989543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694391417999995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:39.35, Y:2.88, Z:0.17 [[ 9.99923858e-01 1.12532735e-02 -5.06372499e-03 3.93498914e+01] [-1.12531795e-02 9.99936680e-01 4.70673725e-05 2.87612385e+00] [ 5.06393401e-03 9.91921729e-06 9.99987178e-01 1.73743126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724391417999996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:39.38, Y:2.88, Z:0.17 [[ 9.99903540e-01 1.29332520e-02 -5.06372967e-03 3.93768546e+01] [-1.29331820e-02 9.99916362e-01 4.65575815e-05 2.87686642e+00] [ 5.06390829e-03 1.89370470e-05 9.99987178e-01 1.73061430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:39.41, Y:2.88, Z:0.17 [[ 9.99912463e-01 1.22238307e-02 -5.06397843e-03 3.94069963e+01] [-1.22238916e-02 9.99925285e-01 1.89307370e-05 2.87659140e+00] [ 5.06383148e-03 4.29724436e-05 9.99987178e-01 1.71531227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:39.43, Y:2.88, Z:0.17 [[ 9.99925011e-01 1.11504259e-02 -5.06373180e-03 3.94344760e+01] [-1.11503357e-02 9.99937832e-01 4.60502603e-05 2.87730494e+00] [ 5.06393048e-03 1.04155022e-05 9.99987178e-01 1.72870482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81439141799999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:39.46, Y:2.88, Z:0.17 [[ 9.99946470e-01 9.02310891e-03 -5.06373711e-03 3.94625762e+01] [-9.02299440e-03 9.99959291e-01 4.54594804e-05 2.87940804e+00] [ 5.06394115e-03 2.33024623e-07 9.99987178e-01 1.74754726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:39.49, Y:2.88, Z:0.17 [[ 9.99953252e-01 8.23723196e-03 -5.06374241e-03 3.94915937e+01] [-8.23711040e-03 9.99966073e-01 4.48605822e-05 2.87949067e+00] [ 5.06394014e-03 -3.14787981e-06 9.99987178e-01 1.74318231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874391417999995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:39.52, Y:2.88, Z:0.17 [[ 9.99963069e-01 6.94397338e-03 -5.06374594e-03 3.95198289e+01] [-6.94383727e-03 9.99975890e-01 4.44585399e-05 2.87940997e+00] [ 5.06393258e-03 -9.29507022e-06 9.99987178e-01 1.72117829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904391417999996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:39.55, Y:2.88, Z:0.17 [[ 9.99974250e-01 5.08498211e-03 -5.06375027e-03 3.95488571e+01] [-5.08482470e-03 9.99987071e-01 4.39601892e-05 2.87917680e+00] [ 5.06390834e-03 -1.82107748e-05 9.99987178e-01 1.73575087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:39.58, Y:2.88, Z:0.18 [[ 9.99982258e-01 3.13709325e-03 -5.06375374e-03 3.95778012e+01] [-3.13691291e-03 9.99995079e-01 4.35567338e-05 2.87951309e+00] [ 5.06386546e-03 -2.76714066e-05 9.99987178e-01 1.75769409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:39.61, Y:2.88, Z:0.18 [[ 9.99985861e-01 1.62355019e-03 -5.06375716e-03 3.96065046e+01] [-1.62335247e-03 9.99998681e-01 4.31556742e-05 2.87971840e+00] [ 5.06382055e-03 -3.49348014e-05 9.99987178e-01 1.76518632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:39.64, Y:2.88, Z:0.18 [[ 9.99987141e-01 2.76270596e-04 -5.06376052e-03 3.96355661e+01] [-2.76057625e-04 9.99999961e-01 4.27568415e-05 2.87985290e+00] [ 5.06377214e-03 -4.13584019e-05 9.99987178e-01 1.77190245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:39.66, Y:2.88, Z:0.18 [[ 9.99984384e-01 -2.36441164e-03 -5.06376385e-03 3.96637707e+01] [ 2.36465645e-03 9.99997203e-01 4.23595727e-05 2.87945129e+00] [ 5.06364953e-03 -5.43329730e-05 9.99987178e-01 1.75696727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054391417999994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:39.69, Y:2.88, Z:0.18 [[ 9.99977222e-01 -4.46254913e-03 -5.06376792e-03 3.96928446e+01] [ 4.46281835e-03 9.99990041e-01 4.18666921e-05 2.87866671e+00] [ 5.06353066e-03 -6.44644148e-05 9.99987178e-01 1.77089960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084391417999996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:39.72, Y:2.88, Z:0.18 [[ 9.99969061e-01 -6.01954423e-03 -5.06377114e-03 3.97223724e+01] [ 6.01983142e-03 9.99981880e-01 4.14745300e-05 2.87755243e+00] [ 5.06342972e-03 -7.19562954e-05 9.99987178e-01 1.77374180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:39.75, Y:2.88, Z:0.18 [[ 9.99964065e-01 -6.79898615e-03 -5.06377279e-03 3.97515698e+01] [ 6.79928230e-03 9.99976884e-01 4.12715527e-05 2.87685090e+00] [ 5.06337513e-03 -7.57000904e-05 9.99987178e-01 1.75031129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:39.78, Y:2.88, Z:0.18 [[ 9.99950958e-01 -8.51113686e-03 -5.06377442e-03 3.97813313e+01] [ 8.51145394e-03 9.99963776e-01 4.10702121e-05 2.87705320e+00] [ 5.06324144e-03 -8.41682807e-05 9.99987178e-01 1.77912707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:39.81, Y:2.88, Z:0.18 [[ 9.99951771e-01 -8.41514913e-03 -5.06377523e-03 3.98115440e+01] [ 8.41546448e-03 9.99964589e-01 4.09703947e-05 2.87702699e+00] [ 5.06325114e-03 -8.35824392e-05 9.99987178e-01 1.77788327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:39.84, Y:2.88, Z:0.18 [[ 9.99967266e-01 -6.31069645e-03 -5.06377523e-03 3.98394513e+01] [ 6.31098482e-03 9.99980085e-01 4.09703947e-05 2.87667757e+00] [ 5.06341583e-03 -7.29264621e-05 9.99987178e-01 1.77044788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234391417999994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:39.87, Y:2.88, Z:0.17 [[ 9.99965061e-01 -6.65074327e-03 -5.06403412e-03 3.98702639e+01] [ 6.65087024e-03 9.99977883e-01 8.23249807e-06 2.87692366e+00] [ 5.06386737e-03 -4.19124443e-05 9.99987178e-01 1.74536759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264391417999995 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:39.90, Y:2.88, Z:0.18 [[ 9.99967546e-01 -6.26622029e-03 -5.06377983e-03 3.99001679e+01] [ 6.26650437e-03 9.99980364e-01 4.02363748e-05 2.87700840e+00] [ 5.06342827e-03 -7.19672674e-05 9.99987178e-01 1.76324764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:39.93, Y:2.88, Z:0.18 [[ 9.99974074e-01 -5.11944627e-03 -5.06377990e-03 3.99311092e+01] [ 5.11971560e-03 9.99986893e-01 4.02264755e-05 2.87684850e+00] [ 5.06350760e-03 -6.61505456e-05 9.99987178e-01 1.76652967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:39.96, Y:2.88, Z:0.18 [[ 9.99980394e-01 -3.68368255e-03 -5.06377990e-03 3.99609412e+01] [ 3.68393348e-03 9.99993213e-01 4.02264755e-05 2.87664334e+00] [ 5.06359736e-03 -5.88803151e-05 9.99987178e-01 1.76732971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:39.99, Y:2.88, Z:0.18 [[ 9.99987091e-01 4.18623036e-04 -5.06378151e-03 3.99903847e+01] [-4.18425728e-04 9.99999912e-01 4.00239267e-05 2.87768222e+00] [ 5.06379781e-03 -3.79045936e-05 9.99987178e-01 1.76504017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:40.02, Y:2.88, Z:0.18 [[ 9.99983274e-01 2.79478073e-03 -5.06378314e-03 4.00177081e+01] [-2.79461494e-03 9.99996094e-01 3.98160769e-05 2.87875181e+00] [ 5.06387464e-03 -2.56640869e-05 9.99987178e-01 1.76158417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414391417999994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:40.04, Y:2.88, Z:0.18 [[ 9.99972158e-01 5.48100887e-03 -5.06378896e-03 4.00442949e+01] [-5.48088134e-03 9.99984979e-01 3.90616774e-05 2.88003185e+00] [ 5.06392699e-03 -1.13065634e-05 9.99987178e-01 1.76110236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444391417999995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:40.07, Y:2.88, Z:0.18 [[ 9.99954134e-01 8.12940700e-03 -5.06379421e-03 4.00722188e+01] [-8.12931694e-03 9.99966956e-01 3.83685188e-05 2.88109084e+00] [ 5.06393880e-03 2.79842904e-06 9.99987178e-01 1.77145190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474391417999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:40.10, Y:2.88, Z:0.18 [[ 9.99891492e-01 1.38333654e-02 -5.06380622e-03 4.00994066e+01] [-1.38333569e-02 9.99904314e-01 3.67127566e-05 2.88248265e+00] [ 5.06382954e-03 3.33406657e-05 9.99987178e-01 1.76785548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:40.13, Y:2.88, Z:0.18 [[ 9.99857398e-01 1.61102804e-02 -5.06381131e-03 4.01278047e+01] [-1.61103047e-02 9.99870220e-01 3.59967216e-05 2.88269893e+00] [ 5.06373404e-03 4.55879547e-05 9.99987178e-01 1.77873873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:40.15, Y:2.88, Z:0.18 [[ 9.99828238e-01 1.78284128e-02 -5.06381557e-03 4.01548229e+01] [-1.78284622e-02 9.99841060e-01 3.53871501e-05 2.88298749e+00] [ 5.06364162e-03 5.48989726e-05 9.99987178e-01 1.78532894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:40.18, Y:2.88, Z:0.18 [[ 9.99771608e-01 2.07626743e-02 -5.06382039e-03 4.01822853e+01] [-2.07627649e-02 9.99784430e-01 3.46827365e-05 2.88360195e+00] [ 5.06344889e-03 7.04640970e-05 9.99987178e-01 1.79548195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594391417999994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:40.21, Y:2.88, Z:0.18 [[ 9.99753693e-01 2.16081325e-02 -5.06382441e-03 4.02094044e+01] [-2.16082370e-02 9.99766514e-01 3.40856272e-05 2.88380228e+00] [ 5.06337860e-03 7.53430863e-05 9.99987178e-01 1.79912577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624391417999995 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:40.24, Y:2.88, Z:0.18 [[ 9.99734062e-01 2.24980609e-02 -5.06382896e-03 4.02370639e+01] [-2.24981803e-02 9.99746883e-01 3.33952399e-05 2.88374262e+00] [ 5.06329855e-03 8.05405782e-05 9.99987178e-01 1.79964148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654391417999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:40.26, Y:2.88, Z:0.18 [[ 9.99704181e-01 2.37888181e-02 -5.06383288e-03 4.02625715e+01] [-2.37889571e-02 9.99717002e-01 3.27909381e-05 2.88301679e+00] [ 5.06317988e-03 8.76820652e-05 9.99987178e-01 1.82340872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:40.29, Y:2.88, Z:0.18 [[ 9.99738326e-01 2.23077712e-02 -5.06396888e-03 4.02927225e+01] [-2.23080001e-02 9.99751146e-01 1.12896734e-05 2.88024042e+00] [ 5.06296054e-03 1.01680299e-04 9.99987178e-01 1.81417902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:40.32, Y:2.88, Z:0.18 [[ 9.99747887e-01 2.18750876e-02 -5.06383831e-03 4.03203580e+01] [-2.18752062e-02 9.99760709e-01 3.19706281e-05 2.87823618e+00] [ 5.06332594e-03 7.88099394e-05 9.99987178e-01 1.80634536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:40.34, Y:2.88, Z:0.18 [[ 9.99833435e-01 1.75345475e-02 -5.06384205e-03 4.03427631e+01] [-1.75346135e-02 9.99846256e-01 3.13671743e-05 2.88152164e+00] [ 5.06361353e-03 5.74305635e-05 9.99987178e-01 1.83347837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77439141799999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:40.38, Y:2.88, Z:0.18 [[ 9.99829719e-01 1.77449994e-02 -5.06435637e-03 4.03761513e+01] [-1.77455509e-02 9.99842533e-01 -6.39894794e-05 2.87506501e+00] [ 5.06242341e-03 1.53848377e-04 9.99987174e-01 1.82145653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:40.40, Y:2.87, Z:0.18 [[ 9.99849539e-01 1.65908767e-02 -5.06380620e-03 4.04040445e+01] [-1.65909388e-02 9.99862360e-01 2.97280766e-05 2.87368996e+00] [ 5.06360244e-03 5.42896953e-05 9.99987178e-01 1.83434489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834391417999996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:40.43, Y:2.87, Z:0.18 [[ 9.99865188e-01 1.56193456e-02 -5.06380968e-03 4.04321134e+01] [-1.56193984e-02 9.99878009e-01 2.91230740e-05 2.87207547e+00] [ 5.06364683e-03 4.99745132e-05 9.99987178e-01 1.83696457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:40.46, Y:2.87, Z:0.18 [[ 9.99870943e-01 1.52464943e-02 -5.06381314e-03 4.04602648e+01] [-1.52465455e-02 9.99883764e-01 2.85097423e-05 2.87012520e+00] [ 5.06365921e-03 4.86995942e-05 9.99987178e-01 1.81102898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:40.49, Y:2.87, Z:0.18 [[ 9.99887378e-01 1.41275855e-02 -5.06381594e-03 4.04890996e+01] [-1.41276249e-02 9.99900200e-01 2.80035380e-05 2.86632876e+00] [ 5.06370619e-03 4.35393077e-05 9.99987178e-01 1.83023428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:40.52, Y:2.86, Z:0.18 [[ 9.99885585e-01 1.42539449e-02 -5.06381808e-03 4.05170782e+01] [-1.42539879e-02 9.99898406e-01 2.76096243e-05 2.86410336e+00] [ 5.06369718e-03 4.45731363e-05 9.99987178e-01 1.83179722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95439141799999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:40.54, Y:2.86, Z:0.18 [[ 9.99882588e-01 1.44626739e-02 -5.06382070e-03 4.05446874e+01] [-1.44627220e-02 9.99895409e-01 2.71208756e-05 2.86244644e+00] [ 5.06368331e-03 4.61189395e-05 9.99987178e-01 1.84147685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:40.57, Y:2.86, Z:0.19 [[ 9.99872981e-01 1.51122525e-02 -5.06382388e-03 4.05738577e+01] [-1.51123121e-02 9.99885802e-01 2.65134526e-05 2.85945302e+00] [ 5.06364628e-03 5.00160018e-05 9.99987178e-01 1.85851095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014391417999995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:40.60, Y:2.86, Z:0.18 [[ 9.99857255e-01 1.61191451e-02 -5.06382600e-03 4.06021332e+01] [-1.61192196e-02 9.99870077e-01 2.61031228e-05 2.85746680e+00] [ 5.06358885e-03 5.55255267e-05 9.99987178e-01 1.84543963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:40.63, Y:2.86, Z:0.19 [[ 9.99859321e-01 1.59904845e-02 -5.06382856e-03 4.06295743e+01] [-1.59905599e-02 9.99872142e-01 2.55953660e-05 2.85555680e+00] [ 5.06359040e-03 5.53816886e-05 9.99987178e-01 1.85594996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:40.66, Y:2.85, Z:0.19 [[ 9.99846966e-01 1.67452404e-02 -5.06383193e-03 4.06587143e+01] [-1.67453289e-02 9.99859787e-01 2.49110190e-05 2.85059558e+00] [ 5.06353905e-03 5.98883245e-05 9.99987178e-01 1.85323632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:40.69, Y:2.85, Z:0.19 [[ 9.99840529e-01 1.71252734e-02 -5.06383391e-03 4.06864666e+01] [-1.71253689e-02 9.99853350e-01 2.45019547e-05 2.84789940e+00] [ 5.06351090e-03 6.22219766e-05 9.99987178e-01 1.85212987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13439141799999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:40.71, Y:2.85, Z:0.18 [[ 9.99840210e-01 1.71438434e-02 -5.06383679e-03 4.07130604e+01] [-1.71439422e-02 9.99853032e-01 2.38911555e-05 2.84519167e+00] [ 5.06350215e-03 6.29267873e-05 9.99987178e-01 1.84844062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:40.74, Y:2.84, Z:0.19 [[ 9.99837508e-01 1.73007172e-02 -5.06384002e-03 4.07411988e+01] [-1.73008216e-02 9.99850329e-01 2.31856681e-05 2.84275973e+00] [ 5.06348324e-03 6.44266923e-05 9.99987178e-01 1.85557725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194391417999995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:40.77, Y:2.84, Z:0.19 [[ 9.99839564e-01 1.71815099e-02 -5.06384272e-03 4.07696570e+01] [-1.71816159e-02 9.99852385e-01 2.25806616e-05 2.84274603e+00] [ 5.06348319e-03 6.44279616e-05 9.99987178e-01 1.85702015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224391417999996 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:40.80, Y:2.84, Z:0.19 [[ 9.99840138e-01 1.71480834e-02 -5.06384534e-03 4.07966787e+01] [-1.71481920e-02 9.99852959e-01 2.19769245e-05 2.84009949e+00] [ 5.06347761e-03 6.48623810e-05 9.99987178e-01 1.86169262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:40.82, Y:2.83, Z:0.19 [[ 9.99860504e-01 1.59163250e-02 -5.06384827e-03 4.08243110e+01] [-1.59164213e-02 9.99873326e-01 2.12788660e-05 2.83423007e+00] [ 5.06354549e-03 5.93224449e-05 9.99987178e-01 1.85872765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:40.85, Y:2.83, Z:0.19 [[ 9.99876786e-01 1.48583714e-02 -5.06385073e-03 4.08527313e+01] [-1.48584572e-02 9.99889607e-01 2.06775178e-05 2.83084169e+00] [ 5.06359895e-03 5.45660395e-05 9.99987178e-01 1.85730550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31439141799999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:40.88, Y:2.82, Z:0.18 [[ 9.99897641e-01 1.33814851e-02 -5.06385467e-03 4.08817744e+01] [-1.33815571e-02 9.99910463e-01 1.96619389e-05 2.82393291e+00] [ 5.06366437e-03 4.81023339e-05 9.99987178e-01 1.82961650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:40.91, Y:2.82, Z:0.18 [[ 9.99920155e-01 1.15776371e-02 -5.06385623e-03 4.09102073e+01] [-1.15776880e-02 9.99932976e-01 1.92528728e-05 2.82118657e+00] [ 5.06373973e-03 3.93764120e-05 9.99987178e-01 1.84654342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374391417999995 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:40.94, Y:2.82, Z:0.18 [[ 9.99923422e-01 1.12918916e-02 -5.06385775e-03 4.09384957e+01] [-1.12919409e-02 9.99936244e-01 1.88420537e-05 2.81821586e+00] [ 5.06374766e-03 3.83401718e-05 9.99987178e-01 1.84756940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404391417999996 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:40.97, Y:2.82, Z:0.18 [[ 9.99921543e-01 1.14571121e-02 -5.06385959e-03 4.09666497e+01] [-1.14571661e-02 9.99934364e-01 1.83342939e-05 2.81555219e+00] [ 5.06373728e-03 3.96846251e-05 9.99987178e-01 1.84367748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:40.99, Y:2.81, Z:0.18 [[ 9.99899593e-01 1.32348411e-02 -5.06386134e-03 4.09941836e+01] [-1.32349205e-02 9.99912414e-01 1.78382254e-05 2.81027259e+00] [ 5.06365391e-03 4.91833679e-05 9.99987178e-01 1.84174956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:41.02, Y:2.81, Z:0.18 [[ 9.99875921e-01 1.49164330e-02 -5.06386294e-03 4.10225560e+01] [-1.49165363e-02 9.99888742e-01 1.73717015e-05 2.80717099e+00] [ 5.06355867e-03 5.81657492e-05 9.99987178e-01 1.84304455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:41.05, Y:2.80, Z:0.19 [[ 9.99869255e-01 1.53567736e-02 -5.06386431e-03 4.10503201e+01] [-1.53568847e-02 9.99882076e-01 1.69636529e-05 2.80442801e+00] [ 5.06352766e-03 6.08037451e-05 9.99987178e-01 1.85070216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:41.08, Y:2.80, Z:0.18 [[ 9.99840004e-01 1.71558821e-02 -5.06386595e-03 4.10791497e+01] [-1.71560188e-02 9.99852825e-01 1.64577395e-05 2.80081403e+00] [ 5.06340302e-03 7.04206730e-05 9.99987178e-01 1.84159978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554391417999994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:41.11, Y:2.79, Z:0.18 [[ 9.99824008e-01 1.80640511e-02 -5.06386725e-03 4.11069449e+01] [-1.80642015e-02 9.99836829e-01 1.60496906e-05 2.79492389e+00] [ 5.06333089e-03 7.54278522e-05 9.99987178e-01 1.84802359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584391417999996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:41.13, Y:2.79, Z:0.19 [[ 9.99827498e-01 1.78698555e-02 -5.06386880e-03 4.11335942e+01] [-1.78700059e-02 9.99840319e-01 1.55440150e-05 2.79231483e+00] [ 5.06333796e-03 7.49500315e-05 9.99987178e-01 1.85361764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:41.16, Y:2.79, Z:0.19 [[ 9.99800488e-01 1.93220497e-02 -5.06387133e-03 4.11582189e+01] [-1.93222232e-02 9.99813308e-01 1.46700489e-05 2.78892948e+00] [ 5.06320940e-03 8.31781298e-05 9.99987178e-01 1.85720931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:41.19, Y:2.78, Z:0.19 [[ 9.99826473e-01 1.79270605e-02 -5.06397445e-03 4.11884810e+01] [-1.79274180e-02 9.99839291e-01 -2.52035869e-05 2.78190045e+00] [ 5.06270879e-03 1.15983200e-04 9.99987178e-01 1.86469373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:41.22, Y:2.78, Z:0.18 [[ 9.99850404e-01 1.65386495e-02 -5.06392655e-03 4.12173197e+01] [-1.65389016e-02 9.99863223e-01 -7.90176481e-06 2.77820442e+00] [ 5.06310324e-03 9.16523656e-05 9.99987178e-01 1.83259229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:41.25, Y:2.77, Z:0.18 [[ 9.99855842e-01 1.62065559e-02 -5.06386669e-03 4.12464736e+01] [-1.62066933e-02 9.99868663e-01 1.39036810e-05 2.77466138e+00] [ 5.06342694e-03 6.81668576e-05 9.99987178e-01 1.82553276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734391417999994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:41.28, Y:2.77, Z:0.19 [[ 9.99876851e-01 1.48539542e-02 -5.06386780e-03 4.12752739e+01] [-1.48540764e-02 9.99889672e-01 1.34844156e-05 2.77187983e+00] [ 5.06350941e-03 6.17363242e-05 9.99987178e-01 1.85908850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764391417999995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:41.30, Y:2.77, Z:0.19 [[ 9.99893065e-01 1.37191557e-02 -5.06386895e-03 4.13044795e+01] [-1.37192656e-02 9.99905886e-01 1.30366613e-05 2.76535239e+00] [ 5.06357123e-03 5.64372960e-05 9.99987178e-01 1.86506029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:41.33, Y:2.76, Z:0.19 [[ 9.99902292e-01 1.30293028e-02 -5.06387006e-03 4.13326844e+01] [-1.30294061e-02 9.99915114e-01 1.25913395e-05 2.76221321e+00] [ 5.06360426e-03 5.33891100e-05 9.99987178e-01 1.86431972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:41.36, Y:2.76, Z:0.19 [[ 9.99907525e-01 1.26213791e-02 -5.06387137e-03 4.13601602e+01] [-1.26214800e-02 9.99920346e-01 1.20396229e-05 2.75926901e+00] [ 5.06361997e-03 5.18750416e-05 9.99987178e-01 1.86285437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:41.39, Y:2.76, Z:0.19 [[ 9.99912062e-01 1.22566346e-02 -5.06387253e-03 4.13892135e+01] [-1.22567334e-02 9.99924883e-01 1.15303011e-05 2.75665112e+00] [ 5.06363347e-03 5.05372483e-05 9.99987178e-01 1.85834686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:41.42, Y:2.75, Z:0.19 [[ 9.99909955e-01 1.24273838e-02 -5.06387342e-03 4.14171180e+01] [-1.24274868e-02 9.99922776e-01 1.11261756e-05 2.75164054e+00] [ 5.06362064e-03 5.18060462e-05 9.99987178e-01 1.86000487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914391417999994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:41.45, Y:2.75, Z:0.18 [[ 9.99899110e-01 1.32712590e-02 -5.06387448e-03 4.14457038e+01] [-1.32713753e-02 9.99911931e-01 1.06235671e-05 2.74853126e+00] [ 5.06356949e-03 5.65820836e-05 9.99987178e-01 1.84844066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944391417999995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:41.47, Y:2.75, Z:0.19 [[ 9.99893138e-01 1.37138296e-02 -5.06387536e-03 4.14747831e+01] [-1.37139538e-02 9.99905959e-01 1.01841494e-05 2.74569733e+00] [ 5.06353881e-03 5.92626918e-05 9.99987178e-01 1.85125591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974391417999996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:41.50, Y:2.74, Z:0.19 [[ 9.99889077e-01 1.40067933e-02 -5.06387623e-03 4.15030552e+01] [-1.40069236e-02 9.99901898e-01 9.73305545e-06 2.74094530e+00] [ 5.06351578e-03 6.11973516e-05 9.99987178e-01 1.87570282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:41.53, Y:2.74, Z:0.19 [[ 9.99877201e-01 1.48303815e-02 -5.06387724e-03 4.15321113e+01] [-1.48305252e-02 9.99890022e-01 9.17483312e-06 2.73887928e+00] [ 5.06345639e-03 6.59262524e-05 9.99987178e-01 1.86056327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:41.56, Y:2.74, Z:0.19 [[ 9.99885335e-01 1.42714112e-02 -5.06387800e-03 4.15598945e+01] [-1.42715500e-02 9.99898156e-01 8.73395376e-06 2.73767216e+00] [ 5.06348692e-03 6.35364356e-05 9.99987178e-01 1.89015038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:41.59, Y:2.74, Z:0.19 [[ 9.99882928e-01 1.44390700e-02 -5.06387897e-03 4.15886661e+01] [-1.44392140e-02 9.99895749e-01 8.12521317e-06 2.73554390e+00] [ 5.06346838e-03 6.49941703e-05 9.99987178e-01 1.89875616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094391417999994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:41.62, Y:2.73, Z:0.19 [[ 9.99889126e-01 1.40033115e-02 -5.06387964e-03 4.16175520e+01] [-1.40034521e-02 9.99901947e-01 7.68679970e-06 2.73057985e+00] [ 5.06349075e-03 6.32258487e-05 9.99987178e-01 1.90521669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124391417999995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:41.65, Y:2.73, Z:0.19 [[ 9.99886413e-01 1.41957139e-02 -5.06388027e-03 4.16450777e+01] [-1.41958592e-02 9.99899234e-01 7.25005349e-06 2.72784974e+00] [ 5.06347292e-03 6.46369010e-05 9.99987178e-01 1.86952629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154391417999996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.67, Y:2.73, Z:0.19 [[ 9.99895786e-01 1.35194004e-02 -5.06388099e-03 4.16738397e+01] [-1.35195398e-02 9.99908607e-01 6.70675520e-06 2.72545105e+00] [ 5.06350885e-03 6.17552841e-05 9.99987178e-01 1.90364475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:41.70, Y:2.72, Z:0.19 [[ 9.99903891e-01 1.29060715e-02 -5.06388152e-03 4.17020436e+01] [-1.29062052e-02 9.99916711e-01 6.27455318e-06 2.72037016e+00] [ 5.06354074e-03 5.90815438e-05 9.99987178e-01 1.89317658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:41.73, Y:2.72, Z:0.19 [[ 9.99902484e-01 1.30145893e-02 -5.06388213e-03 4.17313250e+01] [-1.30147272e-02 9.99915305e-01 5.73948499e-06 2.71784725e+00] [ 5.06352794e-03 6.01661189e-05 9.99987178e-01 1.87755086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:41.76, Y:2.72, Z:0.19 [[ 9.99906266e-01 1.27206983e-02 -5.06388257e-03 4.17605857e+01] [-1.27208345e-02 9.99919087e-01 5.31484621e-06 2.71609660e+00] [ 5.06354045e-03 5.91024641e-05 9.99987178e-01 1.90515789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27439141799999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:41.79, Y:2.71, Z:0.19 [[ 9.99903653e-01 1.29244941e-02 -5.06388298e-03 4.17882727e+01] [-1.29246350e-02 9.99916473e-01 4.89114562e-06 2.71455793e+00] [ 5.06352323e-03 6.05581650e-05 9.99987178e-01 1.91108904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304391417999994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.82, Y:2.71, Z:0.19 [[ 9.99888275e-01 1.40639340e-02 -5.06388344e-03 4.18158489e+01] [-1.40640922e-02 9.99901096e-01 4.36509474e-06 2.71213212e+00] [ 5.06344399e-03 6.68543165e-05 9.99987178e-01 1.87982622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334391417999996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:41.84, Y:2.71, Z:0.19 [[ 9.99882829e-01 1.44459401e-02 -5.06388384e-03 4.18447580e+01] [-1.44461059e-02 9.99895650e-01 3.83066997e-06 2.71039221e+00] [ 5.06341076e-03 6.93231810e-05 9.99987178e-01 1.88568095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:41.87, Y:2.71, Z:0.19 [[ 9.99885165e-01 1.42833229e-02 -5.06388620e-03 4.18737642e+01] [-1.42835050e-02 9.99897986e-01 1.95266153e-07 2.70847930e+00] [ 5.06337240e-03 7.21348003e-05 9.99987178e-01 1.87912012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:41.90, Y:2.71, Z:0.19 [[ 9.99906029e-01 1.27393567e-02 -5.06388501e-03 4.19018650e+01] [-1.27395072e-02 9.99918849e-01 2.55510278e-06 2.70619185e+00] [ 5.06350662e-03 6.19565366e-05 9.99987178e-01 1.91200565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:41.93, Y:2.71, Z:0.19 [[ 9.99918538e-01 1.17164448e-02 -5.06388522e-03 4.19310262e+01] [-1.17165848e-02 9.99931358e-01 2.01303281e-06 2.70510922e+00] [ 5.06356121e-03 5.73185717e-05 9.99987178e-01 1.88882383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45439141799999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.96, Y:2.70, Z:0.19 [[ 9.99940287e-01 9.68400476e-03 -5.06388536e-03 4.19589096e+01] [-9.68412092e-03 9.99953108e-01 1.58245091e-06 2.70380960e+00] [ 5.06366322e-03 4.74569217e-05 9.99987178e-01 1.90405192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:41.99, Y:2.70, Z:0.19 [[ 9.99960118e-01 7.35657645e-03 -5.06388547e-03 4.19879856e+01] [-7.35666569e-03 9.99972939e-01 1.00459323e-06 2.70204195e+00] [ 5.06375583e-03 3.62487593e-05 9.99987178e-01 1.90093487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514391417999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:42.02, Y:2.70, Z:0.19 [[ 9.99985999e-01 1.53565388e-03 -5.06388552e-03 4.20166748e+01] [-1.53567065e-03 9.99998821e-01 5.76312663e-07 2.69888768e+00] [ 5.06388043e-03 7.20015577e-06 9.99987178e-01 1.88955555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:42.04, Y:2.70, Z:0.19 [[ 9.99985538e-01 -1.81118833e-03 -5.06388553e-03 4.20440459e+01] [ 1.81121233e-03 9.99998360e-01 1.52143245e-07 2.69794128e+00] [ 5.06387695e-03 -9.32391294e-06 9.99987178e-01 1.89273825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:2.70, Z:0.19 [[ 9.99974248e-01 -5.08525495e-03 -5.06388549e-03 4.20726067e+01] [ 5.08531826e-03 9.99987070e-01 -3.73012417e-07 2.69723620e+00] [ 5.06382191e-03 -2.53784666e-05 9.99987178e-01 1.92677436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:42.10, Y:2.70, Z:0.19 [[ 9.99958618e-01 -7.55774465e-03 -5.06388543e-03 4.21010413e+01] [ 7.55783757e-03 9.99971439e-01 -7.86595009e-07 2.69640133e+00] [ 5.06374674e-03 -3.74854611e-05 9.99987178e-01 1.90005051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63439141799999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:42.13, Y:2.69, Z:0.19 [[ 9.99926403e-01 -1.10247911e-02 -5.06388479e-03 4.21309585e+01] [ 1.10249212e-02 9.99939224e-01 -2.23417583e-06 2.69438079e+00] [ 5.06360166e-03 -5.35949192e-05 9.99987178e-01 1.89765366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:42.16, Y:2.69, Z:0.19 [[ 9.99914669e-01 -1.20421035e-02 -5.06388468e-03 4.21606088e+01] [ 1.20422454e-02 9.99927490e-01 -2.45804185e-06 2.69384813e+00] [ 5.06354710e-03 -5.85227100e-05 9.99987178e-01 1.91682263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694391417999995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:42.19, Y:2.69, Z:0.19 [[ 9.99920461e-01 -1.15511741e-02 -5.06388456e-03 4.21903146e+01] [ 1.15513086e-02 9.99933281e-01 -2.68080723e-06 2.69411569e+00] [ 5.06357767e-03 -5.58138994e-05 9.99987178e-01 1.90692040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724391417999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.22, Y:2.69, Z:0.19 [[ 9.99931706e-01 -1.05328180e-02 -5.06388450e-03 4.22198050e+01] [ 1.05329389e-02 9.99944527e-01 -2.79109008e-06 2.69459284e+00] [ 5.06363299e-03 -5.05466866e-05 9.99987178e-01 1.93677523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:42.25, Y:2.70, Z:0.19 [[ 9.99945849e-01 -9.09154617e-03 -5.06388437e-03 4.22492337e+01] [ 9.09164750e-03 9.99958670e-01 -3.00848835e-06 2.69503255e+00] [ 5.06370244e-03 -4.30307263e-05 9.99987178e-01 1.93168296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:42.28, Y:2.70, Z:0.20 [[ 9.99959169e-01 -7.48448060e-03 -5.06388423e-03 4.22783587e+01] [ 7.48456021e-03 9.99971990e-01 -3.22914339e-06 2.69585181e+00] [ 5.06376656e-03 -3.46719349e-05 9.99987178e-01 1.95829478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81439141799999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:42.31, Y:2.70, Z:0.19 [[ 9.99982191e-01 -3.15831258e-03 -5.06388400e-03 4.23077196e+01] [ 3.15833506e-03 9.99995012e-01 -3.55672042e-06 2.69841925e+00] [ 5.06386998e-03 -1.24367853e-05 9.99987178e-01 1.93846488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:42.34, Y:2.70, Z:0.19 [[ 9.99985988e-01 -1.54313481e-03 -5.06388384e-03 4.23366325e+01] [ 1.54313549e-03 9.99998809e-01 -3.77283660e-06 2.69969298e+00] [ 5.06388363e-03 -4.04147513e-06 9.99987178e-01 1.93432406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874391417999995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:42.37, Y:2.70, Z:0.19 [[ 9.99987169e-01 1.40008896e-04 -5.06388225e-03 4.23654768e+01] [-1.40037489e-04 9.99999990e-01 -5.29189983e-06 2.70043298e+00] [ 5.06388146e-03 6.00096529e-06 9.99987178e-01 1.92463065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904391417999996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:42.39, Y:2.70, Z:0.20 [[ 9.99986626e-01 1.05141125e-03 -5.06388016e-03 4.23936168e+01] [-1.05145938e-03 9.99999447e-01 -6.84356290e-06 2.70162393e+00] [ 5.06387016e-03 1.21679357e-05 9.99987178e-01 1.95883153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:2.70, Z:0.20 [[ 9.99980945e-01 3.53077644e-03 -5.06387936e-03 4.24212477e+01] [-3.53085913e-03 9.99993766e-01 -7.39044716e-06 2.70367501e+00] [ 5.06382170e-03 2.52701510e-05 9.99987178e-01 1.95260696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.45, Y:2.70, Z:0.20 [[ 9.99978478e-01 4.17132101e-03 -5.06387852e-03 4.24496268e+01] [-4.17141462e-03 9.99991300e-01 -7.92438689e-06 2.70494047e+00] [ 5.06380141e-03 2.90477533e-05 9.99987178e-01 1.95075911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99439141799999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:42.48, Y:2.71, Z:0.19 [[ 9.99973308e-01 5.26695879e-03 -5.06387781e-03 4.24779632e+01] [-5.26706864e-03 9.99986129e-01 -8.35588518e-06 2.70571280e+00] [ 5.06376356e-03 3.50274541e-05 9.99987178e-01 1.90915773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:42.51, Y:2.71, Z:0.19 [[ 9.99972292e-01 5.45645473e-03 -5.06387707e-03 4.25063986e+01] [-5.45656916e-03 9.99985113e-01 -8.78231115e-06 2.70690819e+00] [ 5.06375376e-03 3.64134633e-05 9.99987178e-01 1.90556226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054391417999994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:42.53, Y:2.71, Z:0.19 [[ 9.99976112e-01 4.70445901e-03 -5.06387626e-03 4.25349779e+01] [-4.70456604e-03 9.99988933e-01 -9.22511766e-06 2.70719834e+00] [ 5.06377683e-03 3.30482376e-05 9.99987178e-01 1.91122843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084391417999996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:42.56, Y:2.71, Z:0.19 [[ 9.99983189e-01 2.82459734e-03 -5.06387541e-03 4.25642398e+01] [-2.82468255e-03 9.99996011e-01 -9.67515260e-06 2.70816319e+00] [ 5.06382787e-03 2.39788305e-05 9.99987178e-01 1.94160877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:42.59, Y:2.71, Z:0.19 [[ 9.99983433e-01 2.73696197e-03 -5.06387452e-03 4.25935549e+01] [-2.73704830e-03 9.99996254e-01 -1.01196729e-05 2.70831529e+00] [ 5.06382785e-03 2.39795744e-05 9.99987178e-01 1.94309399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.62, Y:2.71, Z:0.19 [[ 9.99986145e-01 1.43777825e-03 -5.06387359e-03 4.26209872e+01] [-1.43785018e-03 9.99998966e-01 -1.05634491e-05 2.70853232e+00] [ 5.06385317e-03 1.78443943e-05 9.99987178e-01 1.93824992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:42.65, Y:2.71, Z:0.19 [[ 9.99984009e-01 -2.51770100e-03 -5.06387239e-03 4.26500085e+01] [ 2.51767701e-03 9.99996831e-01 -1.11127048e-05 2.70946799e+00] [ 5.06388431e-03 -1.63666800e-06 9.99987178e-01 1.92908173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:42.68, Y:2.71, Z:0.19 [[ 9.99976619e-01 -4.59542190e-03 -5.06387139e-03 4.26782781e+01] [ 4.59542233e-03 9.99989441e-01 -1.15501173e-05 2.70985254e+00] [ 5.06387100e-03 -1.17207804e-05 9.99987178e-01 1.91923900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234391417999994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:42.71, Y:2.71, Z:0.19 [[ 9.99967548e-01 -6.26572993e-03 -5.06387010e-03 4.27071660e+01] [ 6.26574905e-03 9.99980370e-01 -1.20898098e-05 2.70999916e+00] [ 5.06384645e-03 -1.96395218e-05 9.99987178e-01 1.90747049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264391417999995 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:42.74, Y:2.71, Z:0.19 [[ 9.99933535e-01 -1.03577079e-02 -5.06386931e-03 4.27358952e+01] [ 1.03577778e-02 9.99946357e-01 -1.24099628e-05 2.71049067e+00] [ 5.06372621e-03 -4.00412953e-05 9.99987178e-01 1.91895017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.77, Y:2.71, Z:0.20 [[ 9.99903073e-01 -1.29692590e-02 -5.06386822e-03 4.27658485e+01] [ 1.29693603e-02 9.99915894e-01 -1.28431401e-05 2.71124838e+00] [ 5.06360888e-03 -5.28332359e-05 9.99987178e-01 1.95729725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:42.80, Y:2.71, Z:0.19 [[ 9.99878450e-01 -1.47459430e-02 -5.06386794e-03 4.27967852e+01] [ 1.47460665e-02 9.99891271e-01 -1.29503762e-05 2.71130589e+00] [ 5.06350832e-03 -6.17233313e-05 9.99987178e-01 1.92647189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:42.83, Y:2.71, Z:0.20 [[ 9.99793006e-01 -1.97053778e-02 -5.06386794e-03 4.28273220e+01] [ 1.97055648e-02 9.99805826e-01 -1.29503762e-05 2.71239712e+00] [ 5.06313986e-03 -8.68386826e-05 9.99987178e-01 1.96926700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:42.86, Y:2.71, Z:0.20 [[ 9.99743767e-01 -2.20625998e-02 -5.06386794e-03 4.28580002e+01] [ 2.20628171e-02 9.99756586e-01 -1.29503762e-05 2.71286081e+00] [ 5.06292105e-03 -9.87761342e-05 9.99987178e-01 1.97193747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414391417999994 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:42.89, Y:2.71, Z:0.19 [[ 9.99702568e-01 -2.38564834e-02 -5.06386886e-03 4.28885587e+01] [ 2.38567256e-02 9.99715388e-01 -1.25812924e-05 2.71274008e+00] [ 5.06272777e-03 -1.08229779e-04 9.99987178e-01 1.93220101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444391417999995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:42.92, Y:2.71, Z:0.20 [[ 9.99624707e-01 -2.69221526e-02 -5.06386911e-03 4.29198619e+01] [ 2.69224347e-02 9.99637525e-01 -1.24774388e-05 2.71345232e+00] [ 5.06236951e-03 -1.23858929e-04 9.99987178e-01 1.96699875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474391417999996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:42.95, Y:2.71, Z:0.19 [[ 9.99481221e-01 -3.18063714e-02 -5.06386961e-03 4.29516707e+01] [ 3.18067171e-02 9.99494038e-01 -1.22710643e-05 2.71398518e+00] [ 5.06169779e-03 -1.48800370e-04 9.99987178e-01 1.92707575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:42.98, Y:2.72, Z:0.19 [[ 9.99402005e-01 -3.42051084e-02 -5.06387012e-03 4.29826065e+01] [ 3.42054860e-02 9.99414821e-01 -1.20600915e-05 2.71524932e+00] [ 5.06131936e-03 -1.61159259e-04 9.99987178e-01 1.92700384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:43.01, Y:2.72, Z:0.19 [[ 9.99328387e-01 -3.62923213e-02 -5.06387062e-03 4.30142458e+01] [ 3.62927266e-02 9.99341202e-01 -1.18460787e-05 2.71695310e+00] [ 5.06096447e-03 -1.71943549e-04 9.99987178e-01 1.92609865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:43.04, Y:2.72, Z:0.20 [[ 9.99236873e-01 -3.87301973e-02 -5.06387134e-03 4.30448909e+01] [ 3.87306355e-02 9.99249687e-01 -1.15268633e-05 2.71901621e+00] [ 5.06051830e-03 -1.84608889e-04 9.99987178e-01 1.96484699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594391417999994 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:43.08, Y:2.72, Z:0.19 [[ 9.99131399e-01 -4.13618688e-02 -5.06387182e-03 4.30758324e+01] [ 4.13623418e-02 9.99144212e-01 -1.13157819e-05 2.72025362e+00] [ 5.06000626e-03 -1.98147644e-04 9.99987178e-01 1.93840486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624391417999995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:43.11, Y:2.72, Z:0.20 [[ 9.99060248e-01 -4.30462240e-02 -5.06387227e-03 4.31082839e+01] [ 4.30467198e-02 9.99073060e-01 -1.11079131e-05 2.72174243e+00] [ 5.05965652e-03 -2.06885616e-04 9.99987178e-01 1.95515076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654391417999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:43.14, Y:2.72, Z:0.19 [[ 9.99030392e-01 -4.37336604e-02 -5.06387316e-03 4.31402775e+01] [ 4.37341671e-02 9.99043204e-01 -1.06874643e-05 2.72294061e+00] [ 5.05949547e-03 -2.10787173e-04 9.99987178e-01 1.92482021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:43.17, Y:2.73, Z:0.19 [[ 9.98955341e-01 -4.54156776e-02 -5.06387403e-03 4.31720806e+01] [ 4.54162080e-02 9.98968152e-01 -1.02579522e-05 2.72864320e+00] [ 5.05911475e-03 -2.19734720e-04 9.99987178e-01 1.93442120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:43.20, Y:2.73, Z:0.20 [[ 9.98928755e-01 -4.59967424e-02 -5.06387487e-03 4.32034092e+01] [ 4.59972825e-02 9.98941565e-01 -9.82230463e-06 2.73167362e+00] [ 5.05896689e-03 -2.23112701e-04 9.99987178e-01 1.95145653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:43.24, Y:2.73, Z:0.20 [[ 9.98912839e-01 -4.63410863e-02 -5.06387545e-03 4.32355095e+01] [ 4.63416324e-02 9.98925649e-01 -9.51631105e-06 2.73398883e+00] [ 5.05887607e-03 -2.25162289e-04 9.99987178e-01 1.95963477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:43.27, Y:2.74, Z:0.20 [[ 9.98892596e-01 -4.67754138e-02 -5.06387616e-03 4.32679948e+01] [ 4.67759673e-02 9.98905405e-01 -9.12404538e-06 2.73776260e+00] [ 5.05876005e-03 -2.27753764e-04 9.99987178e-01 1.97281690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804391417999994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:43.30, Y:2.74, Z:0.20 [[ 9.98882357e-01 -4.69935572e-02 -5.06387686e-03 4.33006155e+01] [ 4.69941157e-02 9.98895166e-01 -8.71757927e-06 2.74019807e+00] [ 5.05869178e-03 -2.29264579e-04 9.99987178e-01 1.97413548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834391417999996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:43.33, Y:2.74, Z:0.20 [[ 9.98862799e-01 -4.74074518e-02 -5.06387753e-03 4.33324217e+01] [ 4.74080176e-02 9.98875608e-01 -8.30986301e-06 2.74287499e+00] [ 5.05857769e-03 -2.31767982e-04 9.99987178e-01 1.96781702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:43.36, Y:2.75, Z:0.20 [[ 9.98803766e-01 -4.86353200e-02 -5.06387816e-03 4.33645391e+01] [ 4.86359036e-02 9.98816574e-01 -7.90482910e-06 2.74901474e+00] [ 5.05826989e-03 -2.38390917e-04 9.99987178e-01 1.96310880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:43.40, Y:2.75, Z:0.20 [[ 9.98781419e-01 -4.90920955e-02 -5.06387876e-03 4.33965636e+01] [ 4.90926870e-02 9.98794227e-01 -7.50065136e-06 2.75194230e+00] [ 5.05814109e-03 -2.41107903e-04 9.99987178e-01 1.95832678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:43.43, Y:2.76, Z:0.20 [[ 9.98746002e-01 -4.98074340e-02 -5.06387934e-03 4.34284939e+01] [ 4.98080368e-02 9.98758809e-01 -7.08310682e-06 2.75513346e+00] [ 5.05794689e-03 -2.45147664e-04 9.99987178e-01 1.96002379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:43.46, Y:2.76, Z:0.20 [[ 9.98651133e-01 -5.16746652e-02 -5.06387989e-03 4.34599904e+01] [ 5.16752941e-02 9.98663939e-01 -6.66812397e-06 2.76073242e+00] [ 5.05745881e-03 -2.55018353e-04 9.99987178e-01 1.96256072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984391417999994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:43.49, Y:2.76, Z:0.19 [[ 9.98650478e-01 -5.16873280e-02 -5.06388028e-03 4.34926241e+01] [ 5.16879585e-02 9.98663284e-01 -6.35898476e-06 2.76303496e+00] [ 5.05743998e-03 -2.55391231e-04 9.99987178e-01 1.94439927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014391417999995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:43.52, Y:2.77, Z:0.20 [[ 9.98603717e-01 -5.25830233e-02 -5.06388076e-03 4.35248055e+01] [ 5.25836674e-02 9.98616522e-01 -5.94976637e-06 2.76657839e+00] [ 5.05718784e-03 -2.60335963e-04 9.99987178e-01 1.95742129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:43.56, Y:2.77, Z:0.20 [[ 9.98594595e-01 -5.27559734e-02 -5.06388120e-03 4.35565380e+01] [ 5.27566218e-02 9.98607400e-01 -5.54572815e-06 2.76998047e+00] [ 5.05712181e-03 -2.61615331e-04 9.99987178e-01 1.96352427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:43.59, Y:2.78, Z:0.20 [[ 9.98675509e-01 -5.12014129e-02 -5.06388161e-03 4.35900312e+01] [ 5.12020434e-02 9.98688315e-01 -5.14007427e-06 2.77683346e+00] [ 5.05750257e-03 -2.54147820e-04 9.99987178e-01 1.95446069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:43.62, Y:2.78, Z:0.20 [[ 9.98726812e-01 -5.01907566e-02 -5.06388215e-03 4.36221183e+01] [ 5.01913772e-02 9.98739619e-01 -4.53736796e-06 2.78045632e+00] [ 5.05772746e-03 -2.49631628e-04 9.99987178e-01 1.96597004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13439141799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:43.65, Y:2.78, Z:0.20 [[ 9.98803860e-01 -4.86333932e-02 -5.06388248e-03 4.36544710e+01] [ 4.86339959e-02 9.98816667e-01 -4.13661916e-06 2.78385343e+00] [ 5.05809140e-03 -2.42145168e-04 9.99987178e-01 1.98146167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:43.69, Y:2.79, Z:0.20 [[ 9.99020269e-01 -4.39642987e-02 -5.06388284e-03 4.36861122e+01] [ 4.39648440e-02 9.99033079e-01 -3.63768703e-06 2.78950467e+00] [ 5.05914639e-03 -2.18998696e-04 9.99987178e-01 1.97035947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194391417999995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:43.72, Y:2.79, Z:0.20 [[ 9.99090388e-01 -4.23409261e-02 -5.06388314e-03 4.37181000e+01] [ 4.23414530e-02 9.99103199e-01 -3.14571020e-06 2.79364202e+00] [ 5.05947504e-03 -2.11269321e-04 9.99987178e-01 2.00982164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224391417999996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:43.75, Y:2.80, Z:0.20 [[ 9.99188256e-01 -3.99648094e-02 -5.06388336e-03 4.37488505e+01] [ 3.99653080e-02 9.99201068e-01 -2.73463900e-06 2.79731967e+00] [ 5.05994695e-03 -1.99647239e-04 9.99987178e-01 2.01528409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:43.78, Y:2.80, Z:0.20 [[ 9.99359680e-01 -3.54201602e-02 -5.06388364e-03 4.37809180e+01] [ 3.54206039e-02 9.99372494e-01 -2.05363677e-06 2.80469402e+00] [ 5.06077876e-03 -1.77313495e-04 9.99987178e-01 2.02283736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:43.81, Y:2.81, Z:0.20 [[ 9.99432760e-01 -3.32943773e-02 -5.06388377e-03 4.38131757e+01] [ 3.32947958e-02 9.99445575e-01 -1.64779229e-06 2.80746750e+00] [ 5.06113109e-03 -1.66954119e-04 9.99987178e-01 2.01620890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31439141799999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:43.85, Y:2.81, Z:0.20 [[ 9.99470821e-01 -3.21315146e-02 -5.06388387e-03 4.38454159e+01] [ 3.21319204e-02 9.99483637e-01 -1.23627864e-06 2.81022327e+00] [ 5.06130879e-03 -1.61476689e-04 9.99987178e-01 2.02377465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:43.88, Y:2.81, Z:0.20 [[ 9.99501267e-01 -3.11700956e-02 -5.06388394e-03 4.38769966e+01] [ 3.11704911e-02 9.99514082e-01 -8.27690619e-07 2.81220676e+00] [ 5.06144911e-03 -1.57016471e-04 9.99987178e-01 2.02001032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374391417999995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:43.91, Y:2.82, Z:0.20 [[ 9.99514035e-01 -3.07579422e-02 -5.06388397e-03 4.39092718e+01] [ 3.07583339e-02 9.99526851e-01 -5.23568447e-07 2.81596711e+00] [ 5.06150410e-03 -1.55233320e-04 9.99987178e-01 2.00910009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404391417999996 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:43.94, Y:2.82, Z:0.20 [[ 9.99529306e-01 -3.02576071e-02 -5.06388398e-03 4.39413966e+01] [ 3.02579944e-02 9.99542122e-01 -1.18344229e-07 2.81786869e+00] [ 5.06156892e-03 -1.53104685e-04 9.99987178e-01 1.99308760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:43.97, Y:2.82, Z:0.20 [[ 9.99509845e-01 -3.08938101e-02 -5.06388396e-03 4.39732645e+01] [ 3.08942077e-02 9.99522660e-01 2.90680747e-07 2.82068508e+00] [ 5.06145778e-03 -1.56735221e-04 9.99987178e-01 2.00926351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:44.00, Y:2.82, Z:0.20 [[ 9.99492412e-01 -3.14527370e-02 -5.06388390e-03 4.40043923e+01] [ 3.14531438e-02 9.99505227e-01 7.04171015e-07 2.82336877e+00] [ 5.06135628e-03 -1.59978882e-04 9.99987178e-01 2.00977967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49439141799999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:44.04, Y:2.83, Z:0.20 [[ 9.99491690e-01 -3.14756975e-02 -5.06388384e-03 4.40368526e+01] [ 3.14761062e-02 9.99504505e-01 1.01268408e-06 2.82770875e+00] [ 5.06134283e-03 -1.60403515e-04 9.99987178e-01 2.00002883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:44.07, Y:2.83, Z:0.20 [[ 9.99496919e-01 -3.13092030e-02 -5.06388372e-03 4.40684142e+01] [ 3.13096116e-02 9.99509734e-01 1.42567624e-06 2.82953982e+00] [ 5.06135643e-03 -1.59973192e-04 9.99987178e-01 2.00533283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554391417999994 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:44.10, Y:2.83, Z:0.20 [[ 9.99521299e-01 -3.05209703e-02 -5.06388352e-03 4.41005942e+01] [ 3.05213715e-02 9.99534114e-01 1.94138282e-06 2.83093524e+00] [ 5.06146508e-03 -1.56497124e-04 9.99987178e-01 1.98804890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584391417999996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:44.13, Y:2.83, Z:0.20 [[ 9.99546476e-01 -2.96849871e-02 -5.06388335e-03 4.41330236e+01] [ 2.96853795e-02 9.99559292e-01 2.32271168e-06 2.83453427e+00] [ 5.06158270e-03 -1.52644957e-04 9.99987178e-01 2.01840831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614391418 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:44.17, Y:2.84, Z:0.20 [[ 9.99567040e-01 -2.89842920e-02 -5.06388313e-03 4.41653005e+01] [ 2.89846775e-02 9.99579856e-01 2.72961079e-06 2.83653724e+00] [ 5.06167645e-03 -1.49503448e-04 9.99987178e-01 2.00502792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:44.20, Y:2.84, Z:0.20 [[ 9.99559386e-01 -2.92470807e-02 -5.06388287e-03 4.41964111e+01] [ 2.92474716e-02 9.99572201e-01 3.14544435e-06 2.83927804e+00] [ 5.06162455e-03 -1.51249829e-04 9.99987178e-01 2.02722746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:44.23, Y:2.84, Z:0.20 [[ 9.99555148e-01 -2.93915612e-02 -5.06388239e-03 4.42280800e+01] [ 2.93919572e-02 9.99567963e-01 3.79035127e-06 2.84147151e+00] [ 5.06158320e-03 -1.52626080e-04 9.99987178e-01 2.02644272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:44.26, Y:2.84, Z:0.20 [[ 9.99529832e-01 -3.02402544e-02 -5.06388215e-03 4.42603261e+01] [ 3.02406629e-02 9.99542647e-01 4.08940486e-06 2.84464650e+00] [ 5.06144250e-03 -1.57222635e-04 9.99987178e-01 2.02258079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734391417999994 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:44.29, Y:2.85, Z:0.20 [[ 9.99510940e-01 -3.08583471e-02 -5.06388182e-03 4.42921231e+01] [ 3.08587654e-02 9.99523755e-01 4.45923699e-06 2.84608664e+00] [ 5.06133257e-03 -1.60722197e-04 9.99987178e-01 2.03304784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764391417999995 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:44.32, Y:2.85, Z:0.20 [[ 9.99495337e-01 -3.13596490e-02 -5.06388142e-03 4.43238390e+01] [ 3.13600757e-02 9.99508152e-01 4.87487051e-06 2.84776270e+00] [ 5.06123789e-03 -1.63676115e-04 9.99987178e-01 2.03055096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:44.36, Y:2.85, Z:0.20 [[ 9.99443917e-01 -3.29577474e-02 -5.06388087e-03 4.43561007e+01] [ 3.29581972e-02 9.99456731e-01 5.39243207e-06 2.85220674e+00] [ 5.06095210e-03 -1.72285818e-04 9.99987178e-01 2.02705485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:44.39, Y:2.85, Z:0.20 [[ 9.99411366e-01 -3.39304997e-02 -5.06388040e-03 4.43879597e+01] [ 3.39309641e-02 9.99424179e-01 5.80101980e-06 2.85405615e+00] [ 5.06076768e-03 -1.77619949e-04 9.99987178e-01 2.01753107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:44.42, Y:2.86, Z:0.20 [[ 9.99397284e-01 -3.43427845e-02 -5.06387977e-03 4.44206444e+01] [ 3.43432568e-02 9.99410096e-01 6.30960420e-06 2.85525643e+00] [ 5.06067588e-03 -1.80215924e-04 9.99987178e-01 2.01006606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:44.45, Y:2.86, Z:0.20 [[ 9.99350930e-01 -3.56661778e-02 -5.06387893e-03 4.44539762e+01] [ 3.56666701e-02 9.99363742e-01 6.92252708e-06 2.85710992e+00] [ 5.06041010e-03 -1.87529733e-04 9.99987178e-01 2.02502439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914391417999994 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:44.49, Y:2.86, Z:0.20 [[ 9.99303035e-01 -3.69838001e-02 -5.06387802e-03 4.44866237e+01] [ 3.69843124e-02 9.99315846e-01 7.53205922e-06 2.86055227e+00] [ 5.06013499e-03 -1.94810856e-04 9.99987178e-01 2.00252541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944391417999995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:44.52, Y:2.86, Z:0.20 [[ 9.99282098e-01 -3.75452554e-02 -5.06387738e-03 4.45178135e+01] [ 3.75457770e-02 9.99294909e-01 7.94122679e-06 2.86283764e+00] [ 5.06000873e-03 -1.98062736e-04 9.99987178e-01 2.02018448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974391417999996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:44.55, Y:2.87, Z:0.20 [[ 9.99284390e-01 -3.74842096e-02 -5.06387689e-03 4.45503982e+01] [ 3.74847319e-02 9.99297200e-01 8.24581437e-06 2.86522669e+00] [ 5.06000891e-03 -1.98057981e-04 9.99987178e-01 2.00592518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:44.58, Y:2.87, Z:0.20 [[ 9.99288837e-01 -3.73654533e-02 -5.06387620e-03 4.45839412e+01] [ 3.73659762e-02 9.99301648e-01 8.64572449e-06 2.86505118e+00] [ 5.06001678e-03 -1.97856254e-04 9.99987178e-01 2.00762252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:44.62, Y:2.87, Z:0.20 [[ 9.99322220e-01 -3.64617416e-02 -5.06387510e-03 4.46159114e+01] [ 3.64622559e-02 9.99335031e-01 9.24751801e-06 2.87056312e+00] [ 5.06017060e-03 -1.93881560e-04 9.99987178e-01 2.02430291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:44.65, Y:2.87, Z:0.20 [[ 9.99361002e-01 -3.53828246e-02 -5.06387415e-03 4.46476196e+01] [ 3.53833275e-02 9.99373814e-01 9.74540620e-06 2.87311848e+00] [ 5.06035840e-03 -1.88915896e-04 9.99987178e-01 2.02206912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094391417999994 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:44.68, Y:2.88, Z:0.20 [[ 9.99398888e-01 -3.42960745e-02 -5.06387316e-03 4.46808049e+01] [ 3.42965661e-02 9.99411700e-01 1.02354846e-05 2.87598879e+00] [ 5.06054304e-03 -1.83902792e-04 9.99987178e-01 2.02956431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124391417999995 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:44.71, Y:2.88, Z:0.20 [[ 9.99467065e-01 -3.22481542e-02 -5.06387189e-03 4.47131615e+01] [ 3.22486225e-02 9.99479878e-01 1.08250605e-05 2.88130393e+00] [ 5.06088897e-03 -1.74122184e-04 9.99987178e-01 2.04626331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154391417999996 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:44.75, Y:2.88, Z:0.21 [[ 9.99491081e-01 -3.14950197e-02 -5.06387103e-03 4.47463381e+01] [ 3.14954803e-02 9.99503894e-01 1.12165688e-05 2.88404686e+00] [ 5.06100555e-03 -1.70699911e-04 9.99987178e-01 2.06195191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:44.78, Y:2.89, Z:0.21 [[ 9.99525785e-01 -3.03737023e-02 -5.06386962e-03 4.47795998e+01] [ 3.03741516e-02 9.99538599e-01 1.18189953e-05 2.88600685e+00] [ 5.06117416e-03 -1.65624134e-04 9.99987178e-01 2.05347613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:44.81, Y:2.89, Z:0.21 [[ 9.99563310e-01 -2.91126557e-02 -5.06386808e-03 4.48114204e+01] [ 2.91130920e-02 9.99576124e-01 1.24471095e-05 2.89092473e+00] [ 5.06135926e-03 -1.59866531e-04 9.99987178e-01 2.05222907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:44.84, Y:2.89, Z:0.21 [[ 9.99575703e-01 -2.86839737e-02 -5.06386547e-03 4.48421235e+01] [ 2.86844094e-02 9.99588518e-01 1.34306141e-05 2.89344894e+00] [ 5.06139653e-03 -1.58678906e-04 9.99987178e-01 2.08232724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:44.87, Y:2.90, Z:0.21 [[ 9.99604239e-01 -2.76717118e-02 -5.06386465e-03 4.48743389e+01] [ 2.76721361e-02 9.99617053e-01 1.37319698e-05 2.89577958e+00] [ 5.06154547e-03 -1.53854487e-04 9.99987178e-01 2.06254065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304391417999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:44.91, Y:2.90, Z:0.21 [[ 9.99622428e-01 -2.70066269e-02 -5.06386354e-03 4.49077797e+01] [ 2.70070447e-02 9.99635243e-01 1.41305401e-05 2.90046735e+00] [ 5.06163484e-03 -1.50885194e-04 9.99987178e-01 2.07820045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334391417999996 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:44.94, Y:2.90, Z:0.21 [[ 9.99645197e-01 -2.61502999e-02 -5.06386174e-03 4.49398795e+01] [ 2.61507098e-02 9.99658012e-01 1.47482204e-05 2.90233137e+00] [ 5.06174429e-03 -1.47166566e-04 9.99987178e-01 2.05749954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:44.97, Y:2.90, Z:0.21 [[ 9.99650062e-01 -2.59636628e-02 -5.06386051e-03 4.49721695e+01] [ 2.59640724e-02 9.99662877e-01 1.51588993e-05 2.90441958e+00] [ 5.06175978e-03 -1.46632036e-04 9.99987178e-01 2.07394496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:45.01, Y:2.91, Z:0.21 [[ 9.99685887e-01 -2.45455821e-02 -5.06385925e-03 4.50053432e+01] [ 2.45459756e-02 9.99698702e-01 1.55676785e-05 2.90777299e+00] [ 5.06195141e-03 -1.39860154e-04 9.99987178e-01 2.07586871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:45.04, Y:2.91, Z:0.21 [[ 9.99725213e-01 -2.28879098e-02 -5.06385730e-03 4.50367570e+01] [ 2.28882852e-02 9.99738029e-01 1.61790822e-05 2.90942516e+00] [ 5.06216041e-03 -1.32077646e-04 9.99987178e-01 2.06025318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45439141799999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:45.07, Y:2.91, Z:0.21 [[ 9.99786203e-01 -2.00475946e-02 -5.06385632e-03 4.50681514e+01] [ 2.00479351e-02 9.99799020e-01 1.64813535e-05 2.91145996e+00] [ 5.06250817e-03 -1.17997692e-04 9.99987178e-01 2.08518566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484391417999994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:45.10, Y:2.91, Z:0.21 [[ 9.99813220e-01 -1.86516093e-02 -5.06391892e-03 4.51003571e+01] [ 1.86518353e-02 9.99826039e-01 -2.61151708e-06 2.91427655e+00] [ 5.06308671e-03 -9.18403522e-05 9.99987178e-01 2.08843184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514391417999995 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:45.13, Y:2.92, Z:0.21 [[ 9.99904514e-01 -1.28577234e-02 -5.06384692e-03 4.51322754e+01] [ 1.28579786e-02 9.99917333e-01 1.78331295e-05 2.91946898e+00] [ 5.06319901e-03 -8.29422619e-05 9.99987178e-01 2.09585251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544391418 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:45.16, Y:2.92, Z:0.21 [[ 9.99937427e-01 -9.97492523e-03 -5.06384549e-03 4.51635724e+01] [ 9.97514544e-03 9.99950247e-01 1.82302736e-05 2.92174407e+00] [ 5.06341171e-03 -6.87417282e-05 9.99987178e-01 2.09099495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:45.19, Y:2.92, Z:0.21 [[ 9.99955131e-01 -8.00580175e-03 -5.06384441e-03 4.51944608e+01] [ 8.00599820e-03 9.99967951e-01 1.85257699e-05 2.92367174e+00] [ 5.06353381e-03 -5.90660679e-05 9.99987178e-01 2.10450387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:45.22, Y:2.92, Z:0.21 [[ 9.99965420e-01 -6.59663479e-03 -5.06384368e-03 4.52249524e+01] [ 6.59681418e-03 9.99978241e-01 1.87237055e-05 2.92488358e+00] [ 5.06360998e-03 -5.21282939e-05 9.99987178e-01 2.11260706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63439141799999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:45.25, Y:2.93, Z:0.21 [[ 9.99981513e-01 -3.36625217e-03 -5.06384332e-03 4.52548153e+01] [ 3.36639064e-03 9.99994334e-01 1.88217334e-05 2.92625762e+00] [ 5.06375126e-03 -3.58682602e-05 9.99987178e-01 2.09711941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664391417999994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:45.28, Y:2.93, Z:0.21 [[ 9.99983270e-01 -2.79598621e-03 -5.06384296e-03 4.52846015e+01] [ 2.79611785e-03 9.99996091e-01 1.89158633e-05 2.92724766e+00] [ 5.06377028e-03 -3.30746486e-05 9.99987178e-01 2.10720352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694391417999995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:45.31, Y:2.93, Z:0.21 [[ 9.99983637e-01 -2.66136386e-03 -5.06384366e-03 4.53140289e+01] [ 2.66149281e-03 9.99996458e-01 1.87274208e-05 2.92842865e+00] [ 5.06377589e-03 -3.22044979e-05 9.99987178e-01 2.11364791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724391417999996 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:45.34, Y:2.93, Z:0.21 [[ 9.99978571e-01 -4.14918786e-03 -5.06384435e-03 4.53441604e+01] [ 4.14933494e-03 9.99991391e-01 1.85399423e-05 2.93016609e+00] [ 5.06372383e-03 -3.95511312e-05 9.99987178e-01 2.11534170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:45.37, Y:2.93, Z:0.21 [[ 9.99968937e-01 -6.04014549e-03 -5.06384505e-03 4.53740198e+01] [ 6.04031584e-03 9.99981757e-01 1.83464432e-05 2.92983245e+00] [ 5.06364185e-03 -4.89330968e-05 9.99987178e-01 2.11516470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784391418 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:45.40, Y:2.93, Z:0.21 [[ 9.99964158e-01 -6.78533388e-03 -5.06384576e-03 4.54039638e+01] [ 6.78551277e-03 9.99976978e-01 1.81487038e-05 2.92892228e+00] [ 5.06360603e-03 -5.25088434e-05 9.99987178e-01 2.10986917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81439141799999 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:45.43, Y:2.93, Z:0.21 [[ 9.99943854e-01 -9.30832369e-03 -5.06389553e-03 4.54347160e+01] [ 9.30846122e-03 9.99956675e-01 3.58889772e-06 2.92837640e+00] [ 5.06364273e-03 -5.07257713e-05 9.99987178e-01 2.07959426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:45.47, Y:2.93, Z:0.21 [[ 9.99903414e-01 -1.29429286e-02 -5.06384970e-03 4.54659789e+01] [ 1.29431813e-02 9.99916233e-01 1.71330294e-05 2.92560016e+00] [ 5.06320377e-03 -8.26736994e-05 9.99987178e-01 2.07597572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874391417999995 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:45.50, Y:2.92, Z:0.21 [[ 9.99879449e-01 -1.46780382e-02 -5.06384901e-03 4.54970802e+01] [ 1.46783142e-02 9.99892268e-01 1.73345765e-05 2.92450171e+00] [ 5.06304903e-03 -9.16612537e-05 9.99987178e-01 2.07819004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904391417999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:45.53, Y:2.92, Z:0.21 [[ 9.99863005e-01 -1.57584173e-02 -5.06384796e-03 4.55293449e+01] [ 1.57587087e-02 9.99875824e-01 1.76357542e-05 2.92407573e+00] [ 5.06294124e-03 -9.74330430e-05 9.99987178e-01 2.07272505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:45.56, Y:2.92, Z:0.21 [[ 9.99849075e-01 -1.66187851e-02 -5.06384655e-03 4.55618052e+01] [ 1.66190894e-02 9.99861893e-01 1.80326686e-05 2.92358479e+00] [ 5.06284752e-03 -1.02186466e-04 9.99987178e-01 2.08870884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:45.59, Y:2.92, Z:0.21 [[ 9.99843742e-01 -1.69366365e-02 -5.06384511e-03 4.55929567e+01] [ 1.69369469e-02 9.99856559e-01 1.84272671e-05 2.92300499e+00] [ 5.06280666e-03 -1.04190464e-04 9.99987178e-01 2.09613212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99439141799999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:45.62, Y:2.92, Z:0.21 [[ 9.99861977e-01 -1.58235655e-02 -5.06384403e-03 4.56246636e+01] [ 1.58238632e-02 9.99874795e-01 1.87213187e-05 2.92261810e+00] [ 5.06291377e-03 -9.88483099e-05 9.99987178e-01 2.09024037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:45.66, Y:2.92, Z:0.21 [[ 9.99879147e-01 -1.46986271e-02 -5.06384256e-03 4.56564461e+01] [ 1.46989124e-02 9.99891965e-01 1.91095156e-05 2.92265777e+00] [ 5.06301461e-03 -9.35401841e-05 9.99987178e-01 2.09949768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054391417999994 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:45.69, Y:2.92, Z:0.21 [[ 9.99909085e-01 -1.24971420e-02 -5.06384102e-03 4.56878061e+01] [ 1.24974010e-02 9.99921904e-01 1.95100270e-05 2.92224094e+00] [ 5.06320174e-03 -8.27931051e-05 9.99987178e-01 2.12463734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084391417999996 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:45.72, Y:2.92, Z:0.21 [[ 9.99922403e-01 -1.13817551e-02 -5.06386977e-03 4.57190698e+01] [ 1.13819623e-02 9.99935223e-01 1.20978813e-05 2.92134100e+00] [ 5.06340406e-03 -6.97337174e-05 9.99987178e-01 2.11566728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114391418 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:45.75, Y:2.92, Z:0.21 [[ 9.99926487e-01 -1.10171590e-02 -5.06388176e-03 4.57516430e+01] [ 1.10173458e-02 9.99939307e-01 9.00183436e-06 2.92103958e+00] [ 5.06347524e-03 -6.47917091e-05 9.99987178e-01 2.10837818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144391418 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:45.78, Y:2.92, Z:0.21 [[ 9.99952693e-01 -8.30480542e-03 -5.06383759e-03 4.57828846e+01] [ 8.30501377e-03 9.99965513e-01 2.01190227e-05 2.92128520e+00] [ 5.06349586e-03 -6.21733118e-05 9.99987178e-01 2.09786379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:45.81, Y:2.92, Z:0.21 [[ 9.99966138e-01 -6.48697967e-03 -5.06383483e-03 4.58141368e+01] [ 6.48716812e-03 9.99978958e-01 2.07906327e-05 2.92127533e+00] [ 5.06359341e-03 -5.36398765e-05 9.99987178e-01 2.09811586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:45.84, Y:2.92, Z:0.21 [[ 9.99974527e-01 -5.03027214e-03 -5.06383399e-03 4.58443494e+01] [ 5.03044295e-03 9.99987347e-01 2.09938191e-05 2.92154155e+00] [ 5.06366431e-03 -4.64666123e-05 9.99987178e-01 2.10216859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234391417999994 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:45.87, Y:2.92, Z:0.21 [[ 9.99985977e-01 -1.55014162e-03 -5.06383399e-03 4.58742088e+01] [ 1.55026780e-03 9.99998798e-01 2.09938191e-05 2.92118722e+00] [ 5.06379536e-03 -2.88438235e-05 9.99987178e-01 2.11083357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264391417999995 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:45.90, Y:2.92, Z:0.21 [[ 9.99987161e-01 1.87735283e-04 -5.06383481e-03 4.59028579e+01] [-1.87632392e-04 9.99999982e-01 2.07938074e-05 2.92110547e+00] [ 5.06383862e-03 -1.98434010e-05 9.99987178e-01 2.09873625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:45.93, Y:2.92, Z:0.21 [[ 9.99985767e-01 1.68025699e-03 -5.06384020e-03 4.59303037e+01] [-1.68018036e-03 9.99998588e-01 1.93864970e-05 2.92158849e+00] [ 5.06386562e-03 -1.08780562e-05 9.99987178e-01 2.10553009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:45.96, Y:2.92, Z:0.21 [[ 9.99972761e-01 5.36988884e-03 -5.06384295e-03 4.59573416e+01] [-5.36986332e-03 9.99985582e-01 1.86370757e-05 2.92298330e+00] [ 5.06387002e-03 8.55557650e-06 9.99987178e-01 2.10534331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:45.98, Y:2.92, Z:0.21 [[ 9.99962595e-01 7.01190922e-03 -5.06384688e-03 4.59848091e+01] [-7.01191050e-03 9.99975416e-01 1.75009189e-05 2.92317971e+00] [ 5.06384511e-03 1.80069769e-05 9.99987178e-01 2.11504412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:46.01, Y:2.92, Z:0.21 [[ 9.99947054e-01 8.95810095e-03 -5.06384883e-03 4.60121601e+01] [-8.95813014e-03 9.99959875e-01 1.69166936e-05 2.92245502e+00] [ 5.06379719e-03 2.84468189e-05 9.99987178e-01 2.11031837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414391417999994 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:46.04, Y:2.92, Z:0.21 [[ 9.99906536e-01 1.26994742e-02 -5.06385100e-03 4.60397887e+01] [-1.26995548e-02 9.99919357e-01 1.62406961e-05 2.92067199e+00] [ 5.06364889e-03 4.80694752e-05 9.99987178e-01 2.09824477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444391417999995 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:46.07, Y:2.92, Z:0.21 [[ 9.99889477e-01 1.39782507e-02 -5.06385564e-03 4.60689614e+01] [-1.39783558e-02 9.99902298e-01 1.46370384e-05 2.92056677e+00] [ 5.06356549e-03 5.61489554e-05 9.99987178e-01 2.11655022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474391417999996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:46.10, Y:2.92, Z:0.21 [[ 9.99865808e-01 1.55796002e-02 -5.06385677e-03 4.60964340e+01] [-1.55797278e-02 9.99878629e-01 1.42349872e-05 2.92070909e+00] [ 5.06346393e-03 6.46604333e-05 9.99987178e-01 2.12384832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504391418 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:46.12, Y:2.92, Z:0.21 [[ 9.99850706e-01 1.65203631e-02 -5.06385812e-03 4.61245361e+01] [-1.65205053e-02 9.99863527e-01 1.37369125e-05 2.92177089e+00] [ 5.06339398e-03 6.99226334e-05 9.99987178e-01 2.13665939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:46.15, Y:2.92, Z:0.21 [[ 9.99828042e-01 1.78393956e-02 -5.06385967e-03 4.61512671e+01] [-1.78395578e-02 9.99840862e-01 1.31397990e-05 2.92259049e+00] [ 5.06328822e-03 7.71994777e-05 9.99987178e-01 2.14191665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:46.18, Y:2.92, Z:0.22 [[ 9.99835534e-01 1.74144144e-02 -5.06386136e-03 4.61801407e+01] [-1.74145746e-02 9.99848355e-01 1.24494073e-05 2.92159665e+00] [ 5.06331025e-03 7.57376318e-05 9.99987178e-01 2.15249113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594391417999994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:46.21, Y:2.92, Z:0.21 [[ 9.99867047e-01 1.54998726e-02 -5.06386230e-03 4.62082605e+01] [-1.55000103e-02 9.99879868e-01 1.20580385e-05 2.91750440e+00] [ 5.06344086e-03 6.64334822e-05 9.99987178e-01 2.14300276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624391417999995 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:46.24, Y:2.92, Z:0.21 [[ 9.99891604e-01 1.38252753e-02 -5.06386341e-03 4.62361455e+01] [-1.38253940e-02 9.99904425e-01 1.15728634e-05 2.91573443e+00] [ 5.06353942e-03 5.84382976e-05 9.99987178e-01 2.14125928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654391417999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:46.26, Y:2.91, Z:0.21 [[ 9.99915504e-01 1.19725263e-02 -5.06386466e-03 4.62639546e+01] [-1.19726241e-02 9.99928326e-01 1.09954226e-05 2.91430085e+00] [ 5.06363335e-03 4.96332544e-05 9.99987178e-01 2.14159330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.29, Y:2.91, Z:0.21 [[ 9.99934607e-01 1.02537303e-02 -5.06386584e-03 4.62921965e+01] [-1.02538090e-02 9.99947428e-01 1.04210602e-05 2.91348881e+00] [ 5.06370648e-03 4.15035343e-05 9.99987178e-01 2.14313266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:46.32, Y:2.91, Z:0.22 [[ 9.99958727e-01 7.54332946e-03 -5.06386696e-03 4.63196657e+01] [-7.54337631e-03 9.99971548e-01 9.84746490e-06 2.91210114e+00] [ 5.06379716e-03 2.83515956e-05 9.99987178e-01 2.15239507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:46.35, Y:2.91, Z:0.21 [[ 9.99964935e-01 6.66982858e-03 -5.06386805e-03 4.63486586e+01] [-6.66986725e-03 9.99977756e-01 9.25035039e-06 2.91076021e+00] [ 5.06381711e-03 2.45253016e-05 9.99987178e-01 2.13969298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77439141799999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.38, Y:2.91, Z:0.22 [[ 9.99971856e-01 5.53579388e-03 -5.06386874e-03 4.63771634e+01] [-5.53582001e-03 9.99984677e-01 8.85507684e-06 2.90881818e+00] [ 5.06384017e-03 1.91778383e-05 9.99987178e-01 2.15515774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804391417999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.41, Y:2.91, Z:0.22 [[ 9.99975603e-01 4.81142188e-03 -5.06386940e-03 4.64060397e+01] [-4.81144072e-03 9.99988425e-01 8.46178675e-06 2.90655363e+00] [ 5.06385149e-03 1.59029271e-05 9.99987178e-01 2.16527927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834391417999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.43, Y:2.90, Z:0.22 [[ 9.99976399e-01 4.64313507e-03 -5.06387005e-03 4.64334481e+01] [-4.64315383e-03 9.99989220e-01 8.05096669e-06 2.90247649e+00] [ 5.06385284e-03 1.54615509e-05 9.99987178e-01 2.16314462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:46.46, Y:2.90, Z:0.22 [[ 9.99975064e-01 4.92223771e-03 -5.06387081e-03 4.64615446e+01] [-4.92226263e-03 9.99987886e-01 7.54164505e-06 2.90112555e+00] [ 5.06384658e-03 1.73842450e-05 9.99987178e-01 2.16648018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:46.49, Y:2.90, Z:0.22 [[ 9.99969050e-01 6.02136931e-03 -5.06386272e-03 4.64893509e+01] [-6.02138013e-03 9.99981871e-01 1.31102034e-05 2.90048388e+00] [ 5.06384986e-03 1.73816447e-05 9.99987178e-01 2.16550810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:46.52, Y:2.90, Z:0.22 [[ 9.99969773e-01 5.90009509e-03 -5.06387111e-03 4.65178016e+01] [-5.90013404e-03 9.99982594e-01 7.24826597e-06 2.90055782e+00] [ 5.06382573e-03 2.26294714e-05 9.99987178e-01 2.16696991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95439141799999 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:46.54, Y:2.90, Z:0.22 [[ 9.99948134e-01 8.83669986e-03 -5.06387191e-03 4.65439611e+01] [-8.83677957e-03 9.99960955e-01 6.63427253e-06 2.89933728e+00] [ 5.06373282e-03 3.81143914e-05 9.99987178e-01 2.19096411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984391417999994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:46.57, Y:2.90, Z:0.22 [[ 9.99947871e-01 8.86633409e-03 -5.06389529e-03 4.65734763e+01] [-8.86655954e-03 9.99960691e-01 -2.20737187e-05 2.89806483e+00] [ 5.06350052e-03 6.69718971e-05 9.99987178e-01 2.18239910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014391417999995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:46.60, Y:2.89, Z:0.22 [[ 9.99914503e-01 1.20559020e-02 -5.06387172e-03 4.66017510e+01] [-1.20560338e-02 9.99927323e-01 4.49218591e-06 2.89380995e+00] [ 5.06355785e-03 5.65584069e-05 9.99987179e-01 2.17923427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:46.63, Y:2.89, Z:0.22 [[ 9.99892693e-01 1.37462554e-02 -5.06387218e-03 4.66295696e+01] [-1.37464119e-02 9.99905514e-01 3.89174313e-06 2.89178467e+00] [ 5.06344721e-03 6.57187475e-05 9.99987179e-01 2.17967042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:46.66, Y:2.89, Z:0.22 [[ 9.99873315e-01 1.50900839e-02 -5.06387257e-03 4.66562810e+01] [-1.50902607e-02 9.99886136e-01 3.29310798e-06 2.89022947e+00] [ 5.06334567e-03 7.31224663e-05 9.99987179e-01 2.18064079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:46.68, Y:2.89, Z:0.22 [[ 9.99845255e-01 1.68470319e-02 -5.06387298e-03 4.66838483e+01] [-1.68472356e-02 9.99858075e-01 2.43212606e-06 2.88878278e+00] [ 5.06319527e-03 8.28805115e-05 9.99987179e-01 2.16242875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:46.71, Y:2.89, Z:0.22 [[ 9.99825864e-01 1.79610622e-02 -5.06387320e-03 4.67116499e+01] [-1.79612833e-02 9.99838683e-01 1.82319297e-06 2.88731135e+00] [ 5.06308906e-03 8.91307857e-05 9.99987179e-01 2.19046766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164391417999994 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:46.73, Y:2.89, Z:0.22 [[ 9.99877726e-01 1.47949182e-02 -5.06387335e-03 4.67340646e+01] [-1.47951018e-02 9.99890546e-01 1.21138009e-06 2.89124484e+00] [ 5.06333701e-03 7.37092897e-05 9.99987179e-01 2.19833169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194391417999995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:46.77, Y:2.88, Z:0.22 [[ 9.99827559e-01 1.78664378e-02 -5.06380363e-03 4.67693086e+01] [-1.78672301e-02 9.99840362e-01 -1.11258877e-04 2.88385768e+00] [ 5.06100746e-03 2.01715836e-04 9.99987173e-01 2.16709051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224391417999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:46.80, Y:2.88, Z:0.22 [[ 9.99859111e-01 1.60036109e-02 -5.06379224e-03 4.67979491e+01] [-1.60038135e-02 9.99871931e-01 5.17416301e-07 2.87898565e+00] [ 5.06315201e-03 8.05226430e-05 9.99987179e-01 2.15723305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:46.83, Y:2.88, Z:0.22 [[ 9.99884909e-01 1.43012677e-02 -5.06379225e-03 4.68253511e+01] [-1.43014506e-02 9.99897729e-01 1.03841321e-07 2.87735563e+00] [ 5.06327586e-03 7.23157451e-05 9.99987179e-01 2.15547641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:46.85, Y:2.88, Z:0.22 [[ 9.99896317e-01 1.34801332e-02 -5.06379216e-03 4.68534900e+01] [-1.34803092e-02 9.99909137e-01 -6.11427799e-07 2.87559389e+00] [ 5.06332381e-03 6.88728483e-05 9.99987179e-01 2.17090597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31439141799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:46.88, Y:2.87, Z:0.21 [[ 9.99920817e-01 1.15202877e-02 -5.06379066e-03 4.68823682e+01] [-1.15205075e-02 9.99933637e-01 -1.42477450e-05 2.87339337e+00] [ 5.06329047e-03 7.25840551e-05 9.99987179e-01 2.13339428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:46.91, Y:2.87, Z:0.22 [[ 9.99963228e-01 6.92107594e-03 -5.06379369e-03 4.69096922e+01] [-6.92117062e-03 9.99976048e-01 -1.17445264e-06 2.86910531e+00] [ 5.06366428e-03 3.62217896e-05 9.99987179e-01 2.15607868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374391417999995 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:46.94, Y:2.87, Z:0.22 [[ 9.99978176e-01 4.24340407e-03 -5.06379353e-03 4.69385203e+01] [-4.24346698e-03 9.99990996e-01 -1.67758071e-06 2.86729099e+00] [ 5.06374082e-03 2.31655847e-05 9.99987179e-01 2.18205281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404391417999996 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:46.97, Y:2.87, Z:0.22 [[ 9.99985066e-01 2.05547938e-03 -5.06379336e-03 4.69669671e+01] [-2.05551628e-03 9.99997887e-01 -2.08208041e-06 2.86550949e+00] [ 5.06377838e-03 1.24907590e-05 9.99987179e-01 2.18714682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:46.99, Y:2.86, Z:0.22 [[ 9.99987016e-01 5.71390721e-04 -5.06379316e-03 4.69933000e+01] [-5.71410675e-04 9.99999837e-01 -2.49368164e-06 2.86165273e+00] [ 5.06379091e-03 5.38715472e-06 9.99987179e-01 2.20095930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:47.02, Y:2.86, Z:0.22 [[ 9.99985778e-01 -1.67415877e-03 -5.06376834e-03 4.70241264e+01] [ 1.67398217e-03 9.99998598e-01 -3.91148047e-05 2.86016536e+00] [ 5.06382673e-03 3.06375905e-05 9.99987178e-01 2.17188961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49439141799999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:47.05, Y:2.86, Z:0.22 [[ 9.99983106e-01 -2.85413228e-03 -5.06378592e-03 4.70527381e+01] [ 2.85415659e-03 9.99995927e-01 -2.42593166e-06 2.85881169e+00] [ 5.06377222e-03 -1.20269473e-05 9.99987179e-01 2.19926686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:47.08, Y:2.86, Z:0.22 [[ 9.99981924e-01 -3.24183027e-03 -5.06378569e-03 4.70816769e+01] [ 3.24185748e-03 9.99994745e-01 -2.83416783e-06 2.85694142e+00] [ 5.06376827e-03 -1.35819549e-05 9.99987179e-01 2.17552135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554391417999994 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:47.11, Y:2.85, Z:0.22 [[ 9.99978106e-01 -4.25986518e-03 -5.06378450e-03 4.71115304e+01] [ 4.25989825e-03 9.99990927e-01 -4.25366647e-06 2.85367075e+00] [ 5.06375668e-03 -1.73176334e-05 9.99987179e-01 2.20584594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584391417999996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:47.14, Y:2.85, Z:0.22 [[ 9.99980995e-01 -3.51673543e-03 -5.06378432e-03 4.71397235e+01] [ 3.51675794e-03 9.99993816e-01 -4.45935822e-06 2.85142013e+00] [ 5.06376869e-03 -1.33488303e-05 9.99987179e-01 2.18133165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:47.17, Y:2.85, Z:0.22 [[ 9.99980732e-01 -3.59064850e-03 -5.06378403e-03 4.71696265e+01] [ 3.59067041e-03 9.99993554e-01 -4.76507943e-06 2.85021671e+00] [ 5.06376850e-03 -1.34173918e-05 9.99987179e-01 2.19719894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:47.20, Y:2.85, Z:0.22 [[ 9.99986075e-01 -1.48585947e-03 -5.06378383e-03 4.71997741e+01] [ 1.48585335e-03 9.99998896e-01 -4.97013481e-06 2.84751715e+00] [ 5.06378563e-03 -2.55397458e-06 9.99987179e-01 2.20478173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:47.23, Y:2.85, Z:0.22 [[ 9.99987158e-01 -2.04274213e-04 -5.06378362e-03 4.72275391e+01] [ 2.04250632e-04 9.99999979e-01 -5.17383257e-06 2.84622346e+00] [ 5.06378457e-03 4.13948512e-06 9.99987179e-01 2.20922221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:47.26, Y:2.84, Z:0.22 [[ 9.99986238e-01 1.37201012e-03 -5.06378306e-03 4.72562662e+01] [-1.37205647e-03 9.99999059e-01 -5.67849191e-06 2.84453454e+00] [ 5.06377050e-03 1.26262101e-05 9.99987179e-01 2.20018084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734391417999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:47.28, Y:2.84, Z:0.22 [[ 9.99981588e-01 3.34384342e-03 -5.06378109e-03 4.72842168e+01] [-3.34392216e-03 9.99994409e-01 -7.08437354e-06 2.84266176e+00] [ 5.06372909e-03 2.40171329e-05 9.99987179e-01 2.17453560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764391417999995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:47.31, Y:2.84, Z:0.22 [[ 9.99967345e-01 6.29822758e-03 -5.06378035e-03 4.73118161e+01] [-6.29834672e-03 9.99980165e-01 -7.58071848e-06 2.84025942e+00] [ 5.06363216e-03 3.94739153e-05 9.99987179e-01 2.18848671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:47.34, Y:2.84, Z:0.22 [[ 9.99953555e-01 8.20034301e-03 -5.06377750e-03 4.73383435e+01] [-8.20049452e-03 9.99966375e-01 -9.15768396e-06 2.83917734e+00] [ 5.06353213e-03 5.06827382e-05 9.99987179e-01 2.18182951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:47.37, Y:2.84, Z:0.22 [[ 9.99936857e-01 1.00319707e-02 -5.06377617e-03 4.73666310e+01] [-1.00321491e-02 9.99949677e-01 -9.84001679e-06 2.83810751e+00] [ 5.06342263e-03 6.06399532e-05 9.99987179e-01 2.19287529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:47.39, Y:2.84, Z:0.22 [[ 9.99902088e-01 1.30450598e-02 -5.06377498e-03 4.73946556e+01] [-1.30452798e-02 9.99914907e-01 -1.04202347e-05 2.83533394e+00] [ 5.06320815e-03 7.64775759e-05 9.99987179e-01 2.20058383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:47.42, Y:2.83, Z:0.22 [[ 9.99887678e-01 1.41063751e-02 -5.06377370e-03 4.74222733e+01] [-1.41066116e-02 9.99900497e-01 -1.10055766e-05 2.83333140e+00] [ 5.06311459e-03 8.24370295e-05 9.99987179e-01 2.18288032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914391417999994 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:47.45, Y:2.83, Z:0.22 [[ 9.99887823e-01 1.40960748e-02 -5.06377237e-03 4.74496336e+01] [-1.40963142e-02 9.99900642e-01 -1.15867047e-05 2.83148594e+00] [ 5.06310592e-03 8.29659316e-05 9.99987179e-01 2.19516467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944391417999995 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:47.48, Y:2.83, Z:0.22 [[ 9.99891668e-01 1.38206790e-02 -5.06377123e-03 4.74771292e+01] [-1.38209173e-02 9.99904486e-01 -1.20670012e-05 2.82755123e+00] [ 5.06312080e-03 8.20516574e-05 9.99987179e-01 2.19613101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974391417999996 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:47.51, Y:2.83, Z:0.22 [[ 9.99903622e-01 1.29269360e-02 -5.06376981e-03 4.75050302e+01] [-1.29271657e-02 9.99916441e-01 -1.26350428e-05 2.82568971e+00] [ 5.06318335e-03 7.80940165e-05 9.99987179e-01 2.19936189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:47.53, Y:2.82, Z:0.22 [[ 9.99917955e-01 1.17661335e-02 -5.06376818e-03 4.75333154e+01] [-1.17663515e-02 9.99930774e-01 -1.32579761e-05 2.82343901e+00] [ 5.06326164e-03 7.28389646e-05 9.99987179e-01 2.20111912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:47.56, Y:2.82, Z:0.22 [[ 9.99924256e-01 1.12178768e-02 -5.06376678e-03 4.75616824e+01] [-1.12180903e-02 9.99937075e-01 -1.37720274e-05 2.82004762e+00] [ 5.06329365e-03 7.05767775e-05 9.99987179e-01 2.18140621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:47.59, Y:2.82, Z:0.22 [[ 9.99962702e-01 6.99663919e-03 -5.06376505e-03 4.75908598e+01] [-6.99680173e-03 9.99975522e-01 -1.43835367e-05 2.81511733e+00] [ 5.06354046e-03 4.98131602e-05 9.99987179e-01 2.21107323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094391417999994 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:47.62, Y:2.81, Z:0.22 [[ 9.99974422e-01 5.05112678e-03 -5.06376387e-03 4.76183857e+01] [-5.05126642e-03 9.99987242e-01 -1.47868035e-05 2.81259669e+00] [ 5.06362458e-03 4.03648457e-05 9.99987179e-01 2.19348496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124391417999995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:47.65, Y:2.81, Z:0.22 [[ 9.99983668e-01 2.64984008e-03 -5.06376224e-03 4.76470164e+01] [-2.64995166e-03 9.99996489e-01 -1.53254331e-05 2.81029325e+00] [ 5.06370385e-03 2.87439079e-05 9.99987179e-01 2.19372941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154391417999996 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:47.68, Y:2.81, Z:0.22 [[ 9.99981599e-01 -3.34052277e-03 -5.06376096e-03 4.76760184e+01] [ 3.34048592e-03 9.99994420e-01 -1.57361972e-05 2.80639920e+00] [ 5.06378527e-03 -1.17951450e-06 9.99987179e-01 2.22219633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:47.71, Y:2.80, Z:0.22 [[ 9.99969157e-01 -6.00361273e-03 -5.06375966e-03 4.77051788e+01] [ 6.00360795e-03 9.99981978e-01 -1.61444313e-05 2.80395855e+00] [ 5.06376533e-03 -1.42568944e-05 9.99987179e-01 2.20928399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:47.74, Y:2.80, Z:0.22 [[ 9.99950323e-01 -8.58543842e-03 -5.06375833e-03 4.77350713e+01] [ 8.58546468e-03 9.99963144e-01 -1.65512192e-05 2.80135876e+00] [ 5.06371380e-03 -2.69243213e-05 9.99987179e-01 2.21607007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:47.76, Y:2.80, Z:0.22 [[ 9.99907184e-01 -1.26484468e-02 -5.06370897e-03 4.77648553e+01] [ 1.26484540e-02 9.99920005e-01 -3.05988761e-05 2.79902036e+00] [ 5.06369092e-03 -3.34520539e-05 9.99987179e-01 2.21271322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27439141799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:47.80, Y:2.79, Z:0.22 [[ 9.99824056e-01 -1.80614475e-02 -5.06375384e-03 4.77965046e+01] [ 1.80615884e-02 9.99836876e-01 -1.79210887e-05 2.79382933e+00] [ 5.06325150e-03 -7.35415017e-05 9.99987179e-01 2.17884259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304391417999994 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:47.83, Y:2.79, Z:0.22 [[ 9.99777159e-01 -2.04936567e-02 -5.06375456e-03 4.78281431e+01] [ 2.04938298e-02 9.99789979e-01 -1.77154816e-05 2.79201181e+00] [ 5.06305412e-03 -8.60641899e-05 9.99987179e-01 2.17491594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334391417999996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:47.86, Y:2.79, Z:0.22 [[ 9.99732590e-01 -2.25633783e-02 -5.06375561e-03 4.78606153e+01] [ 2.25635794e-02 9.99745410e-01 -1.74081151e-05 2.79077035e+00] [ 5.06285922e-03 -9.68529920e-05 9.99987179e-01 2.18509599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:47.89, Y:2.79, Z:0.22 [[ 9.99688871e-01 -2.44237388e-02 -5.06375700e-03 4.78925090e+01] [ 2.44239659e-02 9.99701690e-01 -1.69940410e-05 2.78878073e+00] [ 5.06266149e-03 -1.06688275e-04 9.99987179e-01 2.19384320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:47.92, Y:2.79, Z:0.22 [[ 9.99674794e-01 -2.49933019e-02 -5.06375835e-03 4.79246483e+01] [ 2.49935383e-02 9.99687613e-01 -1.65824866e-05 2.78843184e+00] [ 5.06259095e-03 -1.09984145e-04 9.99987179e-01 2.21449795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:47.96, Y:2.79, Z:0.22 [[ 9.99667716e-01 -2.52748234e-02 -5.06375968e-03 4.79571874e+01] [ 2.52750656e-02 9.99680534e-01 -1.61664631e-05 2.78753757e+00] [ 5.06255058e-03 -1.11825767e-04 9.99987179e-01 2.21049577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:47.99, Y:2.79, Z:0.22 [[ 9.99639972e-01 -2.63492934e-02 -5.06376096e-03 4.79897562e+01] [ 2.63495515e-02 9.99652790e-01 -1.57536267e-05 2.78564108e+00] [ 5.06241787e-03 -1.17679875e-04 9.99987179e-01 2.21216857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484391417999994 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:48.02, Y:2.79, Z:0.22 [[ 9.99615164e-01 -2.72742122e-02 -5.06376221e-03 4.80220111e+01] [ 2.72744842e-02 9.99627982e-01 -1.53406444e-05 2.78517268e+00] [ 5.06229681e-03 -1.22776762e-04 9.99987179e-01 2.22400613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514391417999995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:48.05, Y:2.78, Z:0.22 [[ 9.99598240e-01 -2.78875612e-02 -5.06376344e-03 4.80534348e+01] [ 2.78878432e-02 9.99611058e-01 -1.49233109e-05 2.78477133e+00] [ 5.06221011e-03 -1.26300126e-04 9.99987179e-01 2.21760675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:48.09, Y:2.78, Z:0.22 [[ 9.99559852e-01 -2.92311668e-02 -5.06376434e-03 4.80853259e+01] [ 2.92314676e-02 9.99572669e-01 -1.46123932e-05 2.78366568e+00] [ 5.06202757e-03 -1.33415302e-04 9.99987179e-01 2.19931545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:48.12, Y:2.78, Z:0.22 [[ 9.99541275e-01 -2.98596496e-02 -5.06376549e-03 4.81179201e+01] [ 2.98599606e-02 9.99554092e-01 -1.42038148e-05 2.78301687e+00] [ 5.06193163e-03 -1.37006539e-04 9.99987179e-01 2.18175994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:48.15, Y:2.78, Z:0.22 [[ 9.99495291e-01 -3.13611593e-02 -5.06376661e-03 4.81498498e+01] [ 3.13614916e-02 9.99508107e-01 -1.37905832e-05 2.78318067e+00] [ 5.06170827e-03 -1.45023651e-04 9.99987179e-01 2.21262235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63439141799999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:48.18, Y:2.78, Z:0.22 [[ 9.99468264e-01 -3.22109796e-02 -5.06376770e-03 4.81822594e+01] [ 3.22113249e-02 9.99481081e-01 -1.33790280e-05 2.78321996e+00] [ 5.06157096e-03 -1.49738752e-04 9.99987179e-01 2.21562769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664391417999994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:48.21, Y:2.78, Z:0.22 [[ 9.99434775e-01 -3.32338493e-02 -5.06376875e-03 4.82144500e+01] [ 3.32342098e-02 9.99447591e-01 -1.29666361e-05 2.78363487e+00] [ 5.06140241e-03 -1.55331046e-04 9.99987179e-01 2.17292597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694391417999995 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:48.25, Y:2.78, Z:0.22 [[ 9.99406000e-01 -3.40882148e-02 -5.06376977e-03 4.82468984e+01] [ 3.40885883e-02 9.99418815e-01 -1.25562105e-05 2.78478383e+00] [ 5.06125480e-03 -1.60068011e-04 9.99987179e-01 2.19566418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724391417999996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:48.28, Y:2.79, Z:0.22 [[ 9.99423144e-01 -3.35818063e-02 -5.06377075e-03 4.82790007e+01] [ 3.35821753e-02 9.99435960e-01 -1.21466132e-05 2.78503068e+00] [ 5.06132249e-03 -1.57912831e-04 9.99987179e-01 2.17402124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754391418 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:48.31, Y:2.79, Z:0.22 [[ 9.99440309e-01 -3.30670068e-02 -5.06377170e-03 4.83097010e+01] [ 3.30673714e-02 9.99453125e-01 -1.17369653e-05 2.78589694e+00] [ 5.06139056e-03 -1.55715223e-04 9.99987179e-01 2.16510439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:48.34, Y:2.79, Z:0.22 [[ 9.99500515e-01 -3.11942013e-02 -5.06377239e-03 4.83412610e+01] [ 3.11945434e-02 9.99513332e-01 -1.14320982e-05 2.78847001e+00] [ 5.06166463e-03 -1.46535680e-04 9.99987179e-01 2.20175771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:48.37, Y:2.79, Z:0.22 [[ 9.99502981e-01 -3.11151016e-02 -5.06377306e-03 4.83739506e+01] [ 3.11154442e-02 9.99515797e-01 -1.11302906e-05 2.78846309e+00] [ 5.06166748e-03 -1.46436789e-04 9.99987179e-01 2.20341233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844391417999994 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:48.41, Y:2.79, Z:0.22 [[ 9.99598880e-01 -2.78646404e-02 -5.06377391e-03 4.84061728e+01] [ 2.78649433e-02 9.99611697e-01 -1.07295504e-05 2.78865332e+00] [ 5.06210660e-03 -1.30376526e-04 9.99987179e-01 2.17748515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874391417999995 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:48.44, Y:2.79, Z:0.22 [[ 9.99672574e-01 -2.50819231e-02 -5.06377472e-03 4.84379245e+01] [ 2.50821924e-02 9.99685392e-01 -1.03314019e-05 2.78982160e+00] [ 5.06244075e-03 -1.16682553e-04 9.99987179e-01 2.18960864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904391417999996 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:48.47, Y:2.79, Z:0.22 [[ 9.99744303e-01 -2.20382942e-02 -5.06377550e-03 4.84692002e+01] [ 2.20385264e-02 9.99757122e-01 -9.93047574e-06 2.79170265e+00] [ 5.06276448e-03 -1.01670214e-04 9.99987179e-01 2.21918124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:48.50, Y:2.80, Z:0.22 [[ 9.99893551e-01 -1.36837516e-02 -5.06377607e-03 4.85004748e+01] [ 1.36838783e-02 9.99906371e-01 -9.63215165e-06 2.79586650e+00] [ 5.06343376e-03 -5.96609691e-05 9.99987179e-01 2.23588705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:48.53, Y:2.80, Z:0.22 [[ 9.99940623e-01 -9.64926816e-03 -5.06375544e-03 4.85309774e+01] [ 9.64928666e-03 9.99953444e-01 -2.07786300e-05 2.79739040e+00] [ 5.06372020e-03 -2.80842316e-05 9.99987179e-01 2.21384633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99439141799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:48.56, Y:2.80, Z:0.22 [[ 9.99965389e-01 -6.60138295e-03 -5.06377624e-03 4.85618482e+01] [ 6.60142323e-03 9.99978210e-01 -8.76044778e-06 2.79984397e+00] [ 5.06372373e-03 -2.46679855e-05 9.99987179e-01 2.24924896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:48.59, Y:2.80, Z:0.22 [[ 9.99987121e-01 -3.41950125e-04 -5.06377624e-03 4.85912046e+01] [ 3.41910148e-04 9.99999942e-01 -8.76044778e-06 2.80247976e+00] [ 5.06377893e-03 7.02897847e-06 9.99987179e-01 2.24242965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054391417999994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:48.62, Y:2.80, Z:0.22 [[ 9.99984290e-01 2.40361477e-03 -5.06377606e-03 4.86195207e+01] [-2.40369045e-03 9.99997111e-01 -8.85882933e-06 2.80302345e+00] [ 5.06374014e-03 2.10304403e-05 9.99987179e-01 2.22801133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084391417999996 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:48.65, Y:2.80, Z:0.22 [[ 9.99983504e-01 2.71107898e-03 -5.06375890e-03 4.86475397e+01] [-2.71120414e-03 9.99996325e-01 -1.78525421e-05 2.80456972e+00] [ 5.06369189e-03 3.15811317e-05 9.99987179e-01 2.23886993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:48.68, Y:2.81, Z:0.22 [[ 9.99982341e-01 3.11046720e-03 -5.06377445e-03 4.86755315e+01] [-3.11055716e-03 9.99995162e-01 -9.88951523e-06 2.80562248e+00] [ 5.06371919e-03 2.56405005e-05 9.99987179e-01 2.23826357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:48.70, Y:2.81, Z:0.22 [[ 9.99984595e-01 2.27340606e-03 -5.06377351e-03 4.87046302e+01] [-2.27348763e-03 9.99997416e-01 -1.03527703e-05 2.80707502e+00] [ 5.06373688e-03 2.18650373e-05 9.99987179e-01 2.24435673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174391418 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:48.73, Y:2.81, Z:0.22 [[ 9.99986678e-01 1.00106058e-03 -5.06377265e-03 4.87338141e+01] [-1.00112788e-03 9.99999499e-01 -1.07554253e-05 2.80733159e+00] [ 5.06375935e-03 1.58247660e-05 9.99987179e-01 2.24894293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:48.76, Y:2.81, Z:0.22 [[ 9.99987065e-01 -4.77739651e-04 -5.06377174e-03 4.87615321e+01] [ 4.77689215e-04 9.99999886e-01 -1.11696448e-05 2.80706025e+00] [ 5.06377649e-03 8.75059118e-06 9.99987179e-01 2.23959381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234391417999994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:48.79, Y:2.81, Z:0.22 [[ 9.99984324e-01 -2.38953038e-03 -5.06377045e-03 4.87907356e+01] [ 2.38950164e-03 9.99997145e-01 -1.17261333e-05 2.80662369e+00] [ 5.06378401e-03 -3.73938356e-07 9.99987179e-01 2.21895099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264391417999995 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:48.82, Y:2.81, Z:0.22 [[ 9.99982171e-01 -3.16478655e-03 -5.06376948e-03 4.88196129e+01] [ 3.16476570e-03 9.99994992e-01 -1.21320608e-05 2.80675888e+00] [ 5.06378251e-03 -3.89379944e-06 9.99987179e-01 2.20632307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:48.85, Y:2.81, Z:0.22 [[ 9.99978983e-01 -4.04866860e-03 -5.06376564e-03 4.88484519e+01] [ 4.04865183e-03 9.99991804e-01 -1.35632258e-05 2.80792351e+00] [ 5.06377905e-03 -6.93848332e-06 9.99987179e-01 2.23056552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:48.88, Y:2.81, Z:0.22 [[ 9.99980060e-01 -3.77330261e-03 -5.06376481e-03 4.88780552e+01] [ 3.77328077e-03 9.99992881e-01 -1.38667564e-05 2.80867206e+00] [ 5.06378109e-03 -5.24052649e-06 9.99987179e-01 2.24560093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:48.91, Y:2.81, Z:0.22 [[ 9.99984403e-01 -2.35624543e-03 -5.06376425e-03 4.89067668e+01] [ 2.35620439e-03 9.99997224e-01 -1.40698293e-05 2.80951553e+00] [ 5.06378334e-03 2.13834629e-06 9.99987179e-01 2.24373087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:48.94, Y:2.81, Z:0.23 [[ 9.99985831e-01 -1.64211473e-03 -5.06376339e-03 4.89353138e+01] [ 1.64206301e-03 9.99998652e-01 -1.43718346e-05 2.80990596e+00] [ 5.06378016e-03 6.05661240e-06 9.99987179e-01 2.25946955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414391417999994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:48.96, Y:2.81, Z:0.23 [[ 9.99986826e-01 -8.40852647e-04 -5.06376252e-03 4.89640356e+01] [ 8.40789135e-04 9.99999646e-01 -1.46712515e-05 2.81013609e+00] [ 5.06377307e-03 1.04135017e-05 9.99987179e-01 2.26918432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444391417999995 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:48.99, Y:2.81, Z:0.23 [[ 9.99987136e-01 2.94763174e-04 -5.06375799e-03 4.89921805e+01] [-2.94848465e-04 9.99999956e-01 -1.60969243e-05 2.80994116e+00] [ 5.06375302e-03 1.75897585e-05 9.99987179e-01 2.26116200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474391417999996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:49.02, Y:2.81, Z:0.23 [[ 9.99985133e-01 2.02310600e-03 -5.06375634e-03 4.90204101e+01] [-2.02321600e-03 9.99997953e-01 -1.66010502e-05 2.80954229e+00] [ 5.06371239e-03 2.68458763e-05 9.99987179e-01 2.25020320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:49.05, Y:2.81, Z:0.23 [[ 9.99985368e-01 1.90322952e-03 -5.06375038e-03 4.90480233e+01] [-1.90334635e-03 9.99998188e-01 -1.82535248e-05 2.80979399e+00] [ 5.06370647e-03 2.78913285e-05 9.99987179e-01 2.25922718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:49.08, Y:2.81, Z:0.23 [[ 9.99984778e-01 2.19139773e-03 -5.06374849e-03 4.90766113e+01] [-2.19152085e-03 9.99997598e-01 -1.87641614e-05 2.80974112e+00] [ 5.06369521e-03 2.98611862e-05 9.99987179e-01 2.25505266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:49.10, Y:2.81, Z:0.23 [[ 9.99985467e-01 1.85058233e-03 -5.06374694e-03 4.91047885e+01] [-1.85070314e-03 9.99998287e-01 -1.91725885e-05 2.80929017e+00] [ 5.06370279e-03 2.85438022e-05 9.99987179e-01 2.26319488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594391417999994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:49.13, Y:2.81, Z:0.23 [[ 9.99986406e-01 1.24345257e-03 -5.06374497e-03 4.91335274e+01] [-1.24356816e-03 9.99999227e-01 -1.96792634e-05 2.80897006e+00] [ 5.06371659e-03 2.59761079e-05 9.99987179e-01 2.25937924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624391417999995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:49.16, Y:2.81, Z:0.22 [[ 9.99986056e-01 1.49884964e-03 -5.06374339e-03 4.91617096e+01] [-1.49897054e-03 9.99998876e-01 -2.00791121e-05 2.80809679e+00] [ 5.06370760e-03 2.76692343e-05 9.99987179e-01 2.23384993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654391417999996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:49.19, Y:2.81, Z:0.23 [[ 9.99986911e-01 7.32850943e-04 -5.06374138e-03 4.91892631e+01] [-7.32964520e-04 9.99999731e-01 -2.05737429e-05 2.80855588e+00] [ 5.06372494e-03 2.42850164e-05 9.99987179e-01 2.25509214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:49.22, Y:2.81, Z:0.22 [[ 9.99986421e-01 1.23123055e-03 -5.06373933e-03 4.92183888e+01] [-1.23135302e-03 9.99999242e-01 -2.10669014e-05 2.80806371e+00] [ 5.06370955e-03 2.73018661e-05 9.99987179e-01 2.22277215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:49.25, Y:2.81, Z:0.22 [[ 9.99986981e-01 6.29239702e-04 -5.06373767e-03 4.92472527e+01] [-6.29356425e-04 9.99999802e-01 -2.14572858e-05 2.80841092e+00] [ 5.06372317e-03 2.46439023e-05 9.99987179e-01 2.24592492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:49.28, Y:2.81, Z:0.22 [[ 9.99987040e-01 5.27940337e-04 -5.06373585e-03 4.92754159e+01] [-5.28057892e-04 9.99999860e-01 -2.18782829e-05 2.80846050e+00] [ 5.06372359e-03 2.45519451e-05 9.99987179e-01 2.24231251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77439141799999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:49.30, Y:2.81, Z:0.23 [[ 9.99987163e-01 -1.81126057e-04 -5.06373355e-03 4.93042737e+01] [ 1.81014960e-04 9.99999983e-01 -2.23979736e-05 2.80806063e+00] [ 5.06373753e-03 2.14810745e-05 9.99987179e-01 2.26108904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804391417999994 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:49.33, Y:2.81, Z:0.22 [[ 9.99987104e-01 -3.87343487e-04 -5.06373167e-03 4.93319574e+01] [ 3.87232918e-04 9.99999925e-01 -2.28159060e-05 2.80784126e+00] [ 5.06374013e-03 2.08547681e-05 9.99987179e-01 2.24639084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834391417999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:49.36, Y:2.81, Z:0.23 [[ 9.99986796e-01 -8.75646832e-04 -5.06372905e-03 4.93612347e+01] [ 8.75539654e-04 9.99999616e-01 -2.33824123e-05 2.80861383e+00] [ 5.06374759e-03 1.89486079e-05 9.99987179e-01 2.27532765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:49.39, Y:2.81, Z:0.23 [[ 9.99986924e-01 -7.14052273e-04 -5.06372710e-03 4.93891245e+01] [ 7.13940916e-04 9.99999745e-01 -2.37987804e-05 2.80845259e+00] [ 5.06374280e-03 2.01832673e-05 9.99987179e-01 2.25809495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:49.42, Y:2.81, Z:0.23 [[ 9.99986839e-01 -8.24472866e-04 -5.06372463e-03 4.94180418e+01] [ 8.24360318e-04 9.99999660e-01 -2.43133792e-05 2.80774950e+00] [ 5.06374295e-03 2.01387256e-05 9.99987179e-01 2.27196576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:49.45, Y:2.81, Z:0.22 [[ 9.99987099e-01 -3.99785090e-04 -5.06372262e-03 4.94457479e+01] [ 3.99665017e-04 9.99999920e-01 -2.47243367e-05 2.80674477e+00] [ 5.06373210e-03 2.27002250e-05 9.99987179e-01 2.24848189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95439141799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:49.47, Y:2.81, Z:0.23 [[ 9.99986902e-01 -7.44862015e-04 -5.06372009e-03 4.94745717e+01] [ 7.44743794e-04 9.99999722e-01 -2.52323228e-05 2.80645057e+00] [ 5.06373748e-03 2.14608182e-05 9.99987179e-01 2.25149371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984391417999994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:49.50, Y:2.81, Z:0.23 [[ 9.99986507e-01 -1.15983977e-03 -5.06371800e-03 4.95019458e+01] [ 1.15972477e-03 9.99999327e-01 -2.56450016e-05 2.80605307e+00] [ 5.06374434e-03 1.97721363e-05 9.99987179e-01 2.28480778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014391417999995 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:49.53, Y:2.81, Z:0.23 [[ 9.99982984e-01 -2.89677832e-03 -5.06364413e-03 4.95305851e+01] [ 2.89661561e-03 9.99995804e-01 -3.94655937e-05 2.80559360e+00] [ 5.06373721e-03 2.47974915e-05 9.99987179e-01 2.28533959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:49.56, Y:2.81, Z:0.23 [[ 9.99980961e-01 -3.52648358e-03 -5.06370907e-03 4.95595083e+01] [ 3.52638947e-03 9.99993782e-01 -2.75141847e-05 2.80521152e+00] [ 5.06377461e-03 9.65705056e-06 9.99987179e-01 2.28594412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:49.59, Y:2.80, Z:0.23 [[ 9.99980663e-01 -3.60993996e-03 -5.06370092e-03 4.95885627e+01] [ 3.60983970e-03 9.99993484e-01 -2.89402042e-05 2.80440355e+00] [ 5.06377240e-03 1.06604960e-05 9.99987179e-01 2.27247920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:49.62, Y:2.80, Z:0.23 [[ 9.99979588e-01 -3.89650345e-03 -5.06369237e-03 4.96172704e+01] [ 3.89639964e-03 9.99992409e-01 -3.03665844e-05 2.80456887e+00] [ 5.06377225e-03 1.06357954e-05 9.99987179e-01 2.28532363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13439141799999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:49.65, Y:2.80, Z:0.23 [[ 9.99978697e-01 -4.11883890e-03 -5.06369054e-03 4.96461403e+01] [ 4.11873640e-03 9.99991518e-01 -3.06690447e-05 2.80397869e+00] [ 5.06377390e-03 9.81238479e-06 9.99987179e-01 2.27171219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164391417999994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:49.68, Y:2.80, Z:0.23 [[ 9.99977885e-01 -4.31151367e-03 -5.06368132e-03 4.96751502e+01] [ 4.31140629e-03 9.99990705e-01 -3.21214740e-05 2.80351556e+00] [ 5.06377275e-03 1.02891761e-05 9.99987179e-01 2.27107317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194391417999995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:49.71, Y:2.80, Z:0.23 [[ 9.99967576e-01 -6.26150310e-03 -5.06367935e-03 4.97050658e+01] [ 6.26141916e-03 9.99980397e-01 -3.24297401e-05 2.80265153e+00] [ 5.06378314e-03 7.22869702e-07 9.99987179e-01 2.28430269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224391417999996 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:49.73, Y:2.80, Z:0.23 [[ 9.99958618e-01 -7.55785348e-03 -5.06367802e-03 4.97343291e+01] [ 7.55778512e-03 9.99971439e-01 -3.26358698e-05 2.80177667e+00] [ 5.06378005e-03 -5.63567113e-06 9.99987179e-01 2.28341073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:49.76, Y:2.80, Z:0.23 [[ 9.99947642e-01 -8.89229377e-03 -5.06367669e-03 4.97638785e+01] [ 8.89224149e-03 9.99960463e-01 -3.28401912e-05 2.80114199e+00] [ 5.06376851e-03 -1.21889642e-05 9.99987179e-01 2.28211029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:49.79, Y:2.80, Z:0.23 [[ 9.99930178e-01 -1.06770127e-02 -5.06367535e-03 4.97939007e+01] [ 1.06769823e-02 9.99942999e-01 -3.30468405e-05 2.80090564e+00] [ 5.06373955e-03 -2.10202389e-05 9.99987179e-01 2.28691509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:49.82, Y:2.80, Z:0.23 [[ 9.99876529e-01 -1.48757108e-02 -5.06367535e-03 4.98247021e+01] [ 1.48757342e-02 9.99889350e-01 -3.30468405e-05 2.80035022e+00] [ 5.06360664e-03 -4.22831282e-05 9.99987179e-01 2.28726892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344391417999994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:49.86, Y:2.80, Z:0.23 [[ 9.99857663e-01 -1.60938563e-02 -5.06367601e-03 4.98560458e+01] [ 1.60938959e-02 9.99870484e-01 -3.29440564e-05 2.79880715e+00] [ 5.06355039e-03 -4.85549072e-05 9.99987179e-01 2.27195090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374391417999995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:49.89, Y:2.80, Z:0.23 [[ 9.99800094e-01 -1.93424274e-02 -5.06380074e-03 4.98860759e+01] [ 1.93426067e-02 9.99812914e-01 -1.35660537e-05 2.79938826e+00] [ 5.06311578e-03 -8.43837647e-05 9.99987179e-01 2.27578715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404391417999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:49.92, Y:2.80, Z:0.23 [[ 9.99761171e-01 -2.12593552e-02 -5.06367596e-03 4.99179655e+01] [ 2.12594616e-02 9.99773992e-01 -3.28189311e-05 2.79815481e+00] [ 5.06322924e-03 -7.48399318e-05 9.99987179e-01 2.27999435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:49.95, Y:2.80, Z:0.23 [[ 9.99682556e-01 -2.46809017e-02 -5.06367858e-03 4.99496339e+01] [ 2.46810541e-02 9.99695376e-01 -3.24106029e-05 2.79565682e+00] [ 5.06293598e-03 -9.25766104e-05 9.99987179e-01 2.28784458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:49.98, Y:2.80, Z:0.23 [[ 9.99654222e-01 -2.58030246e-02 -5.06368050e-03 4.99820776e+01] [ 2.58031929e-02 9.99667042e-01 -3.21071371e-05 2.79547741e+00] [ 5.06282297e-03 -9.85630895e-05 9.99987179e-01 2.29594218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:50.01, Y:2.80, Z:0.23 [[ 9.99647939e-01 -2.60452989e-02 -5.06368298e-03 5.00136117e+01] [ 2.60454723e-02 9.99660759e-01 -3.17116014e-05 2.79583313e+00] [ 5.06279110e-03 -1.00185578e-04 9.99987179e-01 2.30035419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:50.05, Y:2.80, Z:0.23 [[ 9.99654568e-01 -2.57895912e-02 -5.06368481e-03 5.00455478e+01] [ 2.57897628e-02 9.99667388e-01 -3.14169544e-05 2.79650138e+00] [ 5.06281079e-03 -9.91851282e-05 9.99987179e-01 2.30160877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554391417999994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:50.08, Y:2.80, Z:0.23 [[ 9.99692330e-01 -2.42817556e-02 -5.06368733e-03 5.00779731e+01] [ 2.42819099e-02 9.99705150e-01 -3.10052096e-05 2.79709791e+00] [ 5.06294716e-03 -9.19603293e-05 9.99987179e-01 2.30207062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584391417999996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:50.11, Y:2.80, Z:0.23 [[ 9.99719138e-01 -2.31517550e-02 -5.06368982e-03 5.01093323e+01] [ 2.31518969e-02 9.99731958e-01 -3.05917351e-05 2.79712939e+00] [ 5.06304080e-03 -8.66508817e-05 9.99987179e-01 2.29483078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:50.14, Y:2.80, Z:0.23 [[ 9.99755931e-01 -2.15043519e-02 -5.06369167e-03 5.01415145e+01] [ 2.15044743e-02 9.99768752e-01 -3.02838576e-05 2.79708709e+00] [ 5.06317193e-03 -7.86155610e-05 9.99987179e-01 2.28937278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:50.17, Y:2.80, Z:0.23 [[ 9.99787806e-01 -1.99675454e-02 -5.06369410e-03 5.01732619e+01] [ 1.99676502e-02 9.99800626e-01 -2.98715232e-05 2.79752653e+00] [ 5.06328099e-03 -7.12448877e-05 9.99987179e-01 2.28328803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67439141799999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:50.20, Y:2.80, Z:0.23 [[ 9.99861928e-01 -1.58267041e-02 -5.06369648e-03 5.02049194e+01] [ 1.58267578e-02 9.99874749e-01 -2.94629503e-05 2.79941022e+00] [ 5.06352854e-03 -5.06830155e-05 9.99987179e-01 2.28682274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:50.24, Y:2.80, Z:0.23 [[ 9.99900417e-01 -1.31724892e-02 -5.06369823e-03 5.02367479e+01] [ 1.31725104e-02 9.99913238e-01 -2.91586969e-05 2.80050046e+00] [ 5.06364298e-03 -3.75458245e-05 9.99987179e-01 2.27813185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734391417999994 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:50.27, Y:2.80, Z:0.23 [[ 9.99900933e-01 -1.31332650e-02 -5.06369937e-03 5.02685922e+01] [ 1.31332867e-02 9.99913754e-01 -2.89595776e-05 2.80064370e+00] [ 5.06364298e-03 -3.75463070e-05 9.99987179e-01 2.27974392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764391417999995 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:50.30, Y:2.80, Z:0.23 [[ 9.99948828e-01 -8.75784471e-03 -5.06370049e-03 5.02996265e+01] [ 8.75781135e-03 9.99961649e-01 -2.87609409e-05 2.80344588e+00] [ 5.06375818e-03 -1.55874645e-05 9.99987179e-01 2.29421038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:50.33, Y:2.80, Z:0.23 [[ 9.99962807e-01 -6.98169388e-03 -5.06370163e-03 5.03303021e+01] [ 6.98163877e-03 9.99975628e-01 -2.85598940e-05 2.80465048e+00] [ 5.06377761e-03 -6.79410379e-06 9.99987179e-01 2.28958557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:50.36, Y:2.81, Z:0.23 [[ 9.99972133e-01 -5.48557133e-03 -5.06370163e-03 5.03595898e+01] [ 5.48549704e-03 9.99984954e-01 -2.85598941e-05 2.80520247e+00] [ 5.06378211e-03 7.82177890e-07 9.99987179e-01 2.28274149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:50.39, Y:2.81, Z:0.23 [[ 9.99977442e-01 -4.41307077e-03 -5.06370045e-03 5.03886640e+01] [ 4.41298167e-03 9.99990262e-01 -2.87679660e-05 2.80548791e+00] [ 5.06377809e-03 6.42129976e-06 9.99987179e-01 2.27355181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:50.42, Y:2.81, Z:0.23 [[ 9.99978809e-01 -4.09152758e-03 -5.06369867e-03 5.04181865e+01] [ 4.09143279e-03 9.99991630e-01 -2.90774892e-05 2.80596317e+00] [ 5.06377526e-03 8.35909022e-06 9.99987179e-01 2.27076616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914391417999994 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:50.45, Y:2.81, Z:0.23 [[ 9.99976390e-01 -4.64530087e-03 -5.06369748e-03 5.04477510e+01] [ 4.64521214e-03 9.99989211e-01 -2.92836197e-05 2.80662252e+00] [ 5.06377887e-03 5.76097926e-06 9.99987179e-01 2.26636926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944391417999995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:50.48, Y:2.81, Z:0.23 [[ 9.99971627e-01 -5.57703757e-03 -5.06369628e-03 5.04770892e+01] [ 5.57695975e-03 9.99984448e-01 -2.94897263e-05 2.80762809e+00] [ 5.06378199e-03 1.24885932e-06 9.99987179e-01 2.26762101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974391417999996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:50.51, Y:2.81, Z:0.22 [[ 9.99967092e-01 -6.33834313e-03 -5.06369507e-03 5.05057537e+01] [ 6.33827402e-03 9.99979913e-01 -2.96954381e-05 2.80803697e+00] [ 5.06378157e-03 -2.40062607e-06 9.99987179e-01 2.24679287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:50.54, Y:2.81, Z:0.23 [[ 9.99940084e-01 -9.70506329e-03 -5.06369326e-03 5.05355261e+01] [ 9.70503580e-03 9.99952905e-01 -3.00013338e-05 2.80844647e+00] [ 5.06374595e-03 -1.91437881e-05 9.99987179e-01 2.26510283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:50.57, Y:2.81, Z:0.23 [[ 9.99922801e-01 -1.13468798e-02 -5.06369202e-03 5.05658779e+01] [ 1.13468723e-02 9.99935622e-01 -3.02085301e-05 2.80825103e+00] [ 5.06370880e-03 -2.72508689e-05 9.99987179e-01 2.27162311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:50.60, Y:2.81, Z:0.23 [[ 9.99901151e-01 -1.31167142e-02 -5.06369202e-03 5.05963809e+01] [ 1.31167294e-02 9.99913972e-01 -3.02085301e-05 2.80809981e+00] [ 5.06365264e-03 -3.62135340e-05 9.99987179e-01 2.27786195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094391417999994 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:50.63, Y:2.81, Z:0.23 [[ 9.99872951e-01 -1.51142379e-02 -5.06369263e-03 5.06276784e+01] [ 1.51142792e-02 9.99885772e-01 -3.01057457e-05 2.80751319e+00] [ 5.06356924e-03 -4.64321435e-05 9.99987179e-01 2.26729187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124391417999995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:50.66, Y:2.81, Z:0.23 [[ 9.99848917e-01 -1.66283835e-02 -5.06369385e-03 5.06583934e+01] [ 1.66284453e-02 9.99861737e-01 -2.98995013e-05 2.80862770e+00] [ 5.06349091e-03 -5.43063724e-05 9.99987179e-01 2.29088915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154391417999996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:50.69, Y:2.81, Z:0.23 [[ 9.99835814e-01 -1.73984116e-02 -5.06369565e-03 5.06910182e+01] [ 1.73984848e-02 9.99848634e-01 -2.95921385e-05 2.80918639e+00] [ 5.06344403e-03 -5.85133521e-05 9.99987179e-01 2.29170835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:50.72, Y:2.81, Z:0.23 [[ 9.99834467e-01 -1.74756131e-02 -5.06369804e-03 5.07226090e+01] [ 1.74756894e-02 9.99847288e-01 -2.91774215e-05 2.80883942e+00] [ 5.06343464e-03 -5.93190224e-05 9.99987179e-01 2.27126338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:50.75, Y:2.81, Z:0.23 [[ 9.99808194e-01 -1.89191540e-02 -5.06370186e-03 5.07545827e+01] [ 1.89192523e-02 9.99821015e-01 -2.84977651e-05 2.80913931e+00] [ 5.06333469e-03 -6.73091540e-05 9.99987179e-01 2.28972239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:50.79, Y:2.81, Z:0.23 [[ 9.99806146e-01 -1.90270835e-02 -5.06370412e-03 5.07869403e+01] [ 1.90271853e-02 9.99818966e-01 -2.80904470e-05 2.80901336e+00] [ 5.06332190e-03 -6.82630349e-05 9.99987179e-01 2.28561670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:50.82, Y:2.81, Z:0.23 [[ 9.99794366e-01 -1.96363227e-02 -5.06370634e-03 5.08194358e+01] [ 1.96364343e-02 9.99807186e-01 -2.76839946e-05 2.80974856e+00] [ 5.06327360e-03 -7.17548350e-05 9.99987179e-01 2.29111873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304391417999994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:50.85, Y:2.81, Z:0.23 [[ 9.99791928e-01 -1.97600663e-02 -5.06370852e-03 5.08506124e+01] [ 1.97601815e-02 9.99804748e-01 -2.72799702e-05 2.81076607e+00] [ 5.06325888e-03 -7.27855057e-05 9.99987179e-01 2.29038734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334391417999996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:50.88, Y:2.81, Z:0.23 [[ 9.99796315e-01 -1.95368011e-02 -5.06370960e-03 5.08813783e+01] [ 1.95369145e-02 9.99809136e-01 -2.70778139e-05 2.81246572e+00] [ 5.06327213e-03 -7.18569627e-05 9.99987179e-01 2.28948352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:50.91, Y:2.81, Z:0.23 [[ 9.99818246e-01 -1.83802742e-02 -5.06371120e-03 5.09128202e+01] [ 1.83803742e-02 9.99831066e-01 -2.67755888e-05 2.81248443e+00] [ 5.06334791e-03 -6.63021846e-05 9.99987179e-01 2.26196175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:50.94, Y:2.81, Z:0.23 [[ 9.99819786e-01 -1.82962861e-02 -5.06371226e-03 5.09437089e+01] [ 1.82963861e-02 9.99832607e-01 -2.65742588e-05 2.81318816e+00] [ 5.06335083e-03 -6.60781648e-05 9.99987179e-01 2.27206371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:50.98, Y:2.81, Z:0.23 [[ 9.99844497e-01 -1.68920518e-02 -5.06371382e-03 5.09751361e+01] [ 1.68921354e-02 9.99857317e-01 -2.62733681e-05 2.81399673e+00] [ 5.06343512e-03 -5.92676568e-05 9.99987179e-01 2.26009300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:51.01, Y:2.81, Z:0.22 [[ 9.99869926e-01 -1.53130649e-02 -5.06371532e-03 5.10063721e+01] [ 1.53131296e-02 9.99882747e-01 -2.59800234e-05 2.81415735e+00] [ 5.06351942e-03 -5.15646852e-05 9.99987179e-01 2.24138964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484391417999994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:51.04, Y:2.82, Z:0.23 [[ 9.99888988e-01 -1.40132308e-02 -5.06371629e-03 5.10379148e+01] [ 1.40132799e-02 9.99901809e-01 -2.57893000e-05 2.81548313e+00] [ 5.06358047e-03 -4.51728366e-05 9.99987179e-01 2.25423753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514391417999995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:51.07, Y:2.82, Z:0.22 [[ 9.99921688e-01 -1.14445199e-02 -5.06371726e-03 5.10696827e+01] [ 1.14445370e-02 9.99934509e-01 -2.55983868e-05 2.81594511e+00] [ 5.06367859e-03 -3.23555176e-05 9.99987179e-01 2.23784140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:51.10, Y:2.82, Z:0.23 [[ 9.99958114e-01 -7.62428378e-03 -5.06371821e-03 5.11000582e+01] [ 7.62425287e-03 9.99970935e-01 -2.54084831e-05 2.81821057e+00] [ 5.06376475e-03 -1.31996493e-05 9.99987179e-01 2.26208502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:51.13, Y:2.82, Z:0.23 [[ 9.99972616e-01 -5.39690038e-03 -5.06371821e-03 5.11297026e+01] [ 5.39684091e-03 9.99985437e-01 -2.54084831e-05 2.81912306e+00] [ 5.06378159e-03 -1.92029431e-06 9.99987179e-01 2.26718330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:51.16, Y:2.82, Z:0.22 [[ 9.99983562e-01 -2.68977032e-03 -5.06371724e-03 5.11585006e+01] [ 2.68967516e-03 9.99996382e-01 -2.56011336e-05 2.81944997e+00] [ 5.06376778e-03 1.19809583e-05 9.99987179e-01 2.24860794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63439141799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:51.19, Y:2.82, Z:0.23 [[ 9.99987084e-01 -4.36050555e-04 -5.06371577e-03 5.11876915e+01] [ 4.35925056e-04 9.99999905e-01 -2.58876372e-05 2.82096159e+00] [ 5.06372658e-03 2.36799023e-05 9.99987179e-01 2.26926084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664391417999994 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:51.22, Y:2.82, Z:0.23 [[ 9.99987169e-01 1.46682967e-04 -5.06370859e-03 5.12163577e+01] [-1.46822700e-04 9.99999989e-01 -2.72233403e-05 2.82167399e+00] [ 5.06370454e-03 2.79664584e-05 9.99987179e-01 2.28270659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694391417999995 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:51.24, Y:2.82, Z:0.23 [[ 9.99987133e-01 3.02956658e-04 -5.06370048e-03 5.12446968e+01] [-3.03105657e-04 9.99999954e-01 -2.86574455e-05 2.82209214e+00] [ 5.06369156e-03 3.01919130e-05 9.99987179e-01 2.28812739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724391417999996 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:51.27, Y:2.82, Z:0.23 [[ 9.99987179e-01 -3.12673010e-05 -5.06369694e-03 5.12735035e+01] [ 3.11194879e-05 9.99999999e-01 -2.92695277e-05 2.82213269e+00] [ 5.06369785e-03 2.91115728e-05 9.99987179e-01 2.28811822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:51.30, Y:2.82, Z:0.23 [[ 9.99983179e-01 -2.82837771e-03 -5.06369456e-03 5.13010931e+01] [ 2.82826371e-03 9.99996000e-01 -2.96750660e-05 2.82067624e+00] [ 5.06375824e-03 1.53531033e-05 9.99987179e-01 2.28509280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:51.33, Y:2.82, Z:0.23 [[ 9.99979475e-01 -3.92540563e-03 -5.06369156e-03 5.13296557e+01] [ 3.92530314e-03 9.99992296e-01 -3.01791855e-05 2.81909575e+00] [ 5.06377101e-03 1.03020417e-05 9.99987179e-01 2.26298520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81439141799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:51.36, Y:2.82, Z:0.23 [[ 9.99968281e-01 -6.14790856e-03 -5.06368909e-03 5.13587400e+01] [ 6.14783249e-03 9.99981101e-01 -3.05876546e-05 2.81861431e+00] [ 5.06378144e-03 -5.44027943e-07 9.99987179e-01 2.26354568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844391417999994 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:51.39, Y:2.82, Z:0.23 [[ 9.99937321e-01 -9.98565001e-03 -5.06368658e-03 5.13879144e+01] [ 9.98562107e-03 9.99950142e-01 -3.09982164e-05 2.81787600e+00] [ 5.06374365e-03 -1.95677819e-05 9.99987179e-01 2.26645304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874391417999995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:51.42, Y:2.82, Z:0.23 [[ 9.99921678e-01 -1.14454136e-02 -5.06368729e-03 5.14188614e+01] [ 1.14454039e-02 9.99934499e-01 -3.08818060e-05 2.81771882e+00] [ 5.06370906e-03 -2.70765592e-05 9.99987179e-01 2.26866975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904391417999996 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:51.45, Y:2.82, Z:0.23 [[ 9.99911692e-01 -1.22868922e-02 -5.06368729e-03 5.14497412e+01] [ 1.22868934e-02 9.99924513e-01 -3.08818060e-05 2.81769269e+00] [ 5.06368448e-03 -3.13379070e-05 9.99987179e-01 2.26153434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:51.48, Y:2.82, Z:0.23 [[ 9.99905496e-01 -1.27811814e-02 -5.06368729e-03 5.14802620e+01] [ 1.27811889e-02 9.99918317e-01 -3.08818060e-05 2.81780438e+00] [ 5.06366837e-03 -3.38410562e-05 9.99987179e-01 2.27779660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:51.51, Y:2.82, Z:0.23 [[ 9.99913722e-01 -1.21205398e-02 -5.06368790e-03 5.15104385e+01] [ 1.21205393e-02 9.99926543e-01 -3.07811587e-05 2.81789804e+00] [ 5.06368902e-03 -3.05961252e-05 9.99987179e-01 2.28309508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:51.54, Y:2.82, Z:0.23 [[ 9.99915308e-01 -1.19889758e-02 -5.06368850e-03 5.15416144e+01] [ 1.19889741e-02 9.99928129e-01 -3.06819601e-05 2.81882396e+00] [ 5.06369241e-03 -3.00290687e-05 9.99987179e-01 2.30830231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02439141799999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:51.57, Y:2.82, Z:0.23 [[ 9.99930031e-01 -1.06907692e-02 -5.06368968e-03 5.15718814e+01] [ 1.06907519e-02 9.99942852e-01 -3.04851155e-05 2.81900961e+00] [ 5.06372621e-03 -2.36516675e-05 9.99987179e-01 2.29207134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054391417999994 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:51.60, Y:2.82, Z:0.23 [[ 9.99928710e-01 -1.08135585e-02 -5.06368968e-03 5.16010716e+01] [ 1.08135427e-02 9.99941531e-01 -3.04851155e-05 2.81983861e+00] [ 5.06372327e-03 -2.42734827e-05 9.99987179e-01 2.31885216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084391417999996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:51.63, Y:2.82, Z:0.23 [[ 9.99947937e-01 -8.85897678e-03 -5.06373253e-03 5.16318137e+01] [ 8.85897055e-03 9.99960758e-01 -2.36597900e-05 2.81945743e+00] [ 5.06374342e-03 -2.12008992e-05 9.99987179e-01 2.33079031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:51.66, Y:2.82, Z:0.23 [[ 9.99952453e-01 -8.33367345e-03 -5.06367847e-03 5.16621600e+01] [ 8.33361740e-03 9.99965274e-01 -3.21689062e-05 2.81967134e+00] [ 5.06377071e-03 -1.00313823e-05 9.99987179e-01 2.33738101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:51.69, Y:2.82, Z:0.23 [[ 9.99954700e-01 -8.05959102e-03 -5.06367847e-03 5.16924065e+01] [ 8.05953145e-03 9.99967521e-01 -3.21689062e-05 2.82000324e+00] [ 5.06377327e-03 -8.64342691e-06 9.99987179e-01 2.34197497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17439141799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:51.72, Y:2.82, Z:0.23 [[ 9.99951848e-01 -8.40603864e-03 -5.06367847e-03 5.17216018e+01] [ 8.40598352e-03 9.99964669e-01 -3.21689062e-05 2.81922897e+00] [ 5.06376998e-03 -1.03978405e-05 9.99987179e-01 2.31641269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20439141799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:51.75, Y:2.82, Z:0.23 [[ 9.99945278e-01 -9.15425305e-03 -5.06367782e-03 5.17513379e+01] [ 9.15420700e-03 9.99958099e-01 -3.22712350e-05 2.82011519e+00] [ 5.06376106e-03 -1.40844859e-05 9.99987179e-01 2.33882557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234391417999994 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:51.78, Y:2.82, Z:0.23 [[ 9.99932424e-01 -1.04646512e-02 -5.06345878e-03 5.17811328e+01] [ 1.04644518e-02 9.99945244e-01 -6.58574331e-05 2.81915836e+00] [ 5.06387070e-03 1.28666621e-05 9.99987178e-01 2.32075836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264391417999995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:51.81, Y:2.82, Z:0.23 [[ 9.99905349e-01 -1.27926452e-02 -5.06367289e-03 5.18118145e+01] [ 1.27926445e-02 9.99918170e-01 -3.25365159e-05 2.81836805e+00] [ 5.06367476e-03 -3.22443307e-05 9.99987179e-01 2.31831822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:51.84, Y:2.82, Z:0.23 [[ 9.99905872e-01 -1.27517300e-02 -5.06367353e-03 5.18435130e+01] [ 1.27517293e-02 9.99918693e-01 -3.24366274e-05 2.81661879e+00] [ 5.06367544e-03 -3.21370199e-05 9.99987179e-01 2.29465362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:51.87, Y:2.82, Z:0.23 [[ 9.99891483e-01 -1.38340994e-02 -5.06367483e-03 5.18733821e+01] [ 1.38341135e-02 9.99904304e-01 -3.22324854e-05 2.81591918e+00] [ 5.06363616e-03 -3.78224647e-05 9.99987179e-01 2.30966606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:51.91, Y:2.82, Z:0.23 [[ 9.99885119e-01 -1.42866598e-02 -5.06367546e-03 5.19051738e+01] [ 1.42866803e-02 9.99897940e-01 -3.21319439e-05 2.81515668e+00] [ 5.06361772e-03 -4.02148599e-05 9.99987179e-01 2.32261776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:51.94, Y:2.81, Z:0.23 [[ 9.99881087e-01 -1.45661237e-02 -5.06367673e-03 5.19359503e+01] [ 1.45661488e-02 9.99893908e-01 -3.19314124e-05 2.81428022e+00] [ 5.06360463e-03 -4.18306532e-05 9.99987179e-01 2.33882724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414391417999994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:51.97, Y:2.81, Z:0.23 [[ 9.99885139e-01 -1.42852468e-02 -5.06367735e-03 5.19673614e+01] [ 1.42852688e-02 9.99897960e-01 -3.18319734e-05 2.81419454e+00] [ 5.06361538e-03 -4.05076750e-05 9.99987179e-01 2.34632031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444391417999995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:52.00, Y:2.81, Z:0.23 [[ 9.99894494e-01 -1.36147276e-02 -5.06367859e-03 5.19974256e+01] [ 1.36147420e-02 9.99907315e-01 -3.16339530e-05 2.81371126e+00] [ 5.06363995e-03 -3.73100621e-05 9.99987179e-01 2.32981079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474391417999996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:52.03, Y:2.81, Z:0.24 [[ 9.99890383e-01 -1.39133402e-02 -5.06368051e-03 5.20289100e+01] [ 1.39133599e-02 9.99903204e-01 -3.13240087e-05 2.81383945e+00] [ 5.06362619e-03 -3.91322344e-05 9.99987179e-01 2.35399488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:52.06, Y:2.81, Z:0.23 [[ 9.99901584e-01 -1.30836623e-02 -5.06368176e-03 5.20590219e+01] [ 1.30836725e-02 9.99914405e-01 -3.11205898e-05 2.81151676e+00] [ 5.06365550e-03 -3.51340267e-05 9.99987179e-01 2.34029261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:52.09, Y:2.81, Z:0.23 [[ 9.99914615e-01 -1.20466755e-02 -5.06368238e-03 5.20904700e+01] [ 1.20466729e-02 9.99927436e-01 -3.10197422e-05 2.80961921e+00] [ 5.06368862e-03 -2.99834318e-05 9.99987179e-01 2.32343726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:52.12, Y:2.81, Z:0.24 [[ 9.99917922e-01 -1.17689651e-02 -5.06368358e-03 5.21213777e+01] [ 1.17689599e-02 9.99930743e-01 -3.08212200e-05 2.80910559e+00] [ 5.06369562e-03 -2.87755990e-05 9.99987179e-01 2.35346134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594391417999994 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:52.15, Y:2.81, Z:0.24 [[ 9.99929209e-01 -1.07673359e-02 -5.06368358e-03 5.21513693e+01] [ 1.07673179e-02 9.99942030e-01 -3.08212200e-05 2.80809629e+00] [ 5.06372191e-03 -2.37032529e-05 9.99987179e-01 2.35075887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624391417999995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:52.18, Y:2.81, Z:0.24 [[ 9.99929209e-01 -1.07673343e-02 -5.06368551e-03 5.21823672e+01] [ 1.07673179e-02 9.99942030e-01 -3.05009938e-05 2.80828284e+00] [ 5.06372039e-03 -2.40234771e-05 9.99987179e-01 2.35232781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654391417999996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:52.21, Y:2.81, Z:0.24 [[ 9.99953393e-01 -8.22010444e-03 -5.06368551e-03 5.22131606e+01] [ 8.22005538e-03 9.99966214e-01 -3.05009938e-05 2.80703375e+00] [ 5.06376515e-03 -1.11242031e-05 9.99987179e-01 2.37074070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:52.24, Y:2.81, Z:0.24 [[ 9.99965161e-01 -6.63597224e-03 -5.06368610e-03 5.22429859e+01] [ 6.63590336e-03 9.99977982e-01 -3.04040715e-05 2.80652563e+00] [ 5.06377636e-03 -3.19911934e-06 9.99987179e-01 2.37179200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:52.27, Y:2.81, Z:0.23 [[ 9.99977184e-01 -4.47114466e-03 -5.06368493e-03 5.22722219e+01] [ 4.47104705e-03 9.99990004e-01 -3.05968938e-05 2.80528563e+00] [ 5.06377112e-03 7.95622206e-06 9.99987179e-01 2.34974739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:52.30, Y:2.80, Z:0.24 [[ 9.99981321e-01 -3.42310268e-03 -5.06368377e-03 5.23021733e+01] [ 3.42299066e-03 9.99994141e-01 -3.07884296e-05 2.80453210e+00] [ 5.06375949e-03 1.34549122e-05 9.99987179e-01 2.37709975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77439141799999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:52.33, Y:2.80, Z:0.24 [[ 9.99987162e-01 1.87356922e-04 -5.06368259e-03 5.23309448e+01] [-1.87516203e-04 9.99999982e-01 -3.09809924e-05 2.80157202e+00] [ 5.06367669e-03 3.19301172e-05 9.99987179e-01 2.35663646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804391417999994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:52.36, Y:2.80, Z:0.24 [[ 9.99986085e-01 1.47935980e-03 -5.06368082e-03 5.23591966e+01] [-1.47953709e-03 9.99998905e-01 -3.12674634e-05 2.80080802e+00] [ 5.06362902e-03 3.87589319e-05 9.99987179e-01 2.35382968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834391417999996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:52.39, Y:2.80, Z:0.24 [[ 9.99984231e-01 2.42823289e-03 -5.06367095e-03 5.23871651e+01] [-2.42843006e-03 9.99997051e-01 -3.27908589e-05 2.80045186e+00] [ 5.06357640e-03 4.50871126e-05 9.99987179e-01 2.36596523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:52.41, Y:2.80, Z:0.24 [[ 9.99979742e-01 3.85668410e-03 -5.06366039e-03 5.24144576e+01] [-3.85690747e-03 9.99992562e-01 -3.43482187e-05 2.79873943e+00] [ 5.06349025e-03 5.38775925e-05 9.99987179e-01 2.36158715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:52.44, Y:2.80, Z:0.23 [[ 9.99978535e-01 4.15790316e-03 -5.06365289e-03 5.24435146e+01] [-4.15813582e-03 9.99991354e-01 -3.54200308e-05 2.79722007e+00] [ 5.06346184e-03 5.64746270e-05 9.99987179e-01 2.34726451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:52.47, Y:2.80, Z:0.23 [[ 9.99979465e-01 3.92801605e-03 -5.06364804e-03 5.24725744e+01] [-3.92824921e-03 9.99992284e-01 -3.61004844e-05 2.79526648e+00] [ 5.06346717e-03 5.59910145e-05 9.99987179e-01 2.34115699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95439141799999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:52.50, Y:2.79, Z:0.23 [[ 9.99981364e-01 3.41042461e-03 -5.06364504e-03 5.25002598e+01] [-3.41065324e-03 9.99994183e-01 -3.65164425e-05 2.79330211e+00] [ 5.06349105e-03 5.37860993e-05 9.99987179e-01 2.33833107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984391417999994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:52.53, Y:2.79, Z:0.24 [[ 9.99986649e-01 1.03012850e-03 -5.06364127e-03 5.25295327e+01] [-1.03032922e-03 9.99999469e-01 -3.70318331e-05 2.79132315e+00] [ 5.06360043e-03 4.22485563e-05 9.99987179e-01 2.37321821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014391417999995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:52.56, Y:2.79, Z:0.24 [[ 9.99987117e-01 -3.54970732e-04 -5.06363803e-03 5.25573220e+01] [ 3.54785546e-04 9.99999936e-01 -3.74699483e-05 2.79119879e+00] [ 5.06365101e-03 3.56729600e-05 9.99987179e-01 2.35820203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:52.59, Y:2.79, Z:0.24 [[ 9.99985922e-01 -1.58619759e-03 -5.06363398e-03 5.25863794e+01] [ 1.58602546e-03 9.99998742e-01 -3.80096808e-05 2.79090627e+00] [ 5.06368790e-03 2.99780933e-05 9.99987179e-01 2.35202687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:52.61, Y:2.79, Z:0.23 [[ 9.99981988e-01 -3.22227609e-03 -5.06363073e-03 5.26146578e+01] [ 3.22212276e-03 9.99994808e-01 -3.84372492e-05 2.79017765e+00] [ 5.06372830e-03 2.21209170e-05 9.99987179e-01 2.34520066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:52.64, Y:2.79, Z:0.24 [[ 9.99965093e-01 -6.64631121e-03 -5.06362665e-03 5.26429921e+01] [ 6.64619909e-03 9.99977913e-01 -3.89674816e-05 2.78672223e+00] [ 5.06377380e-03 5.31225046e-06 9.99987179e-01 2.35126436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:52.67, Y:2.79, Z:0.24 [[ 9.99951047e-01 -8.50080844e-03 -5.06362431e-03 5.26725215e+01] [ 8.50071858e-03 9.99963867e-01 -3.92699380e-05 2.78530235e+00] [ 5.06377517e-03 -3.77642965e-06 9.99987179e-01 2.36504319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164391417999994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:52.70, Y:2.78, Z:0.24 [[ 9.99936145e-01 -1.01027056e-02 -5.06362269e-03 5.27019550e+01] [ 1.01026352e-02 9.99948966e-01 -3.94775801e-05 2.78453959e+00] [ 5.06376310e-03 -1.16808734e-05 9.99987179e-01 2.37804237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194391417999995 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:52.73, Y:2.78, Z:0.24 [[ 9.99917753e-01 -1.17833378e-02 -5.06362099e-03 5.27317309e+01] [ 1.17832879e-02 9.99930574e-01 -3.96946112e-05 2.78415481e+00] [ 5.06373717e-03 -1.99747572e-05 9.99987179e-01 2.38952882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224391417999996 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:52.76, Y:2.78, Z:0.24 [[ 9.99873512e-01 -1.50771011e-02 -5.06362014e-03 5.27625652e+01] [ 1.50770929e-02 9.99886333e-01 -3.98018549e-05 2.78390326e+00] [ 5.06364468e-03 -3.65478507e-05 9.99987179e-01 2.43252865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:52.79, Y:2.78, Z:0.24 [[ 9.99857075e-01 -1.61304104e-02 -5.06362014e-03 5.27930214e+01] [ 1.61304157e-02 9.99869896e-01 -3.98018549e-05 2.78384687e+00] [ 5.06360336e-03 -4.18821318e-05 9.99987179e-01 2.43339544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:52.82, Y:2.78, Z:0.24 [[ 9.99847618e-01 -1.67063002e-02 -5.06362093e-03 5.28230087e+01] [ 1.67063133e-02 9.99860439e-01 -3.97013031e-05 2.78340186e+00] [ 5.06357751e-03 -4.48991845e-05 9.99987179e-01 2.40798104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31439141799999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:52.85, Y:2.78, Z:0.24 [[ 9.99838660e-01 -1.72341019e-02 -5.06362171e-03 5.28547791e+01] [ 1.72341224e-02 9.99851481e-01 -3.96018652e-05 2.78236885e+00] [ 5.06355217e-03 -4.76716005e-05 9.99987179e-01 2.40670338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344391417999994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:52.89, Y:2.78, Z:0.24 [[ 9.99841026e-01 -1.70962987e-02 -5.06362326e-03 5.28863316e+01] [ 1.70963184e-02 9.99853846e-01 -3.94021489e-05 2.78230206e+00] [ 5.06355683e-03 -4.71734307e-05 9.99987179e-01 2.40819907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374391417999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:52.92, Y:2.78, Z:0.24 [[ 9.99845408e-01 -1.68380456e-02 -5.06362482e-03 5.29173572e+01] [ 1.68380630e-02 9.99858229e-01 -3.92009167e-05 2.78261055e+00] [ 5.06356701e-03 -4.60667772e-05 9.99987179e-01 2.42526274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404391417999996 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:52.95, Y:2.78, Z:0.24 [[ 9.99869975e-01 -1.53098608e-02 -5.06362639e-03 5.29474063e+01] [ 1.53098597e-02 9.99882796e-01 -3.89975230e-05 2.78247350e+00] [ 5.06362996e-03 -3.85309569e-05 9.99987179e-01 2.40599529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:52.98, Y:2.78, Z:0.24 [[ 9.99909479e-01 -1.24656612e-02 -5.06362716e-03 5.29785239e+01] [ 1.24656241e-02 9.99922300e-01 -3.88967239e-05 2.78361507e+00] [ 5.06371859e-03 -2.42280697e-05 9.99987179e-01 2.42604717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:53.01, Y:2.78, Z:0.24 [[ 9.99934970e-01 -1.02184122e-02 -5.06362864e-03 5.30093802e+01] [ 1.02183472e-02 9.99947791e-01 -3.87028284e-05 2.78400489e+00] [ 5.06375976e-03 -1.30416042e-05 9.99987179e-01 2.41832084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:53.04, Y:2.78, Z:0.24 [[ 9.99947059e-01 -8.95765541e-03 -5.06362864e-03 5.30399915e+01] [ 8.95757427e-03 9.99959879e-01 -3.87028284e-05 2.78484273e+00] [ 5.06377218e-03 -6.65705020e-06 9.99987179e-01 2.43943300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52439141799999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:53.07, Y:2.78, Z:0.24 [[ 9.99959662e-01 -7.41850385e-03 -5.06362864e-03 5.30700287e+01] [ 7.41840298e-03 9.99972483e-01 -3.87028284e-05 2.78462690e+00] [ 5.06377642e-03 1.13722942e-06 9.99987179e-01 2.43042886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554391417999994 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:53.10, Y:2.78, Z:0.24 [[ 9.99973157e-01 -5.29581879e-03 -5.06362710e-03 5.30986303e+01] [ 5.29568968e-03 9.99985977e-01 -3.89043522e-05 2.78393984e+00] [ 5.06376212e-03 1.20879101e-05 9.99987179e-01 2.37636031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584391417999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:53.13, Y:2.78, Z:0.24 [[ 9.99972078e-01 -5.49578225e-03 -5.06362544e-03 5.31275474e+01] [ 5.49565462e-03 9.99984898e-01 -3.91190573e-05 2.78457259e+00] [ 5.06376396e-03 1.12900284e-05 9.99987179e-01 2.38821068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:53.16, Y:2.79, Z:0.24 [[ 9.99974338e-01 -5.06779639e-03 -5.06362235e-03 5.31558884e+01] [ 5.06766127e-03 9.99987159e-01 -3.95148998e-05 2.78504828e+00] [ 5.06375758e-03 1.38531629e-05 9.99987179e-01 2.38165575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:53.19, Y:2.78, Z:0.24 [[ 9.99980001e-01 -3.78905783e-03 -5.06361995e-03 5.31854762e+01] [ 3.78890477e-03 9.99992821e-01 -3.98201418e-05 2.78453832e+00] [ 5.06373448e-03 2.06337716e-05 9.99987179e-01 2.37330224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:53.21, Y:2.78, Z:0.24 [[ 9.99979966e-01 -3.79830028e-03 -5.06361827e-03 5.32144101e+01] [ 3.79814627e-03 9.99992786e-01 -4.00318660e-05 2.78480073e+00] [ 5.06373380e-03 2.07987012e-05 9.99987179e-01 2.37129077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:53.24, Y:2.79, Z:0.24 [[ 9.99979637e-01 -3.88389578e-03 -5.06360617e-03 5.32430659e+01] [ 3.88373539e-03 9.99992457e-01 -4.15085356e-05 2.78523176e+00] [ 5.06372919e-03 2.18419840e-05 9.99987179e-01 2.40044701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734391417999994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:53.27, Y:2.79, Z:0.24 [[ 9.99980318e-01 -3.70453141e-03 -5.06359299e-03 5.32721861e+01] [ 3.70436087e-03 9.99993138e-01 -4.30583772e-05 2.78559297e+00] [ 5.06371775e-03 2.43001541e-05 9.99987179e-01 2.41586364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764391417999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:53.30, Y:2.79, Z:0.24 [[ 9.99977735e-01 -4.34616443e-03 -5.06359017e-03 5.33009007e+01] [ 4.34600045e-03 9.99990555e-01 -4.33875217e-05 2.78560648e+00] [ 5.06373091e-03 2.13801905e-05 9.99987179e-01 2.42393448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:53.33, Y:2.79, Z:0.24 [[ 9.99974942e-01 -4.94733042e-03 -5.06357634e-03 5.33298636e+01] [ 4.94716625e-03 9.99987762e-01 -4.49455962e-05 2.78534843e+00] [ 5.06373673e-03 1.98941160e-05 9.99987179e-01 2.42072040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:53.36, Y:2.79, Z:0.24 [[ 9.99969858e-01 -5.88591829e-03 -5.06357261e-03 5.33596170e+01] [ 5.88576405e-03 9.99982678e-01 -4.53622112e-05 2.78528403e+00] [ 5.06375189e-03 1.55578502e-05 9.99987179e-01 2.42477357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:53.39, Y:2.78, Z:0.25 [[ 9.99946584e-01 -9.01047951e-03 -5.06357063e-03 5.33887551e+01] [ 9.01036421e-03 9.99959405e-01 -4.55818954e-05 2.78461473e+00] [ 5.06377579e-03 -4.51549518e-08 9.99987179e-01 2.45041765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88439141799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:53.42, Y:2.78, Z:0.24 [[ 9.99929200e-01 -1.07682289e-02 -5.06356768e-03 5.34187988e+01] [ 1.07681345e-02 9.99942021e-01 -4.59072681e-05 2.78386736e+00] [ 5.06376844e-03 -8.62115986e-06 9.99987179e-01 2.44807083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914391417999994 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:53.45, Y:2.78, Z:0.25 [[ 9.99877863e-01 -1.47858033e-02 -5.06356572e-03 5.34492133e+01] [ 1.47857593e-02 9.99890684e-01 -4.61226684e-05 2.78198958e+00] [ 5.06369415e-03 -2.87516288e-05 9.99987179e-01 2.45483441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944391417999995 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:53.48, Y:2.78, Z:0.25 [[ 9.99877863e-01 -1.47858033e-02 -5.06356572e-03 5.34802101e+01] [ 1.47857593e-02 9.99890684e-01 -4.61226684e-05 2.78227193e+00] [ 5.06369415e-03 -2.87516288e-05 9.99987179e-01 2.45640410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974391417999996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:53.51, Y:2.78, Z:0.25 [[ 9.99801878e-01 -1.92500758e-02 -5.06356572e-03 5.35102057e+01] [ 1.92500891e-02 9.99814699e-01 -4.61226684e-05 2.78098505e+00] [ 5.06351530e-03 -5.13605605e-05 9.99987179e-01 2.46874551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:53.54, Y:2.78, Z:0.25 [[ 9.99754139e-01 -2.15875179e-02 -5.06356673e-03 5.35411932e+01] [ 2.15875617e-02 9.99766960e-01 -4.60108131e-05 2.78066198e+00] [ 5.06337998e-03 -6.33105584e-05 9.99987179e-01 2.47944653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:53.57, Y:2.78, Z:0.25 [[ 9.99729106e-01 -2.27172813e-02 -5.06356854e-03 5.35730437e+01] [ 2.27173406e-02 9.99741927e-01 -4.58113068e-05 2.77995684e+00] [ 5.06330248e-03 -6.92319145e-05 9.99987179e-01 2.46194209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:53.61, Y:2.78, Z:0.25 [[ 9.99626229e-01 -2.68656442e-02 -5.06357123e-03 5.36051492e+01] [ 2.68657582e-02 9.99639049e-01 -4.55124130e-05 2.77952843e+00] [ 5.06296625e-03 -9.05412785e-05 9.99987179e-01 2.48084787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094391417999994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:53.64, Y:2.78, Z:0.24 [[ 9.99614451e-01 -2.73003695e-02 -5.06357483e-03 5.36367505e+01] [ 2.73004912e-02 9.99627271e-01 -4.51083993e-05 2.77898562e+00] [ 5.06291896e-03 -9.31470721e-05 9.99987179e-01 2.44240294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124391417999995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:53.67, Y:2.78, Z:0.25 [[ 9.99596915e-01 -2.79350588e-02 -5.06357859e-03 5.36686145e+01] [ 2.79351908e-02 9.99609735e-01 -4.46820980e-05 2.77850726e+00] [ 5.06285065e-03 -9.67879464e-05 9.99987179e-01 2.45820813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154391417999996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:53.70, Y:2.78, Z:0.24 [[ 9.99607191e-01 -2.75649201e-02 -5.06358240e-03 5.37000214e+01] [ 2.75650495e-02 9.99620011e-01 -4.42455384e-05 2.77754894e+00] [ 5.06287792e-03 -9.53497410e-05 9.99987179e-01 2.43480092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:53.73, Y:2.78, Z:0.24 [[ 9.99641793e-01 -2.62801290e-02 -5.06358522e-03 5.37322377e+01] [ 2.62802436e-02 9.99654614e-01 -4.39203970e-05 2.77743383e+00] [ 5.06299056e-03 -8.91675886e-05 9.99987179e-01 2.43742258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:53.76, Y:2.78, Z:0.25 [[ 9.99662133e-01 -2.54946873e-02 -5.06358886e-03 5.37636179e+01] [ 2.54947939e-02 9.99674954e-01 -4.34968736e-05 2.77845382e+00] [ 5.06305190e-03 -8.56129771e-05 9.99987179e-01 2.46957232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:53.79, Y:2.78, Z:0.25 [[ 9.99704442e-01 -2.37778970e-02 -5.06359067e-03 5.37944747e+01] [ 2.37779827e-02 9.99717263e-01 -4.32854722e-05 2.77929371e+00] [ 5.06318824e-03 -7.71292926e-05 9.99987179e-01 2.47541495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27439141799999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:53.83, Y:2.78, Z:0.25 [[ 9.99752711e-01 -2.16535752e-02 -5.06359244e-03 5.38261372e+01] [ 2.16536347e-02 9.99765532e-01 -4.30767340e-05 2.77986416e+00] [ 5.06333796e-03 -6.65790995e-05 9.99987179e-01 2.48043806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304391417999994 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:53.86, Y:2.78, Z:0.25 [[ 9.99841714e-01 -1.70560013e-02 -5.06359419e-03 5.38562242e+01] [ 1.70560029e-02 9.99854535e-01 -4.28698498e-05 2.78034621e+00] [ 5.06358881e-03 -4.35016132e-05 9.99987179e-01 2.45870530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334391417999996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:53.89, Y:2.78, Z:0.25 [[ 9.99861085e-01 -1.58798632e-02 -5.06359506e-03 5.38877438e+01] [ 1.58798502e-02 9.99873906e-01 -4.27671775e-05 2.78117455e+00] [ 5.06363571e-03 -3.76478947e-05 9.99987179e-01 2.45855175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:53.92, Y:2.78, Z:0.25 [[ 9.99872294e-01 -1.51576661e-02 -5.06359679e-03 5.39185576e+01] [ 1.51576450e-02 9.99885115e-01 -4.25614546e-05 2.78196005e+00] [ 5.06366019e-03 -3.41961831e-05 9.99987179e-01 2.45462946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:53.95, Y:2.78, Z:0.24 [[ 9.99884512e-01 -1.43291027e-02 -5.06359765e-03 5.39486854e+01] [ 1.43290714e-02 9.99897333e-01 -4.24595231e-05 2.78251619e+00] [ 5.06368619e-03 -3.01020329e-05 9.99987179e-01 2.44604191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:53.98, Y:2.78, Z:0.25 [[ 9.99892693e-01 -1.37463454e-02 -5.06359849e-03 5.39792177e+01] [ 1.37463072e-02 9.99905514e-01 -4.23588775e-05 2.78258188e+00] [ 5.06370233e-03 -2.72514482e-05 9.99987179e-01 2.45560182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45439141799999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:54.01, Y:2.78, Z:0.24 [[ 9.99906153e-01 -1.27296660e-02 -5.06359849e-03 5.40096327e+01] [ 1.27296147e-02 9.99918974e-01 -4.23588775e-05 2.78223259e+00] [ 5.06372742e-03 -2.21027553e-05 9.99987179e-01 2.42917571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484391417999994 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:54.04, Y:2.78, Z:0.24 [[ 9.99909261e-01 -1.24832105e-02 -5.06360153e-03 5.40405815e+01] [ 1.24831579e-02 9.99922081e-01 -4.19919288e-05 2.78253031e+00] [ 5.06373118e-03 -2.12216188e-05 9.99987179e-01 2.44646519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514391417999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:54.07, Y:2.78, Z:0.25 [[ 9.99899239e-01 -1.32616299e-02 -5.06360153e-03 5.40701307e+01] [ 1.32615873e-02 9.99912060e-01 -4.19919288e-05 2.78396113e+00] [ 5.06371312e-03 -2.51636960e-05 9.99987179e-01 2.48212327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:54.10, Y:2.78, Z:0.25 [[ 9.99899239e-01 -1.32616304e-02 -5.06360067e-03 5.41011278e+01] [ 1.32615873e-02 9.99912060e-01 -4.20953739e-05 2.78421887e+00] [ 5.06371363e-03 -2.50602499e-05 9.99987179e-01 2.48369318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:54.13, Y:2.78, Z:0.25 [[ 9.99892519e-01 -1.37590283e-02 -5.06360067e-03 5.41317537e+01] [ 1.37589916e-02 9.99905340e-01 -4.20953739e-05 2.78460052e+00] [ 5.06370054e-03 -2.75791895e-05 9.99987179e-01 2.48806970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:54.16, Y:2.78, Z:0.25 [[ 9.99889200e-01 -1.39981614e-02 -5.06360152e-03 5.41617820e+01] [ 1.39981282e-02 9.99902021e-01 -4.19933338e-05 2.78471198e+00] [ 5.06369322e-03 -2.88922623e-05 9.99987179e-01 2.48480646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63439141799999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:54.19, Y:2.78, Z:0.25 [[ 9.99881285e-01 -1.45525255e-02 -5.06360152e-03 5.41921264e+01] [ 1.45524994e-02 9.99894106e-01 -4.19933338e-05 2.78484340e+00] [ 5.06367642e-03 -3.16997095e-05 9.99987179e-01 2.48018300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664391417999994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:54.22, Y:2.79, Z:0.25 [[ 9.99852330e-01 -1.64218865e-02 -5.06360152e-03 5.42220911e+01] [ 1.64218844e-02 9.99865151e-01 -4.19933338e-05 2.78532940e+00] [ 5.06360830e-03 -4.11667462e-05 9.99987179e-01 2.48651540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694391417999995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:54.25, Y:2.78, Z:0.25 [[ 9.99841287e-01 -1.70809891e-02 -5.06360413e-03 5.42538740e+01] [ 1.70809971e-02 9.99854108e-01 -4.16756389e-05 2.78497924e+00] [ 5.06357725e-03 -4.48223830e-05 9.99987179e-01 2.50686081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724391417999996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:54.28, Y:2.78, Z:0.25 [[ 9.99830476e-01 -1.77025313e-02 -5.06360594e-03 5.42837830e+01] [ 1.77025483e-02 9.99843297e-01 -4.14549787e-05 2.78401159e+00] [ 5.06354631e-03 -4.81907777e-05 9.99987179e-01 2.48876377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:54.32, Y:2.79, Z:0.25 [[ 9.99800056e-01 -1.93444435e-02 -5.06360683e-03 5.43152968e+01] [ 1.93444822e-02 9.99812877e-01 -4.13461187e-05 2.78511373e+00] [ 5.06345913e-03 -5.66150003e-05 9.99987179e-01 2.51800706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:54.35, Y:2.79, Z:0.25 [[ 9.99789650e-01 -1.98749915e-02 -5.06360856e-03 5.43463673e+01] [ 1.98750380e-02 9.99802471e-01 -4.11328056e-05 2.78531332e+00] [ 5.06342586e-03 -5.95152594e-05 9.99987179e-01 2.52623816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81439141799999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:54.38, Y:2.79, Z:0.25 [[ 9.99781622e-01 -2.02748064e-02 -5.06361028e-03 5.43779159e+01] [ 2.02748592e-02 9.99794443e-01 -4.09202568e-05 2.78534794e+00] [ 5.06339907e-03 -6.17526645e-05 9.99987179e-01 2.52496772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844391417999994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:54.41, Y:2.79, Z:0.25 [[ 9.99765902e-01 -2.10357188e-02 -5.06361206e-03 5.44080663e+01] [ 2.10357825e-02 9.99778723e-01 -4.06988318e-05 2.78574558e+00] [ 5.06334772e-03 -6.58277374e-05 9.99987179e-01 2.53525407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874391417999995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:54.44, Y:2.79, Z:0.25 [[ 9.99758999e-01 -2.13612908e-02 -5.06361293e-03 5.44385111e+01] [ 2.13613592e-02 9.99771819e-01 -4.05894326e-05 2.78553120e+00] [ 5.06332456e-03 -6.75860042e-05 9.99987179e-01 2.53032236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904391417999996 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:54.47, Y:2.78, Z:0.25 [[ 9.99766234e-01 -2.10199443e-02 -5.06361380e-03 5.44687693e+01] [ 2.10200088e-02 9.99779054e-01 -4.04816889e-05 2.78496199e+00] [ 5.06334594e-03 -6.59649810e-05 9.99987179e-01 2.52006434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:54.50, Y:2.78, Z:0.25 [[ 9.99775597e-01 -2.05697513e-02 -5.06361465e-03 5.45005984e+01] [ 2.05698106e-02 9.99788418e-01 -4.03751045e-05 2.78489046e+00] [ 5.06337378e-03 -6.37915498e-05 9.99987179e-01 2.51488337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:54.53, Y:2.79, Z:0.25 [[ 9.99802966e-01 -1.91934509e-02 -5.06361632e-03 5.45319097e+01] [ 1.91934936e-02 9.99815787e-01 -4.01640386e-05 2.78670690e+00] [ 5.06345442e-03 -5.70323626e-05 9.99987179e-01 2.52780530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:54.56, Y:2.79, Z:0.25 [[ 9.99838739e-01 -1.72295250e-02 -5.06361801e-03 5.45632408e+01] [ 1.72295436e-02 9.99851560e-01 -3.99496904e-05 2.78742547e+00] [ 5.06355468e-03 -4.73005794e-05 9.99987179e-01 2.52978627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:54.59, Y:2.79, Z:0.25 [[ 9.99867317e-01 -1.54825347e-02 -5.06361974e-03 5.45949437e+01] [ 1.54825320e-02 9.99880138e-01 -3.97290023e-05 2.78831918e+00] [ 5.06362791e-03 -3.86739238e-05 9.99987179e-01 2.53859442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054391417999994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:54.63, Y:2.79, Z:0.26 [[ 9.99885483e-01 -1.42611873e-02 -5.06362149e-03 5.46252949e+01] [ 1.42611701e-02 9.99898304e-01 -3.95044605e-05 2.78966267e+00] [ 5.06366992e-03 -3.27132309e-05 9.99987179e-01 2.55407179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084391417999996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:54.66, Y:2.79, Z:0.26 [[ 9.99906631e-01 -1.26920938e-02 -5.06362236e-03 5.46560927e+01] [ 1.26920571e-02 9.99919452e-01 -3.93936544e-05 2.79060921e+00] [ 5.06371448e-03 -2.48778076e-05 9.99987179e-01 2.55035050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:54.69, Y:2.79, Z:0.25 [[ 9.99936384e-01 -1.00791155e-02 -5.06362320e-03 5.46862892e+01] [ 1.00790458e-02 9.99949204e-01 -3.92843797e-05 2.79264442e+00] [ 5.06376195e-03 -1.17546094e-05 9.99987179e-01 2.54655512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:54.72, Y:2.79, Z:0.25 [[ 9.99946057e-01 -9.06882280e-03 -5.06362320e-03 5.47163485e+01] [ 9.06874015e-03 9.99958877e-01 -3.92843796e-05 2.79352860e+00] [ 5.06377124e-03 -6.63842252e-06 9.99987179e-01 2.54741277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17439141799999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:54.75, Y:2.79, Z:0.25 [[ 9.99955814e-01 -7.92015441e-03 -5.06362320e-03 5.47458900e+01] [ 7.92005702e-03 9.99968635e-01 -3.92843796e-05 2.79406106e+00] [ 5.06377552e-03 -8.21540661e-07 9.99987179e-01 2.54189944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20439141799999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:54.78, Y:2.79, Z:0.26 [[ 9.99960042e-01 -7.36704966e-03 -5.06362148e-03 5.47751973e+01] [ 7.36694407e-03 9.99972863e-01 -3.95047967e-05 2.79498064e+00] [ 5.06377511e-03 2.19980193e-06 9.99987179e-01 2.55118059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234391417999994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:54.81, Y:2.80, Z:0.26 [[ 9.99967962e-01 -6.19953302e-03 -5.06361974e-03 5.48050199e+01] [ 6.19941134e-03 9.99980783e-01 -3.97270341e-05 2.79665427e+00] [ 5.06376872e-03 8.33429965e-06 9.99987179e-01 2.56058998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264391417999995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:54.83, Y:2.80, Z:0.26 [[ 9.99969820e-01 -5.89228676e-03 -5.06361798e-03 5.48339304e+01] [ 5.89216000e-03 9.99982640e-01 -3.99504226e-05 2.79735481e+00] [ 5.06376547e-03 1.01135696e-05 9.99987179e-01 2.56113799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294391418 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:54.86, Y:2.80, Z:0.26 [[ 9.99969902e-01 -5.87834248e-03 -5.06361461e-03 5.48623747e+01] [ 5.87821340e-03 9.99982722e-01 -4.03722730e-05 2.79758985e+00] [ 5.06376445e-03 1.06060506e-05 9.99987179e-01 2.55618818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:54.89, Y:2.80, Z:0.25 [[ 9.99962220e-01 -7.06523058e-03 -5.06361128e-03 5.48906442e+01] [ 7.06511463e-03 9.99975041e-01 -4.07859535e-05 2.79636815e+00] [ 5.06377306e-03 5.00941849e-06 9.99987179e-01 2.54631222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:54.92, Y:2.80, Z:0.26 [[ 9.99953460e-01 -8.21205163e-03 -5.06360795e-03 5.49205255e+01] [ 8.21194831e-03 9.99966281e-01 -4.11956803e-05 2.79598951e+00] [ 5.06377551e-03 -3.88323637e-07 9.99987179e-01 2.55082409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38439141799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:54.95, Y:2.80, Z:0.26 [[ 9.99936902e-01 -1.00275203e-02 -5.06360626e-03 5.49503948e+01] [ 1.00274392e-02 9.99949723e-01 -4.14022274e-05 2.79658191e+00] [ 5.06376684e-03 -9.37538877e-06 9.99987179e-01 2.56475049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414391417999994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:54.98, Y:2.80, Z:0.26 [[ 9.99920240e-01 -1.15703668e-02 -5.06360457e-03 5.49807660e+01] [ 1.15703044e-02 9.99933061e-01 -4.16082315e-05 2.79669142e+00] [ 5.06374704e-03 -1.69825335e-05 9.99987179e-01 2.57563251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444391417999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:55.01, Y:2.80, Z:0.26 [[ 9.99896079e-01 -1.34978341e-02 -5.06360457e-03 5.50103813e+01] [ 1.34977965e-02 9.99908900e-01 -4.16082315e-05 2.79660453e+00] [ 5.06370489e-03 -2.67435965e-05 9.99987179e-01 2.57028934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474391417999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:55.04, Y:2.80, Z:0.26 [[ 9.99834066e-01 -1.74985702e-02 -5.06360369e-03 5.50409342e+01] [ 1.74985834e-02 9.99846887e-01 -4.17151289e-05 2.79507552e+00] [ 5.06355834e-03 -4.68976842e-05 9.99987179e-01 2.58719676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:55.07, Y:2.79, Z:0.26 [[ 9.99797588e-01 -1.94716131e-02 -5.06360369e-03 5.50718989e+01] [ 1.94716515e-02 9.99810409e-01 -4.17151289e-05 2.79445702e+00] [ 5.06345593e-03 -5.68900409e-05 9.99987179e-01 2.58232196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:55.10, Y:2.79, Z:0.26 [[ 9.99772648e-01 -2.07126276e-02 -5.06360538e-03 5.51029324e+01] [ 2.07126829e-02 9.99785469e-01 -4.15090859e-05 2.79380840e+00] [ 5.06337884e-03 -6.33812039e-05 9.99987179e-01 2.57649274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:55.14, Y:2.79, Z:0.26 [[ 9.99715997e-01 -2.32870377e-02 -5.06360788e-03 5.51350017e+01] [ 2.32871276e-02 9.99728817e-01 -4.12010676e-05 2.79361145e+00] [ 5.06319417e-03 -7.67275166e-05 9.99987179e-01 2.58104351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594391417999994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:55.16, Y:2.79, Z:0.26 [[ 9.99670334e-01 -2.51710624e-02 -5.06361117e-03 5.51649972e+01] [ 2.51711785e-02 9.99683155e-01 -4.07929376e-05 2.79400532e+00] [ 5.06303359e-03 -8.66775712e-05 9.99987179e-01 2.59444101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624391417999995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:55.20, Y:2.79, Z:0.26 [[ 9.99643309e-01 -2.62224139e-02 -5.06361289e-03 5.51964522e+01] [ 2.62225447e-02 9.99656129e-01 -4.05777605e-05 2.79363030e+00] [ 5.06293571e-03 -9.22175287e-05 9.99987179e-01 2.58364291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654391417999996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:55.23, Y:2.79, Z:0.26 [[ 9.99535845e-01 -3.00408835e-02 -5.06361461e-03 5.52277847e+01] [ 3.00410643e-02 9.99548665e-01 -4.03630394e-05 2.79424313e+00] [ 5.06254176e-03 -1.11772067e-04 9.99987179e-01 2.60236942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:55.26, Y:2.79, Z:0.26 [[ 9.99486062e-01 -3.16539391e-02 -5.06361634e-03 5.52590803e+01] [ 3.16541417e-02 9.99498881e-01 -4.01449203e-05 2.79417628e+00] [ 5.06234961e-03 -1.20160141e-04 9.99987179e-01 2.60197516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:55.29, Y:2.79, Z:0.26 [[ 9.99445454e-01 -3.29111644e-02 -5.06361874e-03 5.52899204e+01] [ 3.29113847e-02 9.99458273e-01 -3.98394509e-05 2.79376022e+00] [ 5.06218680e-03 -1.26833346e-04 9.99987179e-01 2.60047455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:55.32, Y:2.79, Z:0.26 [[ 9.99425216e-01 -3.35200961e-02 -5.06362391e-03 5.53217678e+01] [ 3.35203276e-02 9.99438035e-01 -3.91714457e-05 2.79300287e+00] [ 5.06209136e-03 -1.30585401e-04 9.99987179e-01 2.59695849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:55.35, Y:2.79, Z:0.26 [[ 9.99387761e-01 -3.46188163e-02 -5.06362692e-03 5.53542419e+01] [ 3.46190639e-02 9.99400580e-01 -3.87776768e-05 2.79352740e+00] [ 5.06193412e-03 -1.36544088e-04 9.99987179e-01 2.60882659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804391417999994 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:55.39, Y:2.80, Z:0.26 [[ 9.99369606e-01 -3.51390193e-02 -5.06362991e-03 5.53867699e+01] [ 3.51392756e-02 9.99382424e-01 -3.83836814e-05 2.79558458e+00] [ 5.06185150e-03 -1.39572802e-04 9.99987179e-01 2.61339129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834391417999996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:55.42, Y:2.80, Z:0.26 [[ 9.99388135e-01 -3.46080227e-02 -5.06363296e-03 5.54184375e+01] [ 3.46082741e-02 9.99400954e-01 -3.79774259e-05 2.79681039e+00] [ 5.06191393e-03 -1.37289409e-04 9.99987179e-01 2.60910969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:55.45, Y:2.80, Z:0.26 [[ 9.99419062e-01 -3.37030822e-02 -5.06363521e-03 5.54507476e+01] [ 3.37033236e-02 9.99431881e-01 -3.76747453e-05 2.79812951e+00] [ 5.06202821e-03 -1.33008477e-04 9.99987179e-01 2.60614695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:55.48, Y:2.80, Z:0.26 [[ 9.99464932e-01 -3.23142141e-02 -5.06363826e-03 5.54824290e+01] [ 3.23144397e-02 9.99477751e-01 -3.72595830e-05 2.79952036e+00] [ 5.06219780e-03 -1.26388987e-04 9.99987179e-01 2.60525213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:55.51, Y:2.80, Z:0.26 [[ 9.99584084e-01 -2.83904587e-02 -5.06364128e-03 5.55143653e+01] [ 2.83906362e-02 9.99596904e-01 -3.68446197e-05 2.80181200e+00] [ 5.06264618e-03 -1.06930702e-04 9.99987179e-01 2.61112829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95439141799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:55.55, Y:2.80, Z:0.26 [[ 9.99660194e-01 -2.55706239e-02 -5.06364426e-03 5.55461727e+01] [ 2.55707673e-02 9.99673014e-01 -3.64305549e-05 2.80260713e+00] [ 5.06292007e-03 -9.30630938e-05 9.99987179e-01 2.59743951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984391417999994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:55.58, Y:2.80, Z:0.26 [[ 9.99717926e-01 -2.32040413e-02 -5.06364822e-03 5.55788110e+01] [ 2.32041572e-02 9.99730747e-01 -3.58719863e-05 2.80419850e+00] [ 5.06311719e-03 -8.16358216e-05 9.99987179e-01 2.60597883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014391417999995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:55.61, Y:2.81, Z:0.26 [[ 9.99767031e-01 -2.09819491e-02 -5.06365135e-03 5.56098974e+01] [ 2.09820388e-02 9.99779852e-01 -3.54236077e-05 2.80635000e+00] [ 5.06327986e-03 -7.08303741e-05 9.99987179e-01 2.60765564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:55.64, Y:2.81, Z:0.26 [[ 9.99873946e-01 -1.50483337e-02 -5.06365289e-03 5.56416757e+01] [ 1.50483484e-02 9.99886767e-01 -3.52028047e-05 2.80973611e+00] [ 5.06360926e-03 -4.10012458e-05 9.99987179e-01 2.61391613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:55.67, Y:2.81, Z:0.26 [[ 9.99917154e-01 -1.18340381e-02 -5.06365442e-03 5.56716878e+01] [ 1.18340126e-02 9.99929975e-01 -3.49817744e-05 2.81068353e+00] [ 5.06371381e-03 -2.49444741e-05 9.99987179e-01 2.60626783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:55.70, Y:2.81, Z:0.26 [[ 9.99939436e-01 -9.77158793e-03 -5.06365692e-03 5.57019222e+01] [ 9.77153793e-03 9.99952257e-01 -3.46156278e-05 2.81228602e+00] [ 5.06375341e-03 -1.48661843e-05 9.99987179e-01 2.61421772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:55.73, Y:2.81, Z:0.26 [[ 9.99977718e-01 -4.35012655e-03 -5.06365692e-03 5.57323773e+01] [ 4.35000703e-03 9.99990538e-01 -3.46156278e-05 2.81419566e+00] [ 5.06375959e-03 1.25879133e-05 9.99987179e-01 2.60796701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164391417999994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:55.76, Y:2.82, Z:0.26 [[ 9.99982036e-01 -3.20746492e-03 -5.06354888e-03 5.57607022e+01] [ 3.20725258e-03 9.99994856e-01 -5.00539789e-05 2.81533226e+00] [ 5.06368337e-03 3.38129995e-05 9.99987179e-01 2.58414305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194391417999995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:55.79, Y:2.82, Z:0.26 [[ 9.99985146e-01 -2.01696760e-03 -5.06364879e-03 5.57895388e+01] [ 2.01681117e-03 9.99997966e-01 -3.60004041e-05 2.81654867e+00] [ 5.06371110e-03 2.57874459e-05 9.99987179e-01 2.58332175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224391417999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:55.82, Y:2.82, Z:0.26 [[ 9.99985790e-01 -1.66703242e-03 -5.06363790e-03 5.58182696e+01] [ 1.66686404e-03 9.99998610e-01 -3.74723979e-05 2.81780332e+00] [ 5.06369333e-03 2.90314695e-05 9.99987179e-01 2.59836918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:55.85, Y:2.82, Z:0.26 [[ 9.99987003e-01 -5.93991505e-04 -5.06362597e-03 5.58460937e+01] [ 5.93801536e-04 9.99999823e-01 -3.90196652e-05 2.81840797e+00] [ 5.06364826e-03 3.60123692e-05 9.99987179e-01 2.60476072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:55.87, Y:2.82, Z:0.26 [[ 9.99987153e-01 -2.32871227e-04 -5.06362169e-03 5.58746746e+01] [ 2.32673851e-04 9.99999972e-01 -3.95682650e-05 2.81813163e+00] [ 5.06363076e-03 3.83895843e-05 9.99987179e-01 2.60395424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:55.90, Y:2.82, Z:0.26 [[ 9.99987156e-01 -2.17608096e-04 -5.06360927e-03 5.59037111e+01] [ 2.17402780e-04 9.99999976e-01 -4.10976755e-05 2.81796828e+00] [ 5.06361809e-03 3.99963049e-05 9.99987179e-01 2.60927372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344391417999994 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:55.93, Y:2.82, Z:0.26 [[ 9.99987177e-01 -7.42578130e-05 -5.06360567e-03 5.59322554e+01] [ 7.40484341e-05 9.99999996e-01 -4.15372407e-05 2.81784027e+00] [ 5.06360873e-03 4.11617560e-05 9.99987179e-01 2.60808911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374391417999995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:55.96, Y:2.82, Z:0.26 [[ 9.99985843e-01 1.63543404e-03 -5.06359275e-03 5.59598447e+01] [-1.63567302e-03 9.99998661e-01 -4.30562170e-05 2.81704407e+00] [ 5.06351556e-03 5.13379895e-05 9.99987179e-01 2.61643945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404391417999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:55.99, Y:2.82, Z:0.26 [[ 9.99987152e-01 -2.42903158e-04 -5.06329886e-03 5.59908681e+01] [ 2.42508504e-04 9.99999968e-01 -7.85578122e-05 2.81760003e+00] [ 5.06331778e-03 7.73289099e-05 9.99987178e-01 2.61790748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:56.02, Y:2.82, Z:0.26 [[ 9.99987125e-01 -3.31685191e-04 -5.06360317e-03 5.60201757e+01] [ 3.31483424e-04 9.99999944e-01 -4.06858191e-05 2.81790842e+00] [ 5.06361638e-03 3.90067948e-05 9.99987179e-01 2.61930830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:56.05, Y:2.82, Z:0.26 [[ 9.99980679e-01 -3.60574376e-03 -5.06359951e-03 5.60484332e+01] [ 3.60558169e-03 9.99993499e-01 -4.11363584e-05 2.81666623e+00] [ 5.06371491e-03 2.28783420e-05 9.99987179e-01 2.61859483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49439141799999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:56.08, Y:2.82, Z:0.26 [[ 9.99970040e-01 -5.85485412e-03 -5.06359491e-03 5.60776200e+01] [ 5.85471806e-03 9.99982860e-01 -4.16939003e-05 2.81520654e+00] [ 5.06375224e-03 1.20467305e-05 9.99987179e-01 2.61552557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.11, Y:2.81, Z:0.26 [[ 9.99951197e-01 -8.48312258e-03 -5.06359145e-03 5.61068755e+01] [ 8.48301811e-03 9.99964018e-01 -4.21100071e-05 2.81381399e+00] [ 5.06376648e-03 -8.46585973e-07 9.99987179e-01 2.62984474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554391417999994 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:56.14, Y:2.81, Z:0.26 [[ 9.99924559e-01 -1.11909047e-02 -5.06358958e-03 5.61369584e+01] [ 1.11908338e-02 9.99937380e-01 -4.23341218e-05 2.81301294e+00] [ 5.06374625e-03 -1.43348614e-05 9.99987179e-01 2.63281597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584391417999996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:56.17, Y:2.81, Z:0.26 [[ 9.99828958e-01 -1.77880697e-02 -5.06358787e-03 5.61663248e+01] [ 1.77880824e-02 9.99841779e-01 -4.25379315e-05 2.81212875e+00] [ 5.06354337e-03 -4.75408624e-05 9.99987179e-01 2.63340063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:56.20, Y:2.81, Z:0.26 [[ 9.99763309e-01 -2.11585940e-02 -5.06358702e-03 5.61979075e+01] [ 2.11586494e-02 9.99776130e-01 -4.26391166e-05 2.81161649e+00] [ 5.06335561e-03 -6.45096379e-05 9.99987179e-01 2.64566937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.23, Y:2.81, Z:0.26 [[ 9.99702700e-01 -2.38510357e-02 -5.06358873e-03 5.62292537e+01] [ 2.38511266e-02 9.99715521e-01 -4.24340542e-05 2.81008304e+00] [ 5.06316034e-03 -7.83508574e-05 9.99987179e-01 2.63476974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:56.26, Y:2.81, Z:0.26 [[ 9.99620507e-01 -2.70777037e-02 -5.06359129e-03 5.62615933e+01] [ 2.70778376e-02 9.99633327e-01 -4.21266977e-05 2.80878978e+00] [ 5.06287530e-03 -9.50003915e-05 9.99987179e-01 2.64665635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:56.29, Y:2.81, Z:0.26 [[ 9.99467967e-01 -3.22202409e-02 -5.06359468e-03 5.62940168e+01] [ 3.22204428e-02 9.99480786e-01 -4.17157944e-05 2.80530047e+00] [ 5.06230968e-03 -1.21457663e-04 9.99987179e-01 2.64155426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734391417999994 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:56.33, Y:2.80, Z:0.26 [[ 9.99402420e-01 -3.41930212e-02 -5.06359801e-03 5.63262448e+01] [ 3.41932505e-02 9.99415239e-01 -4.13076655e-05 2.80404478e+00] [ 5.06204945e-03 -1.31857894e-04 9.99987179e-01 2.64351216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764391417999995 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:56.36, Y:2.80, Z:0.26 [[ 9.99346949e-01 -3.57775744e-02 -5.06360132e-03 5.63589162e+01] [ 3.57778261e-02 9.99359768e-01 -4.08978878e-05 2.80351804e+00] [ 5.06182266e-03 -1.40293468e-04 9.99987179e-01 2.64666124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:56.39, Y:2.80, Z:0.27 [[ 9.99354629e-01 -3.55624152e-02 -5.06360459e-03 5.63883620e+01] [ 3.55626662e-02 9.99367448e-01 -4.04889358e-05 2.80335554e+00] [ 5.06184147e-03 -1.39612474e-04 9.99987179e-01 2.65335163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:56.42, Y:2.80, Z:0.27 [[ 9.99256304e-01 -3.82256733e-02 -5.06336061e-03 5.64221120e+01] [ 3.82258064e-02 9.99269124e-01 -7.05159396e-05 2.80462368e+00] [ 5.06235544e-03 -1.23087545e-04 9.99987179e-01 2.65308198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:56.45, Y:2.80, Z:0.26 [[ 9.99266362e-01 -3.79618012e-02 -5.06360177e-03 5.64542332e+01] [ 3.79620857e-02 9.99279179e-01 -3.99499220e-05 2.80470201e+00] [ 5.06146839e-03 -1.52304271e-04 9.99987179e-01 2.64664517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.49, Y:2.80, Z:0.26 [[ 9.99270743e-01 -3.78462922e-02 -5.06360593e-03 5.64853129e+01] [ 3.78465779e-02 9.99283561e-01 -3.94153384e-05 2.80463318e+00] [ 5.06146989e-03 -1.52253562e-04 9.99987179e-01 2.64525912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914391417999994 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:56.52, Y:2.80, Z:0.26 [[ 9.99288775e-01 -3.73671451e-02 -5.06360841e-03 5.65178931e+01] [ 3.73674263e-02 9.99301593e-01 -3.90935139e-05 2.80459651e+00] [ 5.06153277e-03 -1.50148305e-04 9.99987179e-01 2.63860436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944391417999995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:56.55, Y:2.81, Z:0.27 [[ 9.99390350e-01 -3.45440154e-02 -5.06361240e-03 5.65495931e+01] [ 3.45442631e-02 9.99403168e-01 -3.85704824e-05 2.80541778e+00] [ 5.06192265e-03 -1.36371791e-04 9.99987179e-01 2.66259160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974391417999996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:56.58, Y:2.81, Z:0.27 [[ 9.99385376e-01 -3.46876212e-02 -5.06344647e-03 5.65816648e+01] [ 3.46877595e-02 9.99398197e-01 -6.05232624e-05 2.80718689e+00] [ 5.06249868e-03 -1.15153550e-04 9.99987179e-01 2.65537582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.61, Y:2.81, Z:0.27 [[ 9.99416349e-01 -3.37834455e-02 -5.06361660e-03 5.66142208e+01] [ 3.37836882e-02 9.99429168e-01 -3.76305212e-05 2.80857152e+00] [ 5.06199741e-03 -1.33459086e-04 9.99987179e-01 2.65535684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:56.64, Y:2.81, Z:0.27 [[ 9.99477442e-01 -3.19249419e-02 -5.06361950e-03 5.66449395e+01] [ 3.19251627e-02 9.99490261e-01 -3.72359403e-05 2.81030305e+00] [ 5.06222713e-03 -1.24440394e-04 9.99987179e-01 2.65823473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:56.68, Y:2.81, Z:0.27 [[ 9.99558998e-01 -2.92603793e-02 -5.06362413e-03 5.66769971e+01] [ 2.92605692e-02 9.99571817e-01 -3.65956142e-05 2.81179869e+00] [ 5.06252677e-03 -1.11585049e-04 9.99987179e-01 2.67064747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094391417999994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:56.71, Y:2.81, Z:0.27 [[ 9.99594386e-01 -2.80254053e-02 -5.06362702e-03 5.67095474e+01] [ 2.80255814e-02 9.99607206e-01 -3.61908395e-05 2.81309945e+00] [ 5.06265232e-03 -1.05734931e-04 9.99987179e-01 2.68427217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124391417999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:56.74, Y:2.81, Z:0.27 [[ 9.99596679e-01 -2.79434981e-02 -5.06362995e-03 5.67422342e+01] [ 2.79436753e-02 9.99609499e-01 -3.57760763e-05 2.81325491e+00] [ 5.06265231e-03 -1.05734784e-04 9.99987179e-01 2.68592651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154391417999996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:56.77, Y:2.82, Z:0.27 [[ 9.99677702e-01 -2.48767400e-02 -5.06363285e-03 5.67730397e+01] [ 2.48768799e-02 9.99690522e-01 -3.53611658e-05 2.81577411e+00] [ 5.06294544e-03 -9.06176174e-05 9.99987179e-01 2.67556485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:56.80, Y:2.82, Z:0.27 [[ 9.99703624e-01 -2.38122461e-02 -5.06363499e-03 5.68042991e+01] [ 2.38123739e-02 9.99716445e-01 -3.50523747e-05 2.81720868e+00] [ 5.06303384e-03 -8.55351836e-05 9.99987179e-01 2.67488531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:56.84, Y:2.82, Z:0.27 [[ 9.99715967e-01 -2.32882913e-02 -5.06363705e-03 5.68362501e+01] [ 2.32884140e-02 9.99728788e-01 -3.47519432e-05 2.81864518e+00] [ 5.06307304e-03 -8.31820033e-05 9.99987179e-01 2.68022188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:56.86, Y:2.82, Z:0.26 [[ 9.99772053e-01 -2.07413138e-02 -5.06363989e-03 5.68638407e+01] [ 2.07414059e-02 9.99784873e-01 -3.43330992e-05 2.81874973e+00] [ 5.06326268e-03 -7.07017374e-05 9.99987179e-01 2.64737920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:56.90, Y:2.82, Z:0.27 [[ 9.99734902e-01 -2.24608247e-02 -5.06330392e-03 5.68965458e+01] [ 2.24607012e-02 9.99747723e-01 -8.12617629e-05 2.81953876e+00] [ 5.06385177e-03 -3.24851360e-05 9.99987178e-01 2.67631072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304391417999994 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:56.93, Y:2.82, Z:0.27 [[ 9.99729195e-01 -2.27133417e-02 -5.06362447e-03 5.69281131e+01] [ 2.27134538e-02 9.99742016e-01 -3.53622024e-05 2.82018799e+00] [ 5.06312133e-03 -7.96597746e-05 9.99987179e-01 2.68276662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334391417999996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:56.96, Y:2.82, Z:0.27 [[ 9.99716018e-01 -2.32860923e-02 -5.06362658e-03 5.69590371e+01] [ 2.32862133e-02 9.99728839e-01 -3.50570193e-05 2.82207324e+00] [ 5.06306986e-03 -8.28656251e-05 9.99987179e-01 2.69140214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:56.99, Y:2.82, Z:0.27 [[ 9.99699163e-01 -2.39988229e-02 -5.06362796e-03 5.69906077e+01] [ 2.39989541e-02 9.99711983e-01 -3.48570946e-05 2.82314694e+00] [ 5.06300608e-03 -8.66751664e-05 9.99987179e-01 2.69116611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:57.02, Y:2.82, Z:0.27 [[ 9.99679805e-01 -2.47920652e-02 -5.06362932e-03 5.70230317e+01] [ 2.47922076e-02 9.99692625e-01 -3.46579782e-05 2.82360997e+00] [ 5.06293213e-03 -9.08916684e-05 9.99987179e-01 2.68918270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:57.06, Y:2.82, Z:0.27 [[ 9.99660600e-01 -2.55547254e-02 -5.06363201e-03 5.70555093e+01] [ 2.55548795e-02 9.99673420e-01 -3.42604855e-05 2.82384906e+00] [ 5.06285385e-03 -9.51516485e-05 9.99987179e-01 2.68491176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45439141799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:57.09, Y:2.82, Z:0.27 [[ 9.99656567e-01 -2.57120315e-02 -5.06363465e-03 5.70881334e+01] [ 2.57121897e-02 9.99669386e-01 -3.38655428e-05 2.82360961e+00] [ 5.06283130e-03 -9.63432223e-05 9.99987179e-01 2.68583899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484391417999994 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:57.12, Y:2.82, Z:0.27 [[ 9.99681533e-01 -2.47222808e-02 -5.06363727e-03 5.71189175e+01] [ 2.47224283e-02 9.99694354e-01 -3.34692381e-05 2.82317569e+00] [ 5.06291702e-03 -9.17268303e-05 9.99987179e-01 2.68510177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514391417999995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:57.15, Y:2.82, Z:0.27 [[ 9.99714821e-01 -2.33374310e-02 -5.06363921e-03 5.71496223e+01] [ 2.33375622e-02 9.99727641e-01 -3.31741922e-05 2.82326822e+00] [ 5.06303428e-03 -8.50082633e-05 9.99987179e-01 2.68450486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:57.18, Y:2.82, Z:0.27 [[ 9.99753420e-01 -2.16208082e-02 -5.06364110e-03 5.71810252e+01] [ 2.16209189e-02 9.99766240e-01 -3.28820129e-05 2.82369986e+00] [ 5.06316836e-03 -7.66066689e-05 9.99987179e-01 2.68804056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:57.21, Y:2.82, Z:0.27 [[ 9.99838035e-01 -1.72703163e-02 -5.06364522e-03 5.72123497e+01] [ 1.72703744e-02 9.99850855e-01 -3.22358529e-05 2.82489806e+00] [ 5.06344672e-03 -5.52204171e-05 9.99987179e-01 2.70315107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:57.24, Y:2.83, Z:0.27 [[ 9.99884945e-01 -1.42988124e-02 -5.06364649e-03 5.72426892e+01] [ 1.42988335e-02 9.99897766e-01 -3.20341018e-05 2.82517460e+00] [ 5.06358686e-03 -4.03738222e-05 9.99987179e-01 2.69816951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63439141799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:57.27, Y:2.83, Z:0.27 [[ 9.99907333e-01 -1.26367090e-02 -5.06355221e-03 5.72737856e+01] [ 1.26366353e-02 9.99920153e-01 -4.65490820e-05 2.82586178e+00] [ 5.06373613e-03 -1.74414942e-05 9.99987179e-01 2.70485483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664391417999994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:57.30, Y:2.83, Z:0.27 [[ 9.99934795e-01 -1.02354634e-02 -5.06364139e-03 5.73045566e+01] [ 1.02354287e-02 9.99947616e-01 -3.27686194e-05 2.82611182e+00] [ 5.06371154e-03 -1.90620578e-05 9.99987179e-01 2.71937207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694391417999995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:57.33, Y:2.83, Z:0.27 [[ 9.99966929e-01 -6.36402549e-03 -5.06364139e-03 5.73338230e+01] [ 6.36394115e-03 9.99979749e-01 -3.27686194e-05 2.82612557e+00] [ 5.06374739e-03 5.42819944e-07 9.99987179e-01 2.70714572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724391417999996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:57.36, Y:2.83, Z:0.27 [[ 9.99971551e-01 -5.59071508e-03 -5.06364069e-03 5.73632140e+01] [ 5.59062028e-03 9.99984372e-01 -3.28754066e-05 2.82627874e+00] [ 5.06374536e-03 4.56557901e-06 9.99987179e-01 2.70787386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:57.39, Y:2.83, Z:0.27 [[ 9.99973762e-01 -5.18026641e-03 -5.06363928e-03 5.73917444e+01] [ 5.18016525e-03 9.99986582e-01 -3.30915950e-05 2.82661121e+00] [ 5.06374276e-03 6.86023852e-06 9.99987179e-01 2.69983986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:57.42, Y:2.83, Z:0.27 [[ 9.99973793e-01 -5.17432849e-03 -5.06363660e-03 5.74202621e+01] [ 5.17422520e-03 9.99986613e-01 -3.34972120e-05 2.82657120e+00] [ 5.06374214e-03 7.29593798e-06 9.99987179e-01 2.69353850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:57.45, Y:2.83, Z:0.27 [[ 9.99966535e-01 -6.42565635e-03 -5.06363402e-03 5.74493677e+01] [ 6.42556716e-03 9.99979355e-01 -3.38828973e-05 2.82520899e+00] [ 5.06374720e-03 1.34504292e-06 9.99987179e-01 2.67657466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844391417999994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:57.48, Y:2.82, Z:0.27 [[ 9.99959154e-01 -7.48661378e-03 -5.06363194e-03 5.74786059e+01] [ 7.48653664e-03 9.99971975e-01 -3.41902076e-05 2.82448031e+00] [ 5.06374600e-03 -3.72025495e-06 9.99987179e-01 2.66579323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874391417999995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:57.51, Y:2.82, Z:0.27 [[ 9.99942208e-01 -9.48369968e-03 -5.06363057e-03 5.75080788e+01] [ 9.48364712e-03 9.99955029e-01 -3.43921560e-05 2.82393730e+00] [ 5.06372902e-03 -1.36315170e-05 9.99987179e-01 2.67413813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904391417999996 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:57.54, Y:2.82, Z:0.27 [[ 9.99924870e-01 -1.11631050e-02 -5.06362920e-03 5.75373786e+01] [ 1.11630730e-02 9.99937690e-01 -3.45927650e-05 2.82307189e+00] [ 5.06369985e-03 -2.19354963e-05 9.99987179e-01 2.67250002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:57.57, Y:2.82, Z:0.27 [[ 9.99846829e-01 -1.67534579e-02 -5.06362935e-03 5.75676153e+01] [ 1.67534977e-02 9.99859650e-01 -3.45702976e-05 2.82265923e+00] [ 5.06349784e-03 -5.02685001e-05 9.99987179e-01 2.70679713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:57.60, Y:2.82, Z:0.27 [[ 9.99810299e-01 -1.88075904e-02 -5.06362935e-03 5.75991393e+01] [ 1.88076565e-02 9.99823120e-01 -3.45702976e-05 2.82227807e+00] [ 5.06338388e-03 -6.06712618e-05 9.99987179e-01 2.70649593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:57.63, Y:2.82, Z:0.27 [[ 9.99746726e-01 -2.19281645e-02 -5.06363071e-03 5.76305103e+01] [ 2.19282717e-02 9.99759546e-01 -3.43697679e-05 2.82253748e+00] [ 5.06316681e-03 -7.66756070e-05 9.99987179e-01 2.72029329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02439141799999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:57.66, Y:2.82, Z:0.27 [[ 9.99679873e-01 -2.47893312e-02 -5.06363209e-03 5.76621426e+01] [ 2.47894760e-02 9.99692693e-01 -3.41653362e-05 2.82203335e+00] [ 5.06292294e-03 -9.13703873e-05 9.99987179e-01 2.72203100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054391417999994 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:57.69, Y:2.82, Z:0.27 [[ 9.99549547e-01 -2.95814464e-02 -5.06363414e-03 5.76943261e+01] [ 2.95816542e-02 9.99562367e-01 -3.38600093e-05 2.81960512e+00] [ 5.06241975e-03 -1.15945917e-04 9.99987179e-01 2.71632306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084391417999996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:57.73, Y:2.82, Z:0.27 [[ 9.99474085e-01 -3.20298827e-02 -5.06363686e-03 5.77261366e+01] [ 3.20301240e-02 9.99486903e-01 -3.34471831e-05 2.81927147e+00] [ 5.06211004e-03 -1.28759324e-04 9.99987179e-01 2.71881607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:57.76, Y:2.82, Z:0.27 [[ 9.99398593e-01 -3.43047032e-02 -5.06363958e-03 5.77584843e+01] [ 3.43049758e-02 9.99411411e-01 -3.30309692e-05 2.81965772e+00] [ 5.06179229e-03 -1.40696929e-04 9.99987179e-01 2.72920634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:57.79, Y:2.82, Z:0.27 [[ 9.99367022e-01 -3.52124251e-02 -5.06364224e-03 5.77894470e+01] [ 3.52127114e-02 9.99379840e-01 -3.26173008e-05 2.81970363e+00] [ 5.06165051e-03 -1.45707918e-04 9.99987179e-01 2.71884745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:57.82, Y:2.82, Z:0.27 [[ 9.99268146e-01 -3.79147910e-02 -5.06364421e-03 5.78216267e+01] [ 3.79151136e-02 9.99280963e-01 -3.23089880e-05 2.82074393e+00] [ 5.06122825e-03 -1.59703303e-04 9.99987179e-01 2.73282419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:57.85, Y:2.82, Z:0.27 [[ 9.99253434e-01 -3.83005708e-02 -5.06364679e-03 5.78528980e+01] [ 3.83009004e-02 9.99266251e-01 -3.18998390e-05 2.82095239e+00] [ 5.06115312e-03 -1.62066208e-04 9.99987179e-01 2.73197567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234391417999994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:57.89, Y:2.82, Z:0.27 [[ 9.99241345e-01 -3.86146908e-02 -5.06364869e-03 5.78851373e+01] [ 3.86150260e-02 9.99254161e-01 -3.15949794e-05 2.82159277e+00] [ 5.06109205e-03 -1.63961916e-04 9.99987179e-01 2.73492465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264391417999995 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:57.92, Y:2.82, Z:0.27 [[ 9.99292188e-01 -3.72757742e-02 -5.06365120e-03 5.79159434e+01] [ 3.72760943e-02 9.99305004e-01 -3.11868462e-05 2.82202271e+00] [ 5.06129450e-03 -1.57588368e-04 9.99987179e-01 2.73551976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:57.95, Y:2.82, Z:0.27 [[ 9.99248611e-01 -3.84262210e-02 -5.06352860e-03 5.79482766e+01] [ 3.84264551e-02 9.99261430e-01 -5.10822821e-05 2.82433152e+00] [ 5.06175173e-03 -1.43529555e-04 9.99987179e-01 2.73474528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:57.98, Y:2.83, Z:0.27 [[ 9.99259337e-01 -3.81462431e-02 -5.06365297e-03 5.79807565e+01] [ 3.81465789e-02 9.99272154e-01 -3.02947472e-05 2.82500799e+00] [ 5.06112304e-03 -1.62888728e-04 9.99987179e-01 2.73870888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:58.01, Y:2.83, Z:0.27 [[ 9.99262407e-01 -3.80657490e-02 -5.06365538e-03 5.80134436e+01] [ 3.80660858e-02 9.99275223e-01 -2.98868063e-05 2.82512314e+00] [ 5.06112302e-03 -1.62888778e-04 9.99987179e-01 2.74036321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38439141799999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:58.05, Y:2.83, Z:0.27 [[ 9.99271718e-01 -3.78205364e-02 -5.06365775e-03 5.80453794e+01] [ 3.78208721e-02 9.99284534e-01 -2.94789154e-05 2.82591937e+00] [ 5.06114979e-03 -1.62054506e-04 9.99987179e-01 2.74636368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414391417999994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:58.08, Y:2.83, Z:0.27 [[ 9.99310999e-01 -3.67680183e-02 -5.06366009e-03 5.80768845e+01] [ 3.67683426e-02 9.99323815e-01 -2.90716009e-05 2.82792201e+00] [ 5.06130503e-03 -1.57130818e-04 9.99987179e-01 2.74500538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444391417999995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:58.11, Y:2.83, Z:0.27 [[ 9.99338673e-01 -3.60079930e-02 -5.06366181e-03 5.81080925e+01] [ 3.60083090e-02 9.99351490e-01 -2.87685986e-05 2.82936847e+00] [ 5.06141388e-03 -1.53584326e-04 9.99987179e-01 2.74592893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474391417999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:58.14, Y:2.83, Z:0.27 [[ 9.99363502e-01 -3.53121810e-02 -5.06366349e-03 5.81388731e+01] [ 3.53124897e-02 9.99376319e-01 -2.84698329e-05 2.83089152e+00] [ 5.06151072e-03 -1.50358853e-04 9.99987179e-01 2.74697954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:58.17, Y:2.83, Z:0.27 [[ 9.99451008e-01 -3.27420450e-02 -5.06366513e-03 5.81682092e+01] [ 3.27423222e-02 9.99463826e-01 -2.81750533e-05 2.83217225e+00] [ 5.06187264e-03 -1.37636570e-04 9.99987179e-01 2.74587363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:58.20, Y:2.84, Z:0.28 [[ 9.99455432e-01 -3.26067562e-02 -5.06351517e-03 5.82019901e+01] [ 3.26068816e-02 9.99468253e-01 -5.78074097e-05 2.83576407e+00] [ 5.06270758e-03 -1.07329510e-04 9.99987179e-01 2.75317826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56439141799999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:58.23, Y:2.84, Z:0.28 [[ 9.99458037e-01 -3.25267689e-02 -5.06367574e-03 5.82327132e+01] [ 3.25270636e-02 9.99470855e-01 -2.41732772e-05 2.83720583e+00] [ 5.06178260e-03 -1.40546327e-04 9.99987179e-01 2.75986771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594391417999994 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:58.26, Y:2.84, Z:0.27 [[ 9.99460045e-01 -3.24650183e-02 -5.06367721e-03 5.82647291e+01] [ 3.24653137e-02 9.99472862e-01 -2.38613896e-05 2.83832745e+00] [ 5.06178262e-03 -1.40545364e-04 9.99987179e-01 2.74987766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624391417999995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:58.30, Y:2.84, Z:0.28 [[ 9.99431306e-01 -3.33380142e-02 -5.06367911e-03 5.82969779e+01] [ 3.33383229e-02 9.99444123e-01 -2.34509204e-05 2.84169375e+00] [ 5.06164614e-03 -1.45376985e-04 9.99987179e-01 2.76678131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654391417999996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:58.33, Y:2.84, Z:0.28 [[ 9.99445467e-01 -3.29107562e-02 -5.06368099e-03 5.83286806e+01] [ 3.29110615e-02 9.99458284e-01 -2.30373005e-05 2.84310702e+00] [ 5.06169609e-03 -1.43626591e-04 9.99987179e-01 2.76625527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:58.36, Y:2.84, Z:0.28 [[ 9.99419652e-01 -3.36855829e-02 -5.06368289e-03 5.83600775e+01] [ 3.36859003e-02 9.99432469e-01 -2.26132452e-05 2.84477153e+00] [ 5.06157083e-03 -1.47974595e-04 9.99987179e-01 2.78181595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:58.39, Y:2.85, Z:0.28 [[ 9.99425680e-01 -3.35062649e-02 -5.06368428e-03 5.83925668e+01] [ 3.35065817e-02 9.99438497e-01 -2.22973939e-05 2.84619127e+00] [ 5.06158811e-03 -1.47382163e-04 9.99987179e-01 2.76795248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74439141799999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:58.43, Y:2.85, Z:0.28 [[ 9.99417723e-01 -3.37427489e-02 -5.06368607e-03 5.84250218e+01] [ 3.37430708e-02 9.99430540e-01 -2.18822276e-05 2.84763742e+00] [ 5.06154087e-03 -1.48994832e-04 9.99987179e-01 2.76634574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:58.46, Y:2.85, Z:0.28 [[ 9.99377842e-01 -3.49039950e-02 -5.06368783e-03 5.84564295e+01] [ 3.49043338e-02 9.99390658e-01 -2.14681075e-05 2.84964129e+00] [ 5.06135163e-03 -1.55289899e-04 9.99987179e-01 2.77218085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804391417999994 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:58.49, Y:2.85, Z:0.28 [[ 9.99359912e-01 -3.54136309e-02 -5.06368912e-03 5.84885749e+01] [ 3.54139779e-02 9.99372728e-01 -2.11596063e-05 2.85082858e+00] [ 5.06126215e-03 -1.58179312e-04 9.99987179e-01 2.75982828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834391417999996 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:58.52, Y:2.85, Z:0.28 [[ 9.99287460e-01 -3.74022877e-02 -5.06369079e-03 5.85209716e+01] [ 3.74026622e-02 9.99300275e-01 -2.07510339e-05 2.85417107e+00] [ 5.06092374e-03 -1.68659268e-04 9.99987179e-01 2.75586309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:58.55, Y:2.86, Z:0.28 [[ 9.99261359e-01 -3.80932486e-02 -5.06369243e-03 5.85533243e+01] [ 3.80936340e-02 9.99274174e-01 -2.03426544e-05 2.85599415e+00] [ 5.06079199e-03 -1.72566818e-04 9.99987179e-01 2.75592340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:58.59, Y:2.86, Z:0.28 [[ 9.99228351e-01 -3.89494628e-02 -5.06369403e-03 5.85850726e+01] [ 3.89498613e-02 9.99241166e-01 -1.99362030e-05 2.85789429e+00] [ 5.06062803e-03 -1.77309361e-04 9.99987179e-01 2.75459267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:58.62, Y:2.86, Z:0.28 [[ 9.99218855e-01 -3.91923300e-02 -5.06369559e-03 5.86172208e+01] [ 3.91927336e-02 9.99231669e-01 -1.95316122e-05 2.85939030e+00] [ 5.06057049e-03 -1.78943717e-04 9.99987179e-01 2.75537194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95439141799999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:58.65, Y:2.86, Z:0.28 [[ 9.99198620e-01 -3.97048691e-02 -5.06369714e-03 5.86480390e+01] [ 3.97052814e-02 9.99211434e-01 -1.91220209e-05 2.86275828e+00] [ 5.06046332e-03 -1.81948823e-04 9.99987179e-01 2.76571749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984391417999994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:58.68, Y:2.86, Z:0.28 [[ 9.99218863e-01 -3.91921171e-02 -5.06369827e-03 5.86789003e+01] [ 3.91925243e-02 9.99231678e-01 -1.88184122e-05 2.86453736e+00] [ 5.06054525e-03 -1.79655405e-04 9.99987179e-01 2.77383235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014391417999995 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:58.71, Y:2.87, Z:0.28 [[ 9.99232028e-01 -3.88550263e-02 -5.06369937e-03 5.87088488e+01] [ 3.88554307e-02 9.99244842e-01 -1.85186057e-05 2.86811593e+00] [ 5.06059502e-03 -1.78247836e-04 9.99987179e-01 2.78722120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:58.74, Y:2.87, Z:0.28 [[ 9.99307881e-01 -3.68526714e-02 -5.06356646e-03 5.87419865e+01] [ 3.68528718e-02 9.99320701e-01 -5.37494172e-05 2.86894467e+00] [ 5.06210760e-03 -1.32894749e-04 9.99987179e-01 2.76952238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:58.77, Y:2.87, Z:0.28 [[ 9.99369217e-01 -3.51500649e-02 -5.06369110e-03 5.87743564e+01] [ 3.51504279e-02 9.99382033e-01 -1.73270310e-05 2.87420893e+00] [ 5.06117095e-03 -1.60674807e-04 9.99987179e-01 2.78802751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:58.81, Y:2.88, Z:0.28 [[ 9.99400485e-01 -3.42495267e-02 -5.06369239e-03 5.88056114e+01] [ 3.42498801e-02 9.99413301e-01 -1.69394131e-05 2.87631035e+00] [ 5.06130170e-03 -1.56501599e-04 9.99987179e-01 2.78968080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:58.84, Y:2.88, Z:0.28 [[ 9.99425229e-01 -3.35197042e-02 -5.06369334e-03 5.88377466e+01] [ 3.35200496e-02 9.99438045e-01 -1.66510443e-05 2.87802025e+00] [ 5.06140591e-03 -1.53093778e-04 9.99987179e-01 2.78782489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164391417999994 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:58.87, Y:2.88, Z:0.28 [[ 9.99498142e-01 -3.12701521e-02 -5.06369457e-03 5.88692022e+01] [ 3.12704707e-02 9.99510959e-01 -1.62698979e-05 2.87886286e+00] [ 5.06172698e-03 -1.42082380e-04 9.99987179e-01 2.75914582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194391417999995 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:58.90, Y:2.88, Z:0.28 [[ 9.99466440e-01 -3.22675456e-02 -5.06363299e-03 5.89018412e+01] [ 3.22677721e-02 9.99479259e-01 -3.69901145e-05 2.88134265e+00] [ 5.06218973e-03 -1.26421777e-04 9.99987179e-01 2.78134529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224391417999996 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:58.94, Y:2.88, Z:0.28 [[ 9.99394579e-01 -3.44214339e-02 -5.06360428e-03 5.89358355e+01] [ 3.44216362e-02 9.99407399e-01 -4.72112342e-05 2.88272876e+00] [ 5.06222866e-03 -1.27114893e-04 9.99987179e-01 2.78107820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:58.97, Y:2.88, Z:0.28 [[ 9.99350518e-01 -3.56777507e-02 -5.06369242e-03 5.89688446e+01] [ 3.56781419e-02 9.99363332e-01 -1.30738831e-05 2.88467284e+00] [ 5.06093498e-03 -1.67597745e-04 9.99987179e-01 2.79497297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:59.00, Y:2.89, Z:0.28 [[ 9.99313131e-01 -3.67100233e-02 -5.06369391e-03 5.89997737e+01] [ 3.67104308e-02 9.99325945e-01 -1.24684468e-05 2.88831879e+00] [ 5.06073842e-03 -1.73430503e-04 9.99987179e-01 2.79395276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31439141799999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:59.03, Y:2.89, Z:0.28 [[ 9.99305339e-01 -3.69215305e-02 -5.06369463e-03 5.90305890e+01] [ 3.69219423e-02 9.99318153e-01 -1.21689538e-05 2.88976323e+00] [ 5.06069126e-03 -1.74800941e-04 9.99987179e-01 2.78556378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344391417999994 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:59.06, Y:2.89, Z:0.28 [[ 9.99343959e-01 -3.58609855e-02 -5.06369533e-03 5.90626476e+01] [ 3.58613851e-02 9.99356774e-01 -1.18728556e-05 2.89072088e+00] [ 5.06086400e-03 -1.69726062e-04 9.99987179e-01 2.79135944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374391417999995 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:59.09, Y:2.89, Z:0.28 [[ 9.99405935e-01 -3.40901142e-02 -5.06369622e-03 5.90949966e+01] [ 3.40904932e-02 9.99418750e-01 -1.14776806e-05 2.89184107e+00] [ 5.06114423e-03 -1.61153039e-04 9.99987179e-01 2.78222635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404391417999996 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:59.13, Y:2.90, Z:0.28 [[ 9.99520145e-01 -3.05587642e-02 -5.06369708e-03 5.91272422e+01] [ 3.05590998e-02 9.99532962e-01 -1.10861857e-05 2.89691898e+00] [ 5.06167092e-03 -1.43661159e-04 9.99987179e-01 2.81183229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:59.16, Y:2.90, Z:0.28 [[ 9.99594989e-01 -2.80038859e-02 -5.06369794e-03 5.91590775e+01] [ 2.80041908e-02 9.99607806e-01 -1.06803561e-05 2.89974507e+00] [ 5.06201107e-03 -1.31128733e-04 9.99987179e-01 2.81899972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464391418 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:59.19, Y:2.90, Z:0.28 [[ 9.99732021e-01 -2.25885932e-02 -5.06369877e-03 5.91914015e+01] [ 2.25888308e-02 9.99744840e-01 -1.02666831e-05 2.90450992e+00] [ 5.06263863e-03 -1.04119103e-04 9.99987179e-01 2.82935246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49439141799999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:59.22, Y:2.91, Z:0.28 [[ 9.99791030e-01 -1.98054369e-02 -5.06369958e-03 5.92238915e+01] [ 1.98056409e-02 9.99803849e-01 -9.85493730e-06 2.90648501e+00] [ 5.06290151e-03 -9.04369377e-05 9.99987179e-01 2.82798537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:59.25, Y:2.91, Z:0.28 [[ 9.99834410e-01 -1.74789120e-02 -5.06370034e-03 5.92547819e+01] [ 1.74790883e-02 9.99847229e-01 -9.44471198e-06 2.90842391e+00] [ 5.06309184e-03 -7.90657173e-05 9.99987179e-01 2.82945040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554391417999994 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:59.29, Y:2.91, Z:0.28 [[ 9.99873575e-01 -1.50729325e-02 -5.06370089e-03 5.92870725e+01] [ 1.50730795e-02 9.99886395e-01 -9.13952445e-06 2.91026420e+00] [ 5.06326339e-03 -6.71871970e-05 9.99987179e-01 2.83317668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584391417999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:59.32, Y:2.91, Z:0.28 [[ 9.99924598e-01 -1.11873453e-02 -5.06370159e-03 5.93184269e+01] [ 1.11874445e-02 9.99937419e-01 -8.73531158e-06 2.91396499e+00] [ 5.06348242e-03 -4.79152276e-05 9.99987179e-01 2.84058577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:59.35, Y:2.92, Z:0.28 [[ 9.99947962e-01 -8.85619759e-03 -5.06370193e-03 5.93483855e+01] [ 8.85626792e-03 9.99960782e-01 -8.53549936e-06 2.91532080e+00] [ 5.06357893e-03 -3.63104457e-05 9.99987179e-01 2.83037609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:59.38, Y:2.92, Z:0.28 [[ 9.99964831e-01 -6.68541013e-03 -5.06370209e-03 5.93791597e+01] [ 6.68545312e-03 9.99977652e-01 -8.43640302e-06 2.91873414e+00] [ 5.06364533e-03 -2.54170366e-05 9.99987179e-01 2.84817469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67439141799999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:59.41, Y:2.92, Z:0.29 [[ 9.99971859e-01 -5.53533133e-03 -5.06370259e-03 5.94087200e+01] [ 5.53536116e-03 9.99984680e-01 -8.12367836e-06 2.91990341e+00] [ 5.06366998e-03 -1.99059729e-05 9.99987179e-01 2.85072532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70439141799999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:59.44, Y:2.92, Z:0.29 [[ 9.99973874e-01 -5.15842186e-03 -5.06370244e-03 5.94383116e+01] [ 5.15844637e-03 9.99986695e-01 -8.21995891e-06 2.92131768e+00] [ 5.06367747e-03 -1.79010933e-05 9.99987179e-01 2.86003764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734391417999994 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:59.47, Y:2.92, Z:0.29 [[ 9.99974987e-01 -4.93799505e-03 -5.06370210e-03 5.94683762e+01] [ 4.93801570e-03 9.99987808e-01 -8.42322147e-06 2.92238379e+00] [ 5.06368195e-03 -1.65816297e-05 9.99987179e-01 2.85643910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764391417999995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:59.50, Y:2.92, Z:0.29 [[ 9.99972436e-01 -5.43012703e-03 -5.06370175e-03 5.94977884e+01] [ 5.43015297e-03 9.99985257e-01 -8.62555327e-06 2.92334384e+00] [ 5.06367394e-03 -1.88713596e-05 9.99987179e-01 2.85667059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:59.53, Y:2.92, Z:0.28 [[ 9.99960079e-01 -7.36204669e-03 -5.06370140e-03 5.95275445e+01] [ 7.36209638e-03 9.99972899e-01 -8.82616506e-06 2.92432981e+00] [ 5.06362915e-03 -2.84536451e-05 9.99987179e-01 2.84996031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:59.56, Y:2.92, Z:0.28 [[ 9.99945382e-01 -9.14287053e-03 -5.06370123e-03 5.95579781e+01] [ 9.14294255e-03 9.99958202e-01 -8.92567018e-06 2.92493975e+00] [ 5.06357118e-03 -3.73719468e-05 9.99987179e-01 2.84628028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85439141799999 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:59.59, Y:2.93, Z:0.28 [[ 9.99926728e-01 -1.09953096e-02 -5.06370123e-03 5.95880957e+01] [ 1.09954054e-02 9.99939549e-01 -8.92567018e-06 2.92555869e+00] [ 5.06349326e-03 -4.67524314e-05 9.99987179e-01 2.84539638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88439141799999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:59.62, Y:2.93, Z:0.28 [[ 9.99902087e-01 -1.30451024e-02 -5.06370140e-03 5.96197931e+01] [ 1.30452250e-02 9.99914907e-01 -8.82701635e-06 2.92632742e+00] [ 5.06338567e-03 -5.72309718e-05 9.99987179e-01 2.84154663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914391417999994 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:59.65, Y:2.93, Z:0.28 [[ 9.99839381e-01 -1.71921676e-02 -5.06370174e-03 5.96508224e+01] [ 1.71923443e-02 9.99852201e-01 -8.62757528e-06 2.92759411e+00] [ 5.06310166e-03 -7.84307144e-05 9.99987179e-01 2.82803564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944391417999995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:59.68, Y:2.93, Z:0.28 [[ 9.99806115e-01 -1.90286915e-02 -5.06370223e-03 5.96826953e+01] [ 1.90288933e-02 9.99818934e-01 -8.32983896e-06 2.92819641e+00] [ 5.06294387e-03 -8.80284254e-05 9.99987179e-01 2.83419350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974391417999996 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:59.71, Y:2.93, Z:0.28 [[ 9.99783732e-01 -2.01704837e-02 -5.06370284e-03 5.97149013e+01] [ 2.01707021e-02 9.99796551e-01 -7.94046711e-06 2.92834913e+00] [ 5.06283280e-03 -9.41996914e-05 9.99987179e-01 2.83170759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:59.75, Y:2.93, Z:0.29 [[ 9.99722981e-01 -2.29852055e-02 -5.06370342e-03 5.97469101e+01] [ 2.29854619e-02 9.99735799e-01 -7.55056824e-06 2.93013337e+00] [ 5.06253914e-03 -1.08843086e-04 9.99987179e-01 2.85742625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:59.78, Y:2.93, Z:0.29 [[ 9.99698958e-01 -2.40073330e-02 -5.06370400e-03 5.97784893e+01] [ 2.40076046e-02 9.99711776e-01 -7.14325015e-06 2.93120677e+00] [ 5.06241601e-03 -1.14426304e-04 9.99987179e-01 2.87352067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06439141799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:59.81, Y:2.93, Z:0.29 [[ 9.99679549e-01 -2.48023953e-02 -5.06370441e-03 5.98108137e+01] [ 2.48026786e-02 9.99692366e-01 -6.83946117e-06 2.93204006e+00] [ 5.06231628e-03 -1.18756164e-04 9.99987179e-01 2.88365251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094391417999994 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:59.84, Y:2.93, Z:0.29 [[ 9.99681883e-01 -2.47081455e-02 -5.06370491e-03 5.98419453e+01] [ 2.47084296e-02 9.99694700e-01 -6.44136595e-06 2.93238268e+00] [ 5.06231812e-03 -1.18676880e-04 9.99987179e-01 2.87406758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124391417999995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:59.87, Y:2.93, Z:0.29 [[ 9.99654335e-01 -2.57986165e-02 -5.06370527e-03 5.98736776e+01] [ 2.57989162e-02 9.99667153e-01 -6.14496089e-06 2.93332066e+00] [ 5.06217836e-03 -1.24495271e-04 9.99987179e-01 2.87496488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154391417999996 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:59.91, Y:2.93, Z:0.29 [[ 9.99654074e-01 -2.58087606e-02 -5.06370572e-03 5.99053926e+01] [ 2.58090624e-02 9.99666891e-01 -5.75077992e-06 2.93403212e+00] [ 5.06216737e-03 -1.24940706e-04 9.99987179e-01 2.87755773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:59.94, Y:2.94, Z:0.29 [[ 9.99653955e-01 -2.58133441e-02 -5.06370614e-03 5.99363389e+01] [ 2.58136480e-02 9.99666772e-01 -5.35106811e-06 2.93601381e+00] [ 5.06215690e-03 -1.25363511e-04 9.99987179e-01 2.88001637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:59.97, Y:2.94, Z:0.29 [[ 9.99725398e-01 -2.28798607e-02 -5.06368755e-03 5.99681126e+01] [ 2.28800405e-02 9.99738217e-01 -2.24310174e-05 2.93534833e+00] [ 5.06287518e-03 -9.34325185e-05 9.99987179e-01 2.86365898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24439141799999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:60.00, Y:2.94, Z:0.29 [[ 9.99727224e-01 -2.27999298e-02 -5.06370340e-03 6.00008089e+01] [ 2.28001995e-02 9.99740042e-01 -4.46879946e-06 2.93529137e+00] [ 5.06248894e-03 -1.10985867e-04 9.99987179e-01 2.86525627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27439141799999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:60.03, Y:2.94, Z:0.29 [[ 9.99813386e-01 -1.86427512e-02 -5.06370373e-03 6.00329730e+01] [ 1.86429697e-02 9.99826205e-01 -4.06439730e-06 2.93818155e+00] [ 5.06289945e-03 -9.03388362e-05 9.99987179e-01 2.88080101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304391417999994 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:60.06, Y:2.94, Z:0.29 [[ 9.99867067e-01 -1.54986120e-02 -5.06370403e-03 6.00637069e+01] [ 1.54987922e-02 9.99879887e-01 -3.65201070e-06 2.93959008e+00] [ 5.06315241e-03 -7.48297712e-05 9.99987179e-01 2.87783490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334391417999996 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:60.10, Y:2.94, Z:0.29 [[ 9.99914995e-01 -1.20150287e-02 -5.06370443e-03 6.00963724e+01] [ 1.20151677e-02 9.99927815e-01 -2.96466391e-06 2.94059792e+00] [ 5.06337453e-03 -5.78768460e-05 9.99987179e-01 2.88027292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:60.13, Y:2.94, Z:0.29 [[ 9.99976269e-01 -4.67118041e-03 -5.06370463e-03 6.01278916e+01] [ 4.67122736e-03 9.99989090e-01 -2.55438754e-06 2.94266257e+00] [ 5.06366132e-03 -2.10993887e-05 9.99987179e-01 2.87096292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:60.16, Y:2.94, Z:0.29 [[ 9.99986824e-01 -8.43053356e-04 -5.06370473e-03 6.01571183e+01] [ 8.43052260e-04 9.99999645e-01 -2.35096764e-06 2.94355440e+00] [ 5.06370491e-03 -1.91803105e-06 9.99987179e-01 2.86502677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42439141799999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:60.18, Y:2.95, Z:0.29 [[ 9.99986190e-01 1.40663602e-03 -5.06370463e-03 6.01849940e+01] [-1.40666698e-03 9.99999011e-01 -2.55291901e-06 2.94509505e+00] [ 5.06369603e-03 9.67582984e-06 9.99987179e-01 2.87454746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:60.21, Y:2.95, Z:0.29 [[ 9.99974010e-01 5.13216604e-03 -5.06370414e-03 6.02126523e+01] [-5.13224858e-03 9.99986830e-01 -3.30686603e-06 2.94725410e+00] [ 5.06362047e-03 2.92949685e-05 9.99987179e-01 2.87315502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484391417999994 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:60.24, Y:2.95, Z:0.29 [[ 9.99966374e-01 6.45063141e-03 -5.06370377e-03 6.02402008e+01] [-6.45073335e-03 9.99979194e-01 -3.79827867e-06 2.94803993e+00] [ 5.06357391e-03 3.64627537e-05 9.99987179e-01 2.87501431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514391417999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:60.27, Y:2.95, Z:0.29 [[ 9.99961901e-01 7.11030202e-03 -5.06370324e-03 6.02684491e+01] [-7.11041549e-03 9.99974721e-01 -4.40476090e-06 2.94871758e+00] [ 5.06354391e-03 4.04096270e-05 9.99987179e-01 2.86707496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:60.30, Y:2.95, Z:0.29 [[ 9.99963010e-01 6.95253312e-03 -5.06370271e-03 6.02973850e+01] [-6.95264728e-03 9.99975830e-01 -4.94211202e-06 2.94945412e+00] [ 5.06354596e-03 4.01480681e-05 9.99987179e-01 2.87200705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:60.33, Y:2.95, Z:0.29 [[ 9.99974508e-01 5.03408671e-03 -5.06370229e-03 6.03255913e+01] [-5.03417829e-03 9.99987328e-01 -5.34131084e-06 2.94967207e+00] [ 5.06361124e-03 3.08327549e-05 9.99987179e-01 2.87484653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60439141799999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:60.35, Y:2.95, Z:0.29 [[ 9.99982353e-01 3.10694731e-03 -5.06370172e-03 6.03540406e+01] [-3.10701670e-03 9.99995173e-01 -5.83616578e-06 2.94961816e+00] [ 5.06365915e-03 2.15690686e-05 9.99987179e-01 2.87605792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63439141799999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:60.38, Y:2.95, Z:0.29 [[ 9.99986927e-01 7.10590914e-04 -5.06370124e-03 6.03831927e+01] [-7.10631554e-04 9.99999747e-01 -6.22641252e-06 2.94946049e+00] [ 5.06369554e-03 9.82475700e-06 9.99987179e-01 2.87649656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664391417999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:60.41, Y:2.95, Z:0.29 [[ 9.99972701e-01 -5.38117929e-03 -5.06370074e-03 6.04111141e+01] [ 5.38121479e-03 9.99985521e-01 -6.61398291e-06 2.94805372e+00] [ 5.06366301e-03 -2.06350589e-05 9.99987179e-01 2.88413895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694391417999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:60.44, Y:2.95, Z:0.29 [[ 9.99947519e-01 -8.90606428e-03 -5.06369997e-03 6.04411111e+01] [ 8.90614221e-03 9.99960340e-01 -7.15885748e-06 2.94709724e+00] [ 5.06356290e-03 -3.79395502e-05 9.99987179e-01 2.88920380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724391417999996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:60.47, Y:2.95, Z:0.29 [[ 9.99914227e-01 -1.20788305e-02 -5.06369983e-03 6.04720654e+01] [ 1.20789486e-02 9.99927047e-01 -7.25499833e-06 2.94554518e+00] [ 5.06341805e-03 -5.39097942e-05 9.99987179e-01 2.87948398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:60.50, Y:2.94, Z:0.29 [[ 9.99848776e-01 -1.66368216e-02 -5.06369983e-03 6.05031551e+01] [ 1.66369981e-02 9.99861596e-01 -7.25499833e-06 2.94480849e+00] [ 5.06311969e-03 -7.69908634e-05 9.99987179e-01 2.90433516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:60.53, Y:2.94, Z:0.29 [[ 9.99711567e-01 -2.34763885e-02 -5.06370012e-03 6.05349778e+01] [ 2.34766538e-02 9.99724385e-01 -7.04711244e-06 2.94260560e+00] [ 5.06246993e-03 -1.11833655e-04 9.99987179e-01 2.90304413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81439141799999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:60.57, Y:2.94, Z:0.29 [[ 9.99651096e-01 -2.59238277e-02 -5.06370079e-03 6.05674768e+01] [ 2.59241270e-02 9.99663913e-01 -6.52631642e-06 2.94128727e+00] [ 5.06216813e-03 -1.24747983e-04 9.99987179e-01 2.90079849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844391417999994 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:60.60, Y:2.94, Z:0.29 [[ 9.99576278e-01 -2.86639578e-02 -5.06370129e-03 6.05982075e+01] [ 2.86642944e-02 9.99589095e-01 -6.11393005e-06 2.94056432e+00] [ 5.06179584e-03 -1.39036085e-04 9.99987179e-01 2.90753438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874391417999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:60.63, Y:2.94, Z:0.29 [[ 9.99529948e-01 -3.02364348e-02 -5.06370164e-03 6.06313727e+01] [ 3.02367931e-02 9.99542764e-01 -5.80704124e-06 2.93952922e+00] [ 5.06156192e-03 -1.47305787e-04 9.99987179e-01 2.90170657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904391417999996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:60.66, Y:2.94, Z:0.29 [[ 9.99449356e-01 -3.27924482e-02 -5.06370227e-03 6.06640224e+01] [ 3.27928424e-02 9.99462170e-01 -5.19033821e-06 2.93903822e+00] [ 5.06114906e-03 -1.60865710e-04 9.99987179e-01 2.91128758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:60.70, Y:2.94, Z:0.29 [[ 9.99444429e-01 -3.29422644e-02 -5.06370283e-03 6.06974422e+01] [ 3.29426636e-02 9.99457243e-01 -4.57649066e-06 2.93832252e+00] [ 5.06110523e-03 -1.62237910e-04 9.99987179e-01 2.89787319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:60.73, Y:2.94, Z:0.29 [[ 9.99406693e-01 -3.40678863e-02 -5.06370330e-03 6.07299914e+01] [ 3.40683030e-02 9.99419507e-01 -3.96762822e-06 2.93840581e+00] [ 5.06089903e-03 -1.68546504e-04 9.99987179e-01 2.90659713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99439141799999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:60.76, Y:2.94, Z:0.29 [[ 9.99395655e-01 -3.43901658e-02 -5.06370371e-03 6.07621481e+01] [ 3.43905897e-02 9.99408469e-01 -3.36098581e-06 2.93800651e+00] [ 5.06082395e-03 -1.70784802e-04 9.99987179e-01 2.90058761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02439141799999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:60.80, Y:2.94, Z:0.29 [[ 9.99426544e-01 -3.34804645e-02 -5.06370394e-03 6.07956368e+01] [ 3.34808788e-02 9.99439358e-01 -2.95510617e-06 2.93740551e+00] [ 5.06096396e-03 -1.66583846e-04 9.99987179e-01 2.88796892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054391417999994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:60.83, Y:2.94, Z:0.29 [[ 9.99422440e-01 -3.36027643e-02 -5.06370423e-03 6.08290916e+01] [ 3.36031833e-02 9.99435254e-01 -2.33832101e-06 2.93793406e+00] [ 5.06092309e-03 -1.67819611e-04 9.99987179e-01 2.90813337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084391417999996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:60.86, Y:2.94, Z:0.29 [[ 9.99473870e-01 -3.20365710e-02 -5.06370444e-03 6.08617571e+01] [ 3.20369730e-02 9.99486684e-01 -1.72228193e-06 2.93750254e+00] [ 5.06116033e-03 -1.60504386e-04 9.99987179e-01 2.89495133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:60.89, Y:2.94, Z:0.29 [[ 9.99560933e-01 -2.91941830e-02 -5.06370457e-03 6.08934987e+01] [ 2.91945517e-02 9.99573748e-01 -1.11089669e-06 2.93773895e+00] [ 5.06157859e-03 -1.46722176e-04 9.99987179e-01 2.90211552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:60.93, Y:2.94, Z:0.29 [[ 9.99602210e-01 -2.77449330e-02 -5.06370463e-03 6.09250489e+01] [ 2.77452851e-02 9.99615025e-01 -7.04826270e-07 2.93846078e+00] [ 5.06177479e-03 -1.39789383e-04 9.99987179e-01 2.91173689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17439141799999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:60.96, Y:2.94, Z:0.29 [[ 9.99680623e-01 -2.47590479e-02 -5.06370465e-03 6.09569054e+01] [ 2.47593643e-02 9.99693440e-01 -1.98824779e-07 2.93855735e+00] [ 5.06215724e-03 -1.25175347e-04 9.99987179e-01 2.90350617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20439141799999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:60.99, Y:2.94, Z:0.29 [[ 9.99787976e-01 -1.99590093e-02 -5.06370474e-03 6.09892182e+01] [ 1.99592010e-02 9.99800795e-01 -1.26895825e-05 2.93892620e+00] [ 5.06294930e-03 -8.83806085e-05 9.99987179e-01 2.88576061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234391417999994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:61.02, Y:2.94, Z:0.29 [[ 9.99837978e-01 -1.72735989e-02 -5.06370180e-03 6.10209972e+01] [ 1.72738258e-02 9.99850796e-01 1.07945891e-06 2.93936050e+00] [ 5.06292764e-03 -8.85487869e-05 9.99987179e-01 2.89243564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264391417999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:61.05, Y:2.94, Z:0.29 [[ 9.99889829e-01 -1.39530849e-02 -5.06370169e-03 6.10535230e+01] [ 1.39532712e-02 9.99902648e-01 1.47504310e-06 2.93979367e+00] [ 5.06318815e-03 -7.21300837e-05 9.99987179e-01 2.90014990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:61.08, Y:2.94, Z:0.29 [[ 9.99930980e-01 -1.06016531e-02 -5.06370154e-03 6.10845335e+01] [ 1.06017985e-02 9.99943799e-01 1.88173617e-06 2.94027728e+00] [ 5.06339701e-03 -5.55659498e-05 9.99987179e-01 2.90807868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:61.12, Y:2.94, Z:0.29 [[ 9.99967592e-01 -6.25891787e-03 -5.06370145e-03 6.11160128e+01] [ 6.25900867e-03 9.99980412e-01 2.08451058e-06 2.94067293e+00] [ 5.06358922e-03 -3.37781943e-05 9.99987179e-01 2.91558657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35439141799999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:61.15, Y:2.94, Z:0.29 [[ 9.99986673e-01 -1.00625722e-03 -5.06370131e-03 6.11467498e+01] [ 1.00628223e-03 9.99999494e-01 2.39092400e-06 2.94084746e+00] [ 5.06369634e-03 -7.48640479e-06 9.99987179e-01 2.91449395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38439141799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:61.18, Y:2.94, Z:0.29 [[ 9.99987012e-01 5.78276768e-04 -5.06370131e-03 6.11756034e+01] [-5.78272075e-04 9.99999833e-01 2.39092400e-06 2.94132728e+00] [ 5.06370185e-03 5.37304115e-07 9.99987179e-01 2.92974255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414391417999994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:61.20, Y:2.94, Z:0.29 [[ 9.99983394e-01 2.75130084e-03 -5.06370158e-03 6.12039520e+01] [-2.75133125e-03 9.99996215e-01 9.59777117e-07 2.94081099e+00] [ 5.06368506e-03 1.29721592e-05 9.99987179e-01 2.92590633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444391417999995 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:61.23, Y:2.94, Z:0.29 [[ 9.99978630e-01 4.13494946e-03 -5.06370135e-03 6.12319915e+01] [-4.13500599e-03 9.99991451e-01 -6.95950867e-07 2.94077271e+00] [ 5.06365519e-03 2.16343714e-05 9.99987179e-01 2.93757800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474391417999996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:61.26, Y:2.94, Z:0.29 [[ 9.99956954e-01 7.77489679e-03 -5.06370123e-03 6.12596578e+01] [-7.77500258e-03 9.99969774e-01 -1.20731221e-06 2.93949800e+00] [ 5.06353879e-03 4.05775504e-05 9.99987179e-01 2.93671886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:61.29, Y:2.94, Z:0.29 [[ 9.99936848e-01 1.00328510e-02 -5.06370032e-03 6.12856516e+01] [-1.00329940e-02 9.99949668e-01 -2.83758649e-06 2.93938649e+00] [ 5.06341698e-03 5.36414820e-05 9.99987179e-01 2.94810780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:61.32, Y:2.94, Z:0.29 [[ 9.99934714e-01 1.02433525e-02 -5.06367804e-03 6.13157379e+01] [-1.02436298e-02 9.99947532e-01 -2.88216925e-05 2.93909710e+00] [ 5.06311713e-03 8.06902541e-05 9.99987179e-01 2.93094876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56439141799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:61.34, Y:2.94, Z:0.29 [[ 9.99933149e-01 1.03949757e-02 -5.06369637e-03 6.13439784e+01] [-1.03951277e-02 9.99945969e-01 -3.69274069e-06 2.93848166e+00] [ 5.06338438e-03 5.63302642e-05 9.99987179e-01 2.94108648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594391417999994 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:61.37, Y:2.94, Z:0.29 [[ 9.99933556e-01 1.03558266e-02 -5.06369584e-03 6.13715396e+01] [-1.03559812e-02 9.99946375e-01 -4.30824958e-06 2.93671079e+00] [ 5.06337969e-03 5.67475022e-05 9.99987179e-01 2.91803091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624391417999995 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:61.40, Y:2.94, Z:0.29 [[ 9.99949833e-01 8.64237425e-03 -5.06369530e-03 6.14007951e+01] [-8.64250973e-03 9.99962653e-01 -4.87308557e-06 2.93529675e+00] [ 5.06346407e-03 4.86358770e-05 9.99987179e-01 2.93448707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654391417999996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:61.43, Y:2.93, Z:0.29 [[ 9.99975805e-01 4.76944789e-03 -5.06369487e-03 6.14298950e+01] [-4.76953577e-03 9.99988626e-01 -5.27900712e-06 2.93074972e+00] [ 5.06361210e-03 2.94303532e-05 9.99987179e-01 2.92804690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:61.46, Y:2.93, Z:0.29 [[ 9.99984247e-01 2.42157529e-03 -5.06369442e-03 6.14574818e+01] [-2.42163512e-03 9.99997068e-01 -5.68392604e-06 2.92878503e+00] [ 5.06366581e-03 1.79462567e-05 9.99987179e-01 2.92646212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:61.49, Y:2.93, Z:0.29 [[ 9.99987048e-01 5.12993290e-04 -5.06369381e-03 6.14860919e+01] [-5.13031191e-04 9.99999868e-01 -6.18599018e-06 2.92702409e+00] [ 5.06368997e-03 8.78374292e-06 9.99987179e-01 2.91639643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:61.51, Y:2.93, Z:0.29 [[ 9.99984991e-01 -2.09189154e-03 -5.06369329e-03 6.15149427e+01] [ 2.09188504e-03 9.99997812e-01 -6.58125003e-06 2.92612414e+00] [ 5.06369598e-03 -4.01151297e-06 9.99987179e-01 2.93470648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77439141799999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:61.54, Y:2.92, Z:0.29 [[ 9.99973854e-01 -5.16240581e-03 -5.06369275e-03 6.15432571e+01] [ 5.16243668e-03 9.99986675e-01 -6.97474985e-06 2.92248821e+00] [ 5.06366128e-03 -1.91664257e-05 9.99987179e-01 2.92901517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804391417999994 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:61.57, Y:2.92, Z:0.29 [[ 9.99965934e-01 -6.51838045e-03 -5.06369233e-03 6.15724767e+01] [ 6.51842722e-03 9.99978755e-01 -7.26715056e-06 2.92031543e+00] [ 5.06363212e-03 -2.57404069e-05 9.99987179e-01 2.92966870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834391417999996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:61.60, Y:2.92, Z:0.29 [[ 9.99955553e-01 -7.95311580e-03 -5.06369205e-03 6.16032888e+01] [ 7.95317998e-03 9.99968373e-01 -7.46025400e-06 2.91813647e+00] [ 5.06359123e-03 -3.28125318e-05 9.99987179e-01 2.93671993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:61.63, Y:2.91, Z:0.29 [[ 9.99932014e-01 -1.05036609e-02 -5.06369205e-03 6.16341765e+01] [ 1.05037578e-02 9.99944834e-01 -7.46025400e-06 2.91335221e+00] [ 5.06349106e-03 -4.57280478e-05 9.99987179e-01 2.91811408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894391418 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:61.67, Y:2.91, Z:0.29 [[ 9.99913687e-01 -1.21234468e-02 -5.06369205e-03 6.16657145e+01] [ 1.21235645e-02 9.99926507e-01 -7.46025400e-06 2.91158638e+00] [ 5.06341034e-03 -5.39303869e-05 9.99987179e-01 2.93212591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92439141799999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:61.70, Y:2.91, Z:0.29 [[ 9.99897529e-01 -1.33899363e-02 -5.06369234e-03 6.16970882e+01] [ 1.33900713e-02 9.99910349e-01 -7.25838351e-06 2.90979757e+00] [ 5.06333556e-03 -6.05455615e-05 9.99987179e-01 2.91737674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95439141799999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:61.73, Y:2.91, Z:0.29 [[ 9.99866269e-01 -1.55500347e-02 -5.06369275e-03 6.17280857e+01] [ 1.55501989e-02 9.99879088e-01 -6.95689820e-06 2.90844719e+00] [ 5.06318867e-03 -7.17854614e-05 9.99987179e-01 2.93144317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984391417999994 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:61.76, Y:2.90, Z:0.29 [[ 9.99807525e-01 -1.89544522e-02 -5.06369301e-03 6.17601386e+01] [ 1.89546610e-02 9.99820344e-01 -6.76636529e-06 2.90426209e+00] [ 5.06291154e-03 -8.92155214e-05 9.99987179e-01 2.93410438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014391417999995 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:61.79, Y:2.90, Z:0.29 [[ 9.99785788e-01 -2.00683325e-02 -5.06369349e-03 6.17926667e+01] [ 2.00685575e-02 9.99798606e-01 -6.38224452e-06 2.90199230e+00] [ 5.06280177e-03 -9.52401464e-05 9.99987179e-01 2.93429253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:61.82, Y:2.90, Z:0.29 [[ 9.99777526e-01 -2.04757900e-02 -5.06369397e-03 6.18242865e+01] [ 2.04760223e-02 9.99790344e-01 -5.97372222e-06 2.89999338e+00] [ 5.06275466e-03 -9.77119175e-05 9.99987179e-01 2.92427433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:61.86, Y:2.90, Z:0.29 [[ 9.99816194e-01 -1.84915535e-02 -5.06369431e-03 6.18568441e+01] [ 1.84917619e-02 9.99829013e-01 -5.66993384e-06 2.89754330e+00] [ 5.06293333e-03 -8.79677377e-05 9.99987179e-01 2.91910908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10439141799999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:61.89, Y:2.90, Z:0.29 [[ 9.99853368e-01 -1.63585391e-02 -5.06369473e-03 6.18886515e+01] [ 1.63587221e-02 9.99866187e-01 -5.27017489e-06 2.89680349e+00] [ 5.06310335e-03 -7.75661729e-05 9.99987179e-01 2.92118491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13439141799999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:61.92, Y:2.90, Z:0.29 [[ 9.99904520e-01 -1.28573139e-02 -5.06369512e-03 6.19200171e+01] [ 1.28574541e-02 9.99917340e-01 -4.86053321e-06 2.89587580e+00] [ 5.06333905e-03 -6.02461585e-05 9.99987179e-01 2.90422674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164391417999994 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:61.95, Y:2.90, Z:0.29 [[ 9.99905035e-01 -1.28171496e-02 -5.06369531e-03 6.19518624e+01] [ 1.28172903e-02 9.99917855e-01 -4.65670433e-06 2.89586710e+00] [ 5.06333904e-03 -6.02465909e-05 9.99987179e-01 2.90583873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194391417999995 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:61.98, Y:2.90, Z:0.29 [[ 9.99968575e-01 -6.09978048e-03 -5.06369549e-03 6.19836083e+01] [ 6.09983613e-03 9.99981396e-01 -4.45330791e-06 2.89513963e+00] [ 5.06362845e-03 -2.64345447e-05 9.99987179e-01 2.91930179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224391417999996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:62.01, Y:2.89, Z:0.29 [[ 9.99981502e-01 -3.36954895e-03 -5.06369566e-03 6.20129535e+01] [ 3.36957064e-03 9.99994323e-01 -4.24853441e-06 2.89470577e+00] [ 5.06368123e-03 -1.28140244e-05 9.99987179e-01 2.93718352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:62.04, Y:2.89, Z:0.29 [[ 9.99987049e-01 -5.11000042e-04 -5.06369548e-03 6.20421201e+01] [ 5.10984050e-04 9.99999869e-01 -4.45191610e-06 2.89345755e+00] [ 5.06369709e-03 1.86439082e-06 9.99987179e-01 2.93885029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:62.07, Y:2.89, Z:0.29 [[ 9.99986161e-01 1.42690277e-03 -5.06369383e-03 6.20709641e+01] [-1.42695080e-03 9.99998982e-01 -5.87210889e-06 2.89276472e+00] [ 5.06368030e-03 1.30976696e-05 9.99987179e-01 2.94552473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31439141799999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:62.10, Y:2.89, Z:0.30 [[ 9.99979126e-01 4.01333797e-03 -5.06369180e-03 6.20984732e+01] [-4.01342633e-03 9.99991946e-01 -7.28760945e-06 2.89124016e+00] [ 5.06362177e-03 2.76102113e-05 9.99987179e-01 2.95434234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344391417999994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:62.13, Y:2.89, Z:0.29 [[ 9.99976948e-01 4.52365419e-03 -5.06369103e-03 6.21276432e+01] [-4.52375162e-03 9.99989768e-01 -7.78740178e-06 2.89022908e+00] [ 5.06360399e-03 3.06941027e-05 9.99987179e-01 2.94283689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374391417999995 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:62.16, Y:2.89, Z:0.29 [[ 9.99980899e-01 3.54404047e-03 -5.06369039e-03 6.21554992e+01] [-3.54412735e-03 9.99993720e-01 -8.18347780e-06 2.88954352e+00] [ 5.06362958e-03 2.61296851e-05 9.99987179e-01 2.94873080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404391417999996 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:62.18, Y:2.89, Z:0.29 [[ 9.99987112e-01 3.66410043e-04 -5.06368955e-03 6.21843176e+01] [-3.66458666e-04 9.99999933e-01 -8.67438573e-06 2.88678344e+00] [ 5.06368603e-03 1.05299068e-05 9.99987179e-01 2.93873203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:62.21, Y:2.88, Z:0.29 [[ 9.99985438e-01 -1.86633834e-03 -5.06368883e-03 6.22131068e+01] [ 1.86631633e-03 9.99998258e-01 -9.07284275e-06 2.88479626e+00] [ 5.06369695e-03 -3.77734517e-07 9.99987179e-01 2.92914585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:62.24, Y:2.88, Z:0.29 [[ 9.99975864e-01 -4.75724697e-03 -5.06368809e-03 6.22422840e+01] [ 4.75726001e-03 9.99988684e-01 -9.47006158e-06 2.88283518e+00] [ 5.06367584e-03 -1.46194478e-05 9.99987179e-01 2.93084104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49439141799999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:62.27, Y:2.88, Z:0.29 [[ 9.99957281e-01 -7.73272796e-03 -5.06368732e-03 6.22722591e+01] [ 7.73277715e-03 9.99970102e-01 -9.86554653e-06 2.88073106e+00] [ 5.06361221e-03 -2.92912405e-05 9.99987179e-01 2.93600221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52439141799999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:62.30, Y:2.88, Z:0.29 [[ 9.99884888e-01 -1.43027692e-02 -5.06368691e-03 6.23031628e+01] [ 1.43029016e-02 9.99897708e-01 -1.00709157e-05 2.87845765e+00] [ 5.06331298e-03 -6.23556591e-05 9.99987179e-01 2.93874893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554391417999994 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:62.33, Y:2.88, Z:0.29 [[ 9.99844242e-01 -1.69070939e-02 -5.06368691e-03 6.23339531e+01] [ 1.69072597e-02 9.99857062e-01 -1.00709157e-05 2.87740279e+00] [ 5.06313339e-03 -7.55437226e-05 9.99987179e-01 2.94105711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584391417999996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:62.37, Y:2.88, Z:0.29 [[ 9.99794872e-01 -1.96105412e-02 -5.06368750e-03 6.23656612e+01] [ 1.96107431e-02 9.99807691e-01 -9.76525982e-06 2.87677310e+00] [ 5.06290521e-03 -8.95394182e-05 9.99987179e-01 2.94978146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:62.40, Y:2.87, Z:0.29 [[ 9.99764333e-01 -2.11101315e-02 -5.06368826e-03 6.23980689e+01] [ 2.11103547e-02 9.99777152e-01 -9.35649439e-06 2.87495895e+00] [ 5.06275734e-03 -9.75419659e-05 9.99987179e-01 2.93257295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:62.43, Y:2.87, Z:0.30 [[ 9.99692823e-01 -2.42614589e-02 -5.06368898e-03 6.24305375e+01] [ 2.42617246e-02 9.99705641e-01 -8.94917750e-06 2.87199034e+00] [ 5.06241555e-03 -1.13907399e-04 9.99987179e-01 2.95067203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:62.46, Y:2.87, Z:0.30 [[ 9.99653221e-01 -2.58417699e-02 -5.06368966e-03 6.24619956e+01] [ 2.58420580e-02 9.99666038e-01 -8.54205246e-06 2.87123917e+00] [ 5.06221932e-03 -1.22317072e-04 9.99987179e-01 2.97106432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:62.49, Y:2.87, Z:0.30 [[ 9.99636331e-01 -2.64870500e-02 -5.06369065e-03 6.24934438e+01] [ 2.64873495e-02 9.99649149e-01 -7.90648832e-06 2.87011111e+00] [ 5.06212347e-03 -1.26220131e-04 9.99987179e-01 2.97049148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734391417999994 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:62.53, Y:2.87, Z:0.30 [[ 9.99639253e-01 -2.63765501e-02 -5.06369110e-03 6.25258868e+01] [ 2.63768498e-02 9.99652070e-01 -7.60875265e-06 2.86904592e+00] [ 5.06212999e-03 -1.25958212e-04 9.99987179e-01 2.95482197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764391417999995 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:62.56, Y:2.87, Z:0.30 [[ 9.99607642e-01 -2.75485110e-02 -5.06369167e-03 6.25580863e+01] [ 2.75488277e-02 9.99620459e-01 -7.20825302e-06 2.86903606e+00] [ 5.06196837e-03 -1.32293345e-04 9.99987179e-01 2.96432570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:62.59, Y:2.87, Z:0.30 [[ 9.99579946e-01 -2.85357748e-02 -5.06369221e-03 6.25902172e+01] [ 2.85361062e-02 9.99592762e-01 -6.80909613e-06 2.86973449e+00] [ 5.06182439e-03 -1.37691823e-04 9.99987179e-01 2.96390489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:62.62, Y:2.87, Z:0.29 [[ 9.99658697e-01 -2.56290549e-02 -5.06367758e-03 6.26245761e+01] [ 2.56292895e-02 9.99671516e-01 -1.85532511e-05 2.86520030e+00] [ 5.06248974e-03 -1.11231540e-04 9.99987179e-01 2.94779377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:62.65, Y:2.87, Z:0.30 [[ 9.99619247e-01 -2.71241693e-02 -5.06372992e-03 6.26499767e+01] [ 2.71248347e-02 9.99632052e-01 6.27541330e-05 2.86680039e+00] [ 5.06016458e-03 -2.00083076e-04 9.99987177e-01 2.96015575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:62.68, Y:2.87, Z:0.29 [[ 9.99567160e-01 -2.89802146e-02 -5.06359296e-03 6.26830976e+01] [ 2.89804077e-02 9.99579979e-01 -3.52407662e-05 2.86580568e+00] [ 5.06248743e-03 -1.11519476e-04 9.99987179e-01 2.93267454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914391417999994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:62.71, Y:2.87, Z:0.29 [[ 9.99557590e-01 -2.93084281e-02 -5.06362772e-03 6.27145098e+01] [ 2.93087734e-02 9.99570406e-01 -6.02394274e-06 2.86623352e+00] [ 5.06162897e-03 -1.42387440e-04 9.99987180e-01 2.93951646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944391417999995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:62.75, Y:2.87, Z:0.29 [[ 9.99582343e-01 -2.84516922e-02 -5.06362805e-03 6.27466783e+01] [ 2.84520280e-02 9.99595159e-01 -5.72916529e-06 2.86630292e+00] [ 5.06174109e-03 -1.38343715e-04 9.99987180e-01 2.93426062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974391417999996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:62.78, Y:2.87, Z:0.29 [[ 9.99647498e-01 -2.60622241e-02 -5.06362847e-03 6.27786937e+01] [ 2.60625312e-02 9.99660315e-01 -5.33557552e-06 2.86659122e+00] [ 5.06204748e-03 -1.26637280e-04 9.99987180e-01 2.94627646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:62.81, Y:2.87, Z:0.30 [[ 9.99691592e-01 -2.43121455e-02 -5.06362887e-03 6.28105988e+01] [ 2.43124322e-02 9.99704409e-01 -4.92574493e-06 2.86674808e+00] [ 5.06225186e-03 -1.18184908e-04 9.99987180e-01 2.96088589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:62.84, Y:2.87, Z:0.30 [[ 9.99749575e-01 -2.17978788e-02 -5.06362923e-03 6.28418643e+01] [ 2.17981354e-02 9.99762392e-01 -4.51654686e-06 2.86669327e+00] [ 5.06252453e-03 -1.05862260e-04 9.99987180e-01 2.95696365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06439141799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:62.87, Y:2.87, Z:0.29 [[ 9.99821467e-01 -1.82041977e-02 -5.06362948e-03 6.28739447e+01] [ 1.82044098e-02 9.99834286e-01 -4.21201241e-06 2.86644488e+00] [ 5.06286705e-03 -8.79691256e-05 9.99987180e-01 2.94418996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094391417999994 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:62.91, Y:2.87, Z:0.30 [[ 9.99915396e-01 -1.19816887e-02 -5.06362980e-03 6.29055768e+01] [ 1.19818231e-02 9.99928215e-01 -3.79749987e-06 2.86858758e+00] [ 5.06331180e-03 -5.68743379e-05 9.99987180e-01 2.95262860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124391417999995 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:62.94, Y:2.87, Z:0.30 [[ 9.99951377e-01 -8.46184241e-03 -5.06363001e-03 6.29370007e+01] [ 8.46193323e-03 9.99964197e-01 -3.48900227e-06 2.86971686e+00] [ 5.06347824e-03 -3.93592664e-05 9.99987180e-01 2.95662095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154391417999996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:62.97, Y:2.87, Z:0.30 [[ 9.99975090e-01 -4.91716904e-03 -5.06363014e-03 6.29663303e+01] [ 4.91721545e-03 9.99987910e-01 -3.28519927e-06 2.87068456e+00] [ 5.06358508e-03 -2.16138429e-05 9.99987180e-01 2.95892152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:63.00, Y:2.87, Z:0.30 [[ 9.99985623e-01 -1.76446715e-03 -5.06363007e-03 6.29956537e+01] [ 1.76447263e-03 9.99998443e-01 -3.38601852e-06 2.87115126e+00] [ 5.06362816e-03 -5.54866681e-06 9.99987180e-01 2.95926429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:63.02, Y:2.87, Z:0.30 [[ 9.99981804e-01 3.27887013e-03 -5.06362993e-03 6.30236726e+01] [-3.27893034e-03 9.99994624e-01 -3.58961353e-06 2.87107261e+00] [ 5.06359094e-03 2.01928380e-05 9.99987180e-01 2.95864530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24439141799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:63.05, Y:2.87, Z:0.30 [[ 9.99979915e-01 3.81160286e-03 -5.06362927e-03 6.30519975e+01] [-3.81167376e-03 9.99992736e-01 -4.35202370e-06 2.87154218e+00] [ 5.06357590e-03 2.36528391e-05 9.99987180e-01 2.98367581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27439141799999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:63.08, Y:2.87, Z:0.30 [[ 9.99976135e-01 4.69992278e-03 -5.06362889e-03 6.30803116e+01] [-4.70000714e-03 9.99988955e-01 -4.75880121e-06 2.87121209e+00] [ 5.06355060e-03 2.85577796e-05 9.99987180e-01 2.98783135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304391417999994 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:63.11, Y:2.87, Z:0.30 [[ 9.99979838e-01 3.83179096e-03 -5.06362848e-03 6.31087538e+01] [-3.83186623e-03 9.99992658e-01 -5.16328773e-06 2.87044024e+00] [ 5.06357152e-03 2.45663306e-05 9.99987180e-01 2.99699970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334391417999996 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:63.14, Y:2.87, Z:0.30 [[ 9.99982420e-01 3.08541490e-03 -5.06362804e-03 6.31371802e+01] [-3.08548263e-03 9.99995240e-01 -5.56368649e-06 2.86922803e+00] [ 5.06358677e-03 2.11873250e-05 9.99987180e-01 2.98409179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:63.16, Y:2.87, Z:0.30 [[ 9.99986106e-01 1.46525748e-03 -5.06362757e-03 6.31646227e+01] [-1.46530645e-03 9.99998926e-01 -5.96213869e-06 2.86782888e+00] [ 5.06361340e-03 1.33818220e-05 9.99987180e-01 2.96857060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:63.19, Y:2.86, Z:0.30 [[ 9.99976966e-01 -4.51958811e-03 -5.06362694e-03 6.31929753e+01] [ 4.51961335e-03 9.99989786e-01 -6.45823924e-06 2.86497919e+00] [ 5.06360441e-03 -1.64275454e-05 9.99987180e-01 2.97463903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42439141799999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:63.22, Y:2.86, Z:0.30 [[ 9.99960324e-01 -7.32876262e-03 -5.06362638e-03 6.32227110e+01] [ 7.32882182e-03 9.99973144e-01 -6.86525545e-06 2.86311584e+00] [ 5.06354071e-03 -3.02454325e-05 9.99987180e-01 2.95156735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:63.25, Y:2.86, Z:0.30 [[ 9.99921358e-01 -1.14733489e-02 -5.06362610e-03 6.32527408e+01] [ 1.14734602e-02 9.99934178e-01 -7.06904351e-06 2.86259338e+00] [ 5.06337391e-03 -5.10288251e-05 9.99987180e-01 2.97092553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484391417999994 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:63.28, Y:2.86, Z:0.30 [[ 9.99809933e-01 -1.88270473e-02 -5.06362581e-03 6.32833778e+01] [ 1.88272518e-02 9.99822752e-01 -7.27139519e-06 2.86029936e+00] [ 5.06286519e-03 -8.80641451e-05 9.99987180e-01 2.96929827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514391417999995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:63.32, Y:2.86, Z:0.30 [[ 9.99734623e-01 -2.24731761e-02 -5.06362581e-03 6.33160085e+01] [ 2.24734274e-02 9.99747441e-01 -7.27139519e-06 2.85903346e+00] [ 5.06251035e-03 -1.06527561e-04 9.99987180e-01 2.96963011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:63.35, Y:2.86, Z:0.30 [[ 9.99651009e-01 -2.59271970e-02 -5.06362637e-03 6.33479979e+01] [ 2.59274946e-02 9.99663826e-01 -6.86093029e-06 2.85797210e+00] [ 5.06210199e-03 -1.24428610e-04 9.99987180e-01 2.97235203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:63.38, Y:2.86, Z:0.30 [[ 9.99568333e-01 -2.89397199e-02 -5.06362689e-03 6.33787519e+01] [ 2.89400583e-02 9.99581149e-01 -6.44771012e-06 2.85725142e+00] [ 5.06169258e-03 -1.40096730e-04 9.99987180e-01 2.97397304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60439141799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:63.41, Y:2.86, Z:0.30 [[ 9.99417427e-01 -3.37515347e-02 -5.06362765e-03 6.34111226e+01] [ 3.37519382e-02 9.99430241e-01 -5.78061841e-06 2.85604205e+00] [ 5.06093771e-03 -1.65129997e-04 9.99987180e-01 2.97950980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63439141799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:63.44, Y:2.86, Z:0.30 [[ 9.99360396e-01 -3.53999795e-02 -5.06362809e-03 6.34425421e+01] [ 3.54004062e-02 9.99373209e-01 -5.36655488e-06 2.85544576e+00] [ 5.06064423e-03 -1.73891369e-04 9.99987180e-01 2.98046286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664391417999994 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:63.47, Y:2.85, Z:0.30 [[ 9.99361435e-01 -3.53706488e-02 -5.06362840e-03 6.34739974e+01] [ 3.53710767e-02 9.99374248e-01 -5.05805738e-06 2.85496832e+00] [ 5.06063873e-03 -1.74051161e-04 9.99987180e-01 2.98925517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694391417999995 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:63.51, Y:2.86, Z:0.30 [[ 9.99291488e-01 -3.72945236e-02 -5.06360229e-03 6.35075549e+01] [ 3.72948443e-02 9.99304305e-01 -3.11237153e-05 2.85558145e+00] [ 5.06124031e-03 -1.57744595e-04 9.99987179e-01 2.97156995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724391417999996 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:63.54, Y:2.86, Z:0.30 [[ 9.99251477e-01 -3.83516082e-02 -5.06362141e-03 6.35395775e+01] [ 3.83520821e-02 9.99264288e-01 -3.50456941e-06 2.85730602e+00] [ 5.06003045e-03 -1.90698478e-04 9.99987180e-01 2.99585893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:63.57, Y:2.86, Z:0.30 [[ 9.99249368e-01 -3.84065249e-02 -5.06362166e-03 6.35709978e+01] [ 3.84070016e-02 9.99262179e-01 -3.08744889e-06 2.85811946e+00] [ 5.06000419e-03 -1.91393394e-04 9.99987180e-01 2.99908815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:63.60, Y:2.86, Z:0.30 [[ 9.99228277e-01 -3.89513780e-02 -5.06362199e-03 6.36032312e+01] [ 3.89518652e-02 9.99241088e-01 -2.39156027e-06 2.85947172e+00] [ 5.05987230e-03 -1.94847807e-04 9.99987180e-01 2.98034857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:63.63, Y:2.86, Z:0.30 [[ 9.99189394e-01 -3.99363859e-02 -5.06362215e-03 6.36342229e+01] [ 3.99368879e-02 9.99202204e-01 -1.97744553e-06 2.86034580e+00] [ 5.05966139e-03 -2.00249468e-04 9.99987180e-01 2.98764246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844391417999994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:63.67, Y:2.86, Z:0.30 [[ 9.99149577e-01 -4.09204370e-02 -5.06362226e-03 6.36667390e+01] [ 4.09209532e-02 9.99162387e-01 -1.66909481e-06 2.86117637e+00] [ 5.05944920e-03 -2.05540574e-04 9.99987180e-01 2.98562570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874391417999995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:63.70, Y:2.86, Z:0.30 [[ 9.99159953e-01 -4.06662960e-02 -5.06362236e-03 6.36979881e+01] [ 4.06668110e-02 9.99172763e-01 -1.25612397e-06 2.86180796e+00] [ 5.05948462e-03 -2.04666305e-04 9.99987180e-01 2.98634623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904391417999996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:63.73, Y:2.86, Z:0.30 [[ 9.99039227e-01 -4.35314046e-02 -5.06361816e-03 6.37321247e+01] [ 4.35318432e-02 9.99052040e-01 -2.36180599e-05 2.86462010e+00] [ 5.05984618e-03 -1.96833263e-04 9.99987180e-01 2.97740817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:63.76, Y:2.87, Z:0.30 [[ 9.99015984e-01 -4.40615804e-02 -5.06361804e-03 6.37647620e+01] [ 4.40621455e-02 9.99028792e-01 2.74573065e-08 2.86622570e+00] [ 5.05869900e-03 -2.23141305e-04 9.99987180e-01 2.97335340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:63.80, Y:2.87, Z:0.30 [[ 9.98998988e-01 -4.44452726e-02 -5.06361800e-03 6.37972486e+01] [ 4.44458446e-02 9.99011795e-01 4.47476313e-07 2.86767125e+00] [ 5.05859422e-03 -2.25503807e-04 9.99987180e-01 2.96968009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:63.83, Y:2.87, Z:0.30 [[ 9.98993977e-01 -4.45577618e-02 -5.06361790e-03 6.38293760e+01] [ 4.45583379e-02 9.99006784e-01 9.70803429e-07 2.86898483e+00] [ 5.05854538e-03 -2.26596224e-04 9.99987180e-01 2.96252640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:63.87, Y:2.87, Z:0.30 [[ 9.99139232e-01 -4.11722637e-02 -5.06361775e-03 6.38655490e+01] [ 4.11727991e-02 9.99152041e-01 1.48281204e-06 2.86897381e+00] [ 5.05926296e-03 -2.09964852e-04 9.99987180e-01 2.96140813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:63.90, Y:2.87, Z:0.30 [[ 9.99132422e-01 -4.13371852e-02 -5.06356822e-03 6.38971808e+01] [ 4.13381086e-02 9.99145212e-01 7.77865034e-05 2.86905140e+00] [ 5.05602447e-03 -2.87037350e-04 9.99987177e-01 2.96281350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:63.92, Y:2.88, Z:0.30 [[ 9.99033903e-01 -4.36534148e-02 -5.06356854e-03 6.39230692e+01] [ 4.36543652e-02 9.99046691e-01 7.72566049e-05 2.87514529e+00] [ 5.05536888e-03 -2.98228838e-04 9.99987177e-01 2.95894497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:63.96, Y:2.88, Z:0.30 [[ 9.99047533e-01 -4.33403701e-02 -5.06358620e-03 6.39550758e+01] [ 4.33409317e-02 9.99060340e-01 1.17400693e-06 2.87779896e+00] [ 5.05877727e-03 -2.20633432e-04 9.99987180e-01 2.98241534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:63.99, Y:2.88, Z:0.30 [[ 9.99167395e-01 -4.04830383e-02 -5.06358607e-03 6.39874813e+01] [ 4.04835652e-02 9.99180204e-01 1.57632141e-06 2.88315415e+00] [ 5.05937115e-03 -2.06567026e-04 9.99987180e-01 2.98385650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:64.02, Y:2.89, Z:0.30 [[ 9.99258191e-01 -3.81762641e-02 -5.06358556e-03 6.40196422e+01] [ 3.81767666e-02 9.99271002e-01 2.57343298e-06 2.88588882e+00] [ 5.05979597e-03 -1.95882848e-04 9.99987180e-01 2.99995218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:64.05, Y:2.89, Z:0.30 [[ 9.99347211e-01 -3.57702691e-02 -5.06358533e-03 6.40510615e+01] [ 3.57707427e-02 9.99360022e-01 2.97868272e-06 2.88880837e+00] [ 5.06023820e-03 -1.84104946e-04 9.99987180e-01 2.99725797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:64.08, Y:2.89, Z:0.30 [[ 9.99521862e-01 -3.05025964e-02 -5.06358513e-03 6.40820806e+01] [ 3.05030041e-02 9.99534675e-01 3.28047913e-06 2.89431545e+00] [ 5.06112886e-03 -1.57733469e-04 9.99987180e-01 3.00036313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:64.11, Y:2.90, Z:0.30 [[ 9.99626771e-01 -2.68454515e-02 -5.06358492e-03 6.41129981e+01] [ 2.68458137e-02 9.99639586e-01 3.57582592e-06 2.89667413e+00] [ 5.06166394e-03 -1.39510549e-04 9.99987180e-01 3.03224397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29439141799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:64.15, Y:2.90, Z:0.30 [[ 9.99672648e-01 -2.50790176e-02 -5.06360073e-03 6.41462306e+01] [ 2.50792488e-02 9.99685466e-01 -1.78267881e-05 2.89891900e+00] [ 5.06245513e-03 -1.09170350e-04 9.99987180e-01 3.03048677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:64.18, Y:2.90, Z:0.30 [[ 9.99729630e-01 -2.26941916e-02 -5.06357987e-03 6.41780963e+01] [ 2.26945063e-02 9.99742447e-01 4.69065775e-06 2.90099810e+00] [ 5.06216928e-03 -1.19604835e-04 9.99987180e-01 3.03713013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35439141799999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:64.21, Y:2.90, Z:0.30 [[ 9.99801314e-01 -1.92793108e-02 -5.06357947e-03 6.42092160e+01] [ 1.92795837e-02 9.99814132e-01 5.09040760e-06 2.90303525e+00] [ 5.06254017e-03 -1.02713100e-04 9.99987180e-01 3.03111695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:64.24, Y:2.91, Z:0.30 [[ 9.99828639e-01 -1.78059510e-02 -5.06359961e-03 6.42415817e+01] [ 1.78060887e-02 9.99841459e-01 -1.79029605e-05 2.90843572e+00] [ 5.06311560e-03 -7.22630110e-05 9.99987180e-01 3.04683367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:64.27, Y:2.91, Z:0.31 [[ 9.99847490e-01 -1.67139467e-02 -5.06357696e-03 6.42739927e+01] [ 1.67141863e-02 9.99860308e-01 5.00588571e-06 2.91031256e+00] [ 5.06278596e-03 -8.96386912e-05 9.99987180e-01 3.05042893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:64.31, Y:2.91, Z:0.30 [[ 9.99872776e-01 -1.51258864e-02 -5.06357652e-03 6.43052439e+01] [ 1.51261078e-02 9.99885594e-01 5.41999671e-06 2.91201601e+00] [ 5.06291523e-03 -8.20115113e-05 9.99987180e-01 3.03940920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:64.34, Y:2.91, Z:0.30 [[ 9.99881883e-01 -1.45113506e-02 -5.06357617e-03 6.43371594e+01] [ 1.45115656e-02 9.99894702e-01 5.72878416e-06 2.91245682e+00] [ 5.06295985e-03 -7.92085254e-05 9.99987180e-01 3.03505618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:64.37, Y:2.91, Z:0.30 [[ 9.99888800e-01 -1.40266725e-02 -5.06357568e-03 6.43685592e+01] [ 1.40268834e-02 9.99901618e-01 6.13671865e-06 2.91337770e+00] [ 5.06299144e-03 -7.71622219e-05 9.99987180e-01 3.03789360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:64.40, Y:2.91, Z:0.30 [[ 9.99899270e-01 -1.32593069e-02 -5.06357477e-03 6.43997125e+01] [ 1.32595114e-02 9.99912089e-01 6.81432420e-06 2.91481152e+00] [ 5.06303927e-03 -7.39541650e-05 9.99987180e-01 3.02733771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:64.43, Y:2.92, Z:0.31 [[ 9.99907806e-01 -1.25991723e-02 -5.06357434e-03 6.44308341e+01] [ 1.25993698e-02 9.99920625e-01 7.11471487e-06 2.91792767e+00] [ 5.06308278e-03 -7.09119046e-05 9.99987180e-01 3.05884074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:64.46, Y:2.92, Z:0.31 [[ 9.99923933e-01 -1.12466771e-02 -5.06357391e-03 6.44610677e+01] [ 1.12468588e-02 9.99936752e-01 7.41199852e-06 2.91923455e+00] [ 5.06317029e-03 -6.43607354e-05 9.99987180e-01 3.09646129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:64.49, Y:2.92, Z:0.31 [[ 9.99915795e-01 -1.19483357e-02 -5.06360537e-03 6.44928601e+01] [ 1.19484062e-02 9.99928615e-01 -1.63304926e-05 2.92020624e+00] [ 5.06343902e-03 -4.41728965e-05 9.99987180e-01 3.09552333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65439141799999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:64.52, Y:2.92, Z:0.31 [[ 9.99920768e-01 -1.15246767e-02 -5.06357340e-03 6.45237140e+01] [ 1.15248596e-02 9.99933587e-01 6.95265423e-06 2.92092758e+00] [ 5.06315698e-03 -6.53090760e-05 9.99987180e-01 3.11248332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:64.56, Y:2.92, Z:0.31 [[ 9.99931701e-01 -1.05334237e-02 -5.06357312e-03 6.45552019e+01] [ 1.05335949e-02 9.99944520e-01 7.14709534e-06 2.92259595e+00] [ 5.06321691e-03 -6.04842354e-05 9.99987180e-01 3.14789455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71439141799999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:64.59, Y:2.92, Z:0.32 [[ 9.99938922e-01 -9.82405872e-03 -5.06357283e-03 6.45865744e+01] [ 9.82422189e-03 9.99951741e-01 7.35186386e-06 2.92384807e+00] [ 5.06325624e-03 -5.70970779e-05 9.99987180e-01 3.15973696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:64.62, Y:2.93, Z:0.32 [[ 9.99940979e-01 -9.61246942e-03 -5.06357252e-03 6.46166257e+01] [ 9.61263091e-03 9.99953798e-01 7.55629315e-06 2.92540741e+00] [ 5.06326594e-03 -5.62301009e-05 9.99987180e-01 3.17554854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:64.65, Y:2.93, Z:0.32 [[ 9.99926879e-01 -1.09816757e-02 -5.06357237e-03 6.46478947e+01] [ 1.09818553e-02 9.99939698e-01 7.65739874e-06 2.92742421e+00] [ 5.06318293e-03 -6.32642578e-05 9.99987180e-01 3.22545240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:64.68, Y:2.93, Z:0.33 [[ 9.99904175e-01 -1.28841716e-02 -5.06357206e-03 6.46790794e+01] [ 1.28843766e-02 9.99916993e-01 7.85954951e-06 2.92778902e+00] [ 5.06305048e-03 -7.30997656e-05 9.99987180e-01 3.25275367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:64.71, Y:2.93, Z:0.33 [[ 9.99881215e-01 -1.45573411e-02 -5.06357173e-03 6.47112489e+01] [ 1.45575686e-02 9.99894033e-01 8.06274851e-06 2.92760147e+00] [ 5.06291779e-03 -8.17750836e-05 9.99987180e-01 3.25990150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:64.74, Y:2.93, Z:0.33 [[ 9.99856188e-01 -1.61853134e-02 -5.06357105e-03 6.47438855e+01] [ 1.61855638e-02 9.99869005e-01 8.47315805e-06 2.92685435e+00] [ 5.06277060e-03 -9.04286917e-05 9.99987180e-01 3.25760740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:64.78, Y:2.93, Z:0.32 [[ 9.99813362e-01 -1.86440591e-02 -5.06357031e-03 6.47754676e+01] [ 1.86443431e-02 9.99826179e-01 8.89265904e-06 2.92557766e+00] [ 5.06252436e-03 -1.03297942e-04 9.99987180e-01 3.21387632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924391418 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:64.81, Y:2.93, Z:0.32 [[ 9.99796759e-01 -1.95141134e-02 -5.06356900e-03 6.48072854e+01] [ 1.95144121e-02 9.99809576e-01 9.58312915e-06 2.92606761e+00] [ 5.06241777e-03 -1.08393754e-04 9.99987180e-01 3.20683812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:64.84, Y:2.93, Z:0.32 [[ 9.99809438e-01 -1.88533452e-02 -5.06356820e-03 6.48396824e+01] [ 1.88536374e-02 9.99822254e-01 9.98752049e-06 2.92689981e+00] [ 5.06247988e-03 -1.05452296e-04 9.99987180e-01 3.18769122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:64.87, Y:2.93, Z:0.32 [[ 9.99868952e-01 -1.53765533e-02 -5.06356736e-03 6.48706418e+01] [ 1.53768030e-02 9.99881770e-01 1.03988127e-05 2.92860987e+00] [ 5.06280880e-03 -8.82589279e-05 9.99987180e-01 3.16450454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01439141799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:64.90, Y:2.93, Z:0.31 [[ 9.99917728e-01 -1.17854608e-02 -5.06356671e-03 6.49021556e+01] [ 1.17856661e-02 9.99930547e-01 1.07050760e-05 2.92857142e+00] [ 5.06308887e-03 -7.03817019e-05 9.99987180e-01 3.14903523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:64.93, Y:2.93, Z:0.31 [[ 9.99955792e-01 -7.92297411e-03 -5.06356628e-03 6.49336174e+01] [ 7.92313089e-03 9.99968611e-01 1.09045822e-05 2.92857011e+00] [ 5.06332095e-03 -5.10233986e-05 9.99987180e-01 3.14668926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07439141799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:64.96, Y:2.93, Z:0.32 [[ 9.99987175e-01 9.84210936e-05 -5.06356583e-03 6.49626925e+01] [-9.83661023e-05 9.99999995e-01 1.11092294e-05 2.92902584e+00] [ 5.06356690e-03 -1.06110037e-05 9.99987180e-01 3.15216560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:64.99, Y:2.93, Z:0.32 [[ 9.99985488e-01 1.83930292e-03 -5.06360790e-03 6.49922450e+01] [-1.83937938e-03 9.99998308e-01 -1.04427406e-05 2.92951174e+00] [ 5.06358012e-03 1.97564850e-05 9.99987180e-01 3.15548328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13439141799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:65.02, Y:2.93, Z:0.32 [[ 9.99976522e-01 4.61699241e-03 -5.06356827e-03 6.50197251e+01] [-4.61700159e-03 9.99989342e-01 9.87588467e-06 2.92961923e+00] [ 5.06355990e-03 1.35028500e-05 9.99987180e-01 3.17420958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:65.05, Y:2.93, Z:0.32 [[ 9.99972621e-01 5.39599956e-03 -5.06359913e-03 6.50482096e+01] [-5.39611947e-03 9.99985441e-01 -1.00180616e-05 2.92889205e+00] [ 5.06347135e-03 3.73415732e-05 9.99987180e-01 3.17194864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:65.08, Y:2.93, Z:0.32 [[ 9.99980097e-01 3.76362788e-03 -5.06357093e-03 6.50770354e+01] [-3.76363588e-03 9.99992917e-01 7.94891023e-06 2.92847602e+00] [ 5.06356498e-03 1.11086852e-05 9.99987180e-01 3.19104218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:65.10, Y:2.93, Z:0.32 [[ 9.99985816e-01 1.65160130e-03 -5.06357154e-03 6.51047419e+01] [-1.65158431e-03 9.99998636e-01 7.53540112e-06 2.92726307e+00] [ 5.06357708e-03 8.27621102e-07 9.99987180e-01 3.17732376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:65.13, Y:2.92, Z:0.32 [[ 9.99969969e-01 -5.86704701e-03 -5.06357230e-03 6.51331091e+01] [ 5.86715762e-03 9.99982788e-01 6.99026682e-06 2.92449785e+00] [ 5.06344413e-03 -3.66988337e-05 9.99987180e-01 3.17446192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:65.16, Y:2.92, Z:0.32 [[ 9.99933856e-01 -1.03268414e-02 -5.06357282e-03 6.51627914e+01] [ 1.03270072e-02 9.99946675e-01 6.58781630e-06 2.92274659e+00] [ 5.06323477e-03 -5.88789335e-05 9.99987180e-01 3.17256707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:65.19, Y:2.92, Z:0.32 [[ 9.99884208e-01 -1.43502805e-02 -5.06357308e-03 6.51942524e+01] [ 1.43504968e-02 9.99897026e-01 6.38434319e-06 2.92098981e+00] [ 5.06296005e-03 -7.90483932e-05 9.99987180e-01 3.16358989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:65.23, Y:2.92, Z:0.32 [[ 9.99815043e-01 -1.85537145e-02 -5.06357281e-03 6.52262232e+01] [ 1.85539857e-02 9.99827860e-01 6.58682562e-06 2.92002052e+00] [ 5.06257896e-03 -1.00535065e-04 9.99987180e-01 3.16622043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:65.26, Y:2.92, Z:0.32 [[ 9.99660725e-01 -2.55498492e-02 -5.06357225e-03 6.52577956e+01] [ 2.55502121e-02 9.99673540e-01 6.99331701e-06 2.91909205e+00] [ 5.06174052e-03 -1.36366290e-04 9.99987180e-01 3.15991646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:65.29, Y:2.92, Z:0.32 [[ 9.99573674e-01 -2.87546478e-02 -5.06357182e-03 6.52895953e+01] [ 2.87550534e-02 9.99586488e-01 7.29603154e-06 2.91840618e+00] [ 5.06126817e-03 -1.52896199e-04 9.99987180e-01 3.15965407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:65.32, Y:2.92, Z:0.32 [[ 9.99486975e-01 -3.16251058e-02 -5.06357121e-03 6.53217036e+01] [ 3.16255502e-02 9.99499787e-01 7.69778392e-06 2.91748041e+00] [ 5.06079490e-03 -1.67832060e-04 9.99987180e-01 3.15313619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:65.35, Y:2.92, Z:0.32 [[ 9.99303628e-01 -3.69678097e-02 -5.06356949e-03 6.53525217e+01] [ 3.69683276e-02 9.99316438e-01 8.69639462e-06 2.91633341e+00] [ 5.05978674e-03 -1.95882035e-04 9.99987180e-01 3.15122868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49439141799999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:65.38, Y:2.92, Z:0.31 [[ 9.99225370e-01 -3.90259018e-02 -5.06356820e-03 6.53843607e+01] [ 3.90264496e-02 9.99238178e-01 9.39175334e-06 2.91579058e+00] [ 5.05934414e-03 -2.06997567e-04 9.99987180e-01 3.14584173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:65.42, Y:2.92, Z:0.32 [[ 9.99130441e-01 -4.13850554e-02 -5.06356744e-03 6.54150477e+01] [ 4.13856355e-02 9.99143248e-01 9.78319216e-06 2.91598493e+00] [ 5.05882434e-03 -2.19333642e-04 9.99987180e-01 3.16416839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:65.45, Y:2.92, Z:0.32 [[ 9.99054285e-01 -4.31844366e-02 -5.06356706e-03 6.54477044e+01] [ 4.31850407e-02 9.99067091e-01 9.97812218e-06 2.91654933e+00] [ 5.05841231e-03 -2.28639035e-04 9.99987180e-01 3.19586082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:65.48, Y:2.92, Z:0.32 [[ 9.98974005e-01 -4.50032969e-02 -5.06356622e-03 6.54792846e+01] [ 4.50039264e-02 9.98986810e-01 1.03896100e-05 2.91908520e+00] [ 5.05796829e-03 -2.38259312e-04 9.99987180e-01 3.20767117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:65.51, Y:2.92, Z:0.32 [[ 9.98988790e-01 -4.46738978e-02 -5.06356450e-03 6.55124185e+01] [ 4.46745270e-02 9.99001595e-01 1.11693751e-05 2.92057792e+00] [ 5.05801003e-03 -2.37370430e-04 9.99987180e-01 3.21045472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:65.54, Y:2.92, Z:0.32 [[ 9.98984530e-01 -4.47690627e-02 -5.06356318e-03 6.55432167e+01] [ 4.47696960e-02 9.98997334e-01 1.17371051e-05 2.92273010e+00] [ 5.05796066e-03 -2.38419371e-04 9.99987180e-01 3.23136549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:65.58, Y:2.93, Z:0.32 [[ 9.99049252e-01 -4.33007110e-02 -5.06356251e-03 6.55756367e+01] [ 4.33013269e-02 9.99062058e-01 1.20180090e-05 2.92604416e+00] [ 5.05829280e-03 -2.31265559e-04 9.99987180e-01 3.22922519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:65.61, Y:2.93, Z:0.32 [[ 9.99015316e-01 -4.40767453e-02 -5.06356154e-03 6.56068795e+01] [ 4.40773732e-02 9.99028120e-01 1.24159574e-05 2.92806389e+00] [ 5.05809311e-03 -2.35592223e-04 9.99987180e-01 3.23812022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:65.64, Y:2.93, Z:0.32 [[ 9.99021140e-01 -4.39445306e-02 -5.06356079e-03 6.56390771e+01] [ 4.39451583e-02 9.99033945e-01 1.27123540e-05 2.92956631e+00] [ 5.05811048e-03 -2.35218891e-04 9.99987180e-01 3.24298934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:65.67, Y:2.93, Z:0.32 [[ 9.99040503e-01 -4.35021207e-02 -5.06355977e-03 6.56703771e+01] [ 4.35027447e-02 9.99053307e-01 1.31072909e-05 2.93375345e+00] [ 5.05819594e-03 -2.33373463e-04 9.99987180e-01 3.20636779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79439141799999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:65.70, Y:2.94, Z:0.32 [[ 9.99108381e-01 -4.19142403e-02 -5.06355899e-03 6.57029399e+01] [ 4.19148455e-02 9.99121187e-01 1.34013259e-05 2.93553085e+00] [ 5.05854736e-03 -2.25627670e-04 9.99987180e-01 3.20806803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:65.74, Y:2.94, Z:0.32 [[ 9.99142474e-01 -4.10935044e-02 -5.06355788e-03 6.57360267e+01] [ 4.10941011e-02 9.99155281e-01 1.38098876e-05 2.93802004e+00] [ 5.05871310e-03 -2.21880405e-04 9.99987180e-01 3.21585890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:65.77, Y:2.94, Z:0.32 [[ 9.99230859e-01 -3.88850868e-02 -5.06355613e-03 6.57674045e+01] [ 3.88856583e-02 9.99243667e-01 1.44224837e-05 2.94028994e+00] [ 5.05916558e-03 -2.11311105e-04 9.99987180e-01 3.20012836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:65.80, Y:2.94, Z:0.32 [[ 9.99344659e-01 -3.58414965e-02 -5.06355525e-03 6.58003387e+01] [ 3.58420305e-02 9.99357468e-01 1.47251973e-05 2.94255057e+00] [ 5.05977398e-03 -1.96203649e-04 9.99987180e-01 3.20974890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:65.83, Y:2.95, Z:0.32 [[ 9.99589142e-01 -2.82118428e-02 -5.06355341e-03 6.58312260e+01] [ 2.82122821e-02 9.99601954e-01 1.53334739e-05 2.94744608e+00] [ 5.06110530e-03 -1.58181571e-04 9.99987180e-01 3.19760634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:65.86, Y:2.95, Z:0.32 [[ 9.99716864e-01 -2.32497884e-02 -5.06355248e-03 6.58629899e+01] [ 2.32501656e-02 9.99729678e-01 1.56346340e-05 2.94961968e+00] [ 5.06182019e-03 -1.33358641e-04 9.99987180e-01 3.20025438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:65.90, Y:2.95, Z:0.32 [[ 9.99718663e-01 -2.31722754e-02 -5.06355124e-03 6.58956833e+01] [ 2.31726536e-02 9.99731478e-01 1.60272308e-05 2.94943666e+00] [ 5.06182018e-03 -1.33358640e-04 9.99987180e-01 3.20190853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:65.93, Y:2.96, Z:0.32 [[ 9.99880150e-01 -1.46302930e-02 -5.06354997e-03 6.59266994e+01] [ 1.46305637e-02 9.99892967e-01 1.64198276e-05 2.95506990e+00] [ 5.06276777e-03 -9.05004501e-05 9.99987180e-01 3.22954753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:65.96, Y:2.96, Z:0.32 [[ 9.99928820e-01 -1.08035153e-02 -5.06354900e-03 6.59593543e+01] [ 1.08037384e-02 9.99941638e-01 1.67121331e-05 2.95785435e+00] [ 5.06307293e-03 -7.14162023e-05 9.99987180e-01 3.23986100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:65.99, Y:2.96, Z:0.33 [[ 9.99962379e-01 -7.04279906e-03 -5.06354770e-03 6.59906294e+01] [ 7.04297592e-03 9.99975198e-01 1.70974863e-05 2.96042440e+00] [ 5.06330170e-03 -5.27592876e-05 9.99987180e-01 3.25422552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:66.02, Y:2.96, Z:0.33 [[ 9.99978999e-01 -4.04510103e-03 -5.06354705e-03 6.60211028e+01] [ 4.04524043e-03 9.99991818e-01 1.72891155e-05 2.96269414e+00] [ 5.06343568e-03 -3.77720176e-05 9.99987180e-01 3.26128091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:66.05, Y:2.97, Z:0.33 [[ 9.99986480e-01 -1.18313731e-03 -5.06354672e-03 6.60510125e+01] [ 1.18324051e-03 9.99999300e-01 1.73840488e-05 2.96595778e+00] [ 5.06352261e-03 -2.33752074e-05 9.99987180e-01 3.27309790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15439141799999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:66.08, Y:2.97, Z:0.33 [[ 9.99985325e-01 -1.92645792e-03 -5.06354736e-03 6.60813478e+01] [ 1.92656969e-03 9.99998144e-01 1.71952462e-05 2.96716140e+00] [ 5.06350484e-03 -2.69502707e-05 9.99987180e-01 3.27707470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:66.11, Y:2.97, Z:0.33 [[ 9.99984906e-01 -2.13266076e-03 -5.06348502e-03 6.61100525e+01] [ 2.13286709e-03 9.99997725e-01 3.53499332e-05 2.96795183e+00] [ 5.06339812e-03 -4.61491403e-05 9.99987180e-01 3.26892478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21439141799999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:66.14, Y:2.97, Z:0.32 [[ 9.99971609e-01 -5.58039679e-03 -5.06354658e-03 6.61383761e+01] [ 5.58055347e-03 9.99984428e-01 1.68143504e-05 2.96930400e+00] [ 5.06337390e-03 -4.50712654e-05 9.99987180e-01 3.23353160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:66.17, Y:2.97, Z:0.32 [[ 9.99951900e-01 -8.39985164e-03 -5.06354748e-03 6.61689414e+01] [ 8.40004306e-03 9.99964719e-01 1.65380832e-05 2.97021022e+00] [ 5.06322991e-03 -5.90713045e-05 9.99987180e-01 3.23447348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:66.20, Y:2.97, Z:0.32 [[ 9.99930594e-01 -1.06380146e-02 -5.06354748e-03 6.62004309e+01] [ 1.06382347e-02 9.99943412e-01 1.65380832e-05 2.97097407e+00] [ 5.06308501e-03 -7.04041418e-05 9.99987180e-01 3.24832958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:66.23, Y:2.97, Z:0.32 [[ 9.99877451e-01 -1.48135928e-02 -5.06354681e-03 6.62315859e+01] [ 1.48138675e-02 9.99890269e-01 1.67406371e-05 2.97173212e+00] [ 5.06274319e-03 -9.17492972e-05 9.99987180e-01 3.21996049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:66.26, Y:2.97, Z:0.32 [[ 9.99850966e-01 -1.65047176e-02 -5.06354459e-03 6.62633740e+01] [ 1.65050172e-02 9.99863783e-01 1.73869101e-05 2.97152711e+00] [ 5.06256788e-03 -1.00958209e-04 9.99987180e-01 3.24242218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:66.30, Y:2.97, Z:0.33 [[ 9.99823941e-01 -1.80678379e-02 -5.06354319e-03 6.62954594e+01] [ 1.80681596e-02 9.99836757e-01 1.77842131e-05 2.97174659e+00] [ 5.06239529e-03 -1.09269988e-04 9.99987180e-01 3.25904369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:66.33, Y:2.97, Z:0.33 [[ 9.99777920e-01 -2.04565713e-02 -5.06354177e-03 6.63279708e+01] [ 2.04569256e-02 9.99790735e-01 1.81811036e-05 2.97325970e+00] [ 5.06211022e-03 -1.21761563e-04 9.99987180e-01 3.30570389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:66.36, Y:2.97, Z:0.33 [[ 9.99762102e-01 -2.12155561e-02 -5.06354032e-03 6.63602474e+01] [ 2.12159221e-02 9.99774917e-01 1.85774007e-05 2.97342462e+00] [ 5.06200647e-03 -1.26000658e-04 9.99987180e-01 3.31627986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:66.39, Y:2.97, Z:0.33 [[ 9.99724218e-01 -2.29313870e-02 -5.06353882e-03 6.63925955e+01] [ 2.29317771e-02 9.99737032e-01 1.89755306e-05 2.97361595e+00] [ 5.06177214e-03 -1.35086241e-04 9.99987180e-01 3.33126089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:66.43, Y:2.97, Z:0.33 [[ 9.99641514e-01 -2.62907479e-02 -5.06353727e-03 6.64258803e+01] [ 2.62911830e-02 9.99654327e-01 1.93817785e-05 2.97282012e+00] [ 5.06127738e-03 -1.52501216e-04 9.99987180e-01 3.32208081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51439141799999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:66.46, Y:2.97, Z:0.33 [[ 9.99593444e-01 -2.80589895e-02 -5.06353487e-03 6.64583255e+01] [ 2.80594504e-02 9.99606256e-01 1.99893274e-05 2.97212732e+00] [ 5.06098025e-03 -1.62061206e-04 9.99987180e-01 3.31101225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:66.49, Y:2.97, Z:0.33 [[ 9.99563578e-01 -2.91034990e-02 -5.06353072e-03 6.64904417e+01] [ 2.91039784e-02 9.99576389e-01 2.09894372e-05 2.97095257e+00] [ 5.06077489e-03 -1.68349166e-04 9.99987180e-01 3.28621182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57439141799999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:66.52, Y:2.97, Z:0.33 [[ 9.99502403e-01 -3.11336966e-02 -5.06352901e-03 6.65227203e+01] [ 3.11342040e-02 9.99515213e-01 2.13954936e-05 2.97100237e+00] [ 5.06040815e-03 -1.79033792e-04 9.99987180e-01 3.28154288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:66.55, Y:2.97, Z:0.33 [[ 9.99443310e-01 -3.29762061e-02 -5.06352682e-03 6.65541288e+01] [ 3.29767397e-02 9.99456119e-01 2.19014773e-05 2.97181345e+00] [ 5.06005064e-03 -1.88867891e-04 9.99987180e-01 3.26376510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63439141799999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:66.59, Y:2.97, Z:0.33 [[ 9.99462483e-01 -3.23899080e-02 -5.06352558e-03 6.65861898e+01] [ 3.23904355e-02 9.99475292e-01 2.21853088e-05 2.97200824e+00] [ 5.06015012e-03 -1.86183182e-04 9.99987180e-01 3.25115911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:66.62, Y:2.97, Z:0.33 [[ 9.99493054e-01 -3.14324127e-02 -5.06352391e-03 6.66191996e+01] [ 3.14329298e-02 9.99505863e-01 2.25599788e-05 2.97256698e+00] [ 5.06031272e-03 -1.81709934e-04 9.99987180e-01 3.25280060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:66.65, Y:2.97, Z:0.32 [[ 9.99642587e-01 -2.62499163e-02 -5.06352118e-03 6.66516607e+01] [ 2.62503700e-02 9.99655399e-01 2.31554995e-05 2.97434063e+00] [ 5.06116846e-03 -1.56066528e-04 9.99987180e-01 3.24083188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:66.68, Y:2.98, Z:0.33 [[ 9.99717713e-01 -2.32132573e-02 -5.06351888e-03 6.66842651e+01] [ 2.32136746e-02 9.99730526e-01 2.36486824e-05 2.97574550e+00] [ 5.06160543e-03 -1.41184886e-04 9.99987180e-01 3.26612908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:66.72, Y:2.98, Z:0.33 [[ 9.99796047e-01 -1.95506012e-02 -5.06351702e-03 6.67165433e+01] [ 1.95509735e-02 9.99808861e-01 2.40415014e-05 2.97721296e+00] [ 5.06207915e-03 -1.23033285e-04 9.99987180e-01 3.28586463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:66.75, Y:2.98, Z:0.33 [[ 9.99871184e-01 -1.52307705e-02 -5.06351503e-03 6.67491653e+01] [ 1.52310895e-02 9.99884000e-01 2.44521523e-05 2.97840637e+00] [ 5.06255524e-03 -1.01571853e-04 9.99987180e-01 3.29518363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814391418 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:66.78, Y:2.98, Z:0.33 [[ 9.99952569e-01 -8.31991103e-03 -5.06351302e-03 6.67801862e+01] [ 8.32014357e-03 9.99965387e-01 2.48623624e-05 2.98105872e+00] [ 5.06313090e-03 -6.69903384e-05 9.99987180e-01 3.32277538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:66.81, Y:2.98, Z:0.33 [[ 9.99972433e-01 -5.43086319e-03 -5.06351150e-03 6.68120134e+01] [ 5.43106024e-03 9.99985251e-01 2.51669280e-05 2.98193260e+00] [ 5.06330015e-03 -5.26664703e-05 9.99987180e-01 3.33046151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:2.98, Z:0.33 [[ 9.99980765e-01 -3.58199717e-03 -5.06344671e-03 6.68411316e+01] [ 3.58223676e-03 9.99993583e-01 3.82496249e-05 2.98348314e+00] [ 5.06327721e-03 -5.63873541e-05 9.99987180e-01 3.33826650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:66.87, Y:2.98, Z:0.33 [[ 9.99986799e-01 -8.73687550e-04 -5.06351181e-03 6.68703134e+01] [ 8.73826015e-04 9.99999618e-01 2.51333308e-05 2.98463331e+00] [ 5.06348792e-03 -2.95576273e-05 9.99987180e-01 3.29892143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93439141799999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:66.90, Y:2.99, Z:0.33 [[ 9.99986461e-01 -1.19975763e-03 -5.06351278e-03 6.68995291e+01] [ 1.19989929e-03 9.99999280e-01 2.49377580e-05 2.98519352e+00] [ 5.06347921e-03 -3.10131258e-05 9.99987180e-01 3.28852907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:66.93, Y:2.99, Z:0.33 [[ 9.99985688e-01 -1.72737847e-03 -5.06351476e-03 6.69282260e+01] [ 1.72752481e-03 9.99998508e-01 2.45276493e-05 2.98541632e+00] [ 5.06346484e-03 -3.32746456e-05 9.99987180e-01 3.25908360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99439141799999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:66.96, Y:2.99, Z:0.32 [[ 9.99982347e-01 -3.10920862e-03 -5.06351622e-03 6.69568362e+01] [ 3.10937113e-03 9.99995166e-01 2.42231695e-05 2.98543821e+00] [ 5.06341643e-03 -3.99670930e-05 9.99987180e-01 3.20956875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:66.99, Y:2.99, Z:0.32 [[ 9.99972906e-01 -5.34299013e-03 -5.06351809e-03 6.69867448e+01] [ 5.34317927e-03 9.99985725e-01 2.38257802e-05 2.98573185e+00] [ 5.06331851e-03 -5.08804196e-05 9.99987180e-01 3.22821223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.02, Y:2.99, Z:0.32 [[ 9.99963161e-01 -6.93084110e-03 -5.06351902e-03 6.70162847e+01] [ 6.93104958e-03 9.99975980e-01 2.36255946e-05 2.98595364e+00] [ 5.06323365e-03 -5.87202257e-05 9.99987180e-01 3.23603092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.05, Y:2.99, Z:0.33 [[ 9.99946892e-01 -8.97630187e-03 -5.06351949e-03 6.70472690e+01] [ 8.97653606e-03 9.99959710e-01 2.35262312e-05 2.98665243e+00] [ 5.06310430e-03 -6.89778470e-05 9.99987180e-01 3.25186011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:2.99, Z:0.33 [[ 9.99927770e-01 -1.09002602e-02 -5.06351949e-03 6.70784574e+01] [ 1.09005191e-02 9.99940587e-01 2.35262312e-05 2.98679810e+00] [ 5.06296221e-03 -7.87195225e-05 9.99987180e-01 3.27169769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144391418 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:67.11, Y:2.99, Z:0.33 [[ 9.99872309e-01 -1.51567621e-02 -5.06351853e-03 6.71095983e+01] [ 1.51570766e-02 9.99885125e-01 2.37303668e-05 2.98699407e+00] [ 5.06257718e-03 -1.00475475e-04 9.99987180e-01 3.29418635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:67.14, Y:2.99, Z:0.33 [[ 9.99836811e-01 -1.73410416e-02 -5.06351708e-03 6.71420842e+01] [ 1.73413856e-02 9.99849627e-01 2.40356866e-05 2.98713120e+00] [ 5.06233886e-03 -1.11840167e-04 9.99987180e-01 3.30451635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.17, Y:2.99, Z:0.33 [[ 9.99798485e-01 -1.94254984e-02 -5.06351514e-03 6.71743419e+01] [ 1.94258711e-02 9.99811300e-01 2.44380443e-05 2.98731662e+00] [ 5.06208493e-03 -1.22796312e-04 9.99987180e-01 3.30826061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:67.21, Y:2.99, Z:0.33 [[ 9.99741503e-01 -2.21650189e-02 -5.06351317e-03 6.72060248e+01] [ 2.21654288e-02 9.99754316e-01 2.48402145e-05 2.98793408e+00] [ 5.06171856e-03 -1.37068734e-04 9.99987180e-01 3.29490207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:2.99, Z:0.33 [[ 9.99754163e-01 -2.15864637e-02 -5.06351168e-03 6.72378068e+01] [ 2.15868677e-02 9.99766976e-01 2.51398717e-05 2.98809793e+00] [ 5.06178908e-03 -1.34439048e-04 9.99987180e-01 3.28345183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29439141799999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:67.27, Y:2.99, Z:0.33 [[ 9.99784521e-01 -2.01313873e-02 -5.06350970e-03 6.72695264e+01] [ 2.01317747e-02 9.99797335e-01 2.55325117e-05 2.98874008e+00] [ 5.06196950e-03 -1.27464446e-04 9.99987180e-01 3.27411589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:67.30, Y:2.99, Z:0.33 [[ 9.99893195e-01 -1.37098079e-02 -5.06350770e-03 6.73014362e+01] [ 1.37101149e-02 9.99906012e-01 2.59235916e-05 2.98965553e+00] [ 5.06267638e-03 -9.53420951e-05 9.99987180e-01 3.26953631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35439141799999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:67.33, Y:2.99, Z:0.33 [[ 9.99938528e-01 -9.86418307e-03 -5.06350565e-03 6.73324027e+01] [ 9.86444278e-03 9.99951345e-01 2.63163633e-05 2.99021193e+00] [ 5.06299970e-03 -7.62634073e-05 9.99987180e-01 3.27912579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:67.36, Y:2.99, Z:0.33 [[ 9.99969200e-01 -5.99659707e-03 -5.06350412e-03 6.73639396e+01] [ 5.99680867e-03 9.99982019e-01 2.66083683e-05 2.99112988e+00] [ 5.06325351e-03 -5.69724142e-05 9.99987180e-01 3.29743473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:67.39, Y:2.99, Z:0.33 [[ 9.99986696e-01 9.83971026e-04 -5.06350308e-03 6.73944297e+01] [-9.83847914e-04 9.99999516e-01 2.68043327e-05 2.99360644e+00] [ 5.06352700e-03 -2.18222592e-05 9.99987180e-01 3.33456536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444391418 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:67.42, Y:3.00, Z:0.34 [[ 9.99985799e-01 1.66229702e-03 -5.06350308e-03 6.74221826e+01] [-1.66218260e-03 9.99998618e-01 2.68043327e-05 2.99550554e+00] [ 5.06354064e-03 -1.83874853e-05 9.99987180e-01 3.35969351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:2.99, Z:0.34 [[ 9.99982446e-01 3.07723885e-03 -5.06351229e-03 6.74496246e+01] [-3.07715198e-03 9.99995265e-01 2.49456972e-05 2.99484890e+00] [ 5.06356508e-03 -9.36406244e-06 9.99987180e-01 3.36246606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:67.48, Y:2.99, Z:0.33 [[ 9.99984001e-01 2.52154661e-03 -5.06351420e-03 6.74781265e+01] [-2.52145461e-03 9.99996821e-01 2.45525413e-05 2.99397975e+00] [ 5.06356001e-03 -1.17847273e-05 9.99987180e-01 3.33227458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534391418 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:67.51, Y:2.99, Z:0.33 [[ 9.99985176e-01 2.00203502e-03 -5.06351608e-03 6.75073922e+01] [-2.00193835e-03 9.99997996e-01 2.41590552e-05 2.99334813e+00] [ 5.06355430e-03 -1.40218501e-05 9.99987180e-01 3.31224044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564391418 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:67.54, Y:2.99, Z:0.33 [[ 9.99985974e-01 1.55315862e-03 -5.06351795e-03 6.75362470e+01] [-1.55305822e-03 9.99998794e-01 2.37604267e-05 2.99329020e+00] [ 5.06354874e-03 -1.58961552e-05 9.99987180e-01 3.29035276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:67.57, Y:2.99, Z:0.33 [[ 9.99985577e-01 1.79090282e-03 -5.06351978e-03 6.75655693e+01] [-1.79080747e-03 9.99998396e-01 2.33638153e-05 2.99326406e+00] [ 5.06355350e-03 -1.42956892e-05 9.99987180e-01 3.26867433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624391418 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:67.59, Y:2.99, Z:0.32 [[ 9.99980013e-01 3.78607279e-03 -5.06352113e-03 6.75936839e+01] [-3.78600452e-03 9.99992833e-01 2.30672866e-05 2.99440408e+00] [ 5.06357217e-03 -3.89631162e-06 9.99987180e-01 3.23574270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65439141799999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:67.62, Y:2.99, Z:0.32 [[ 9.99975001e-01 4.93541145e-03 -5.06352331e-03 6.76222729e+01] [-4.93536040e-03 9.99987821e-01 2.25771209e-05 2.99499876e+00] [ 5.06357307e-03 2.41375602e-06 9.99987180e-01 3.23843364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.65, Y:2.99, Z:0.32 [[ 9.99969581e-01 5.93284816e-03 -5.06352509e-03 6.76501840e+01] [-5.93281195e-03 9.99982400e-01 2.21711668e-05 2.99440981e+00] [ 5.06356751e-03 7.87044978e-06 9.99987180e-01 3.23232688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71439141799999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:67.68, Y:2.99, Z:0.32 [[ 9.99962552e-01 7.01816212e-03 -5.06352758e-03 6.76790846e+01] [-7.01814279e-03 9.99975372e-01 2.15862867e-05 2.99225465e+00] [ 5.06355438e-03 1.39510812e-05 9.99987180e-01 3.24453627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:67.71, Y:2.99, Z:0.32 [[ 9.99961901e-01 7.11030398e-03 -5.06352924e-03 6.77083498e+01] [-7.11028783e-03 9.99974721e-01 2.11918529e-05 2.99072887e+00] [ 5.06355192e-03 1.48121048e-05 9.99987180e-01 3.24462666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:67.74, Y:2.99, Z:0.33 [[ 9.99967080e-01 6.34025159e-03 -5.06353091e-03 6.77363850e+01] [-6.34022764e-03 9.99979900e-01 2.07828131e-05 2.98960099e+00] [ 5.06356091e-03 1.13218098e-05 9.99987180e-01 3.25774729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804391418 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:67.76, Y:2.99, Z:0.33 [[ 9.99972698e-01 5.38179519e-03 -5.06353294e-03 6.77645086e+01] [-5.38176151e-03 9.99985518e-01 2.02761594e-05 2.98739926e+00] [ 5.06356874e-03 6.97512086e-06 9.99987180e-01 3.25456730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834391418 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:67.79, Y:2.99, Z:0.32 [[ 9.99971908e-01 5.52662652e-03 -5.06353490e-03 6.77929582e+01] [-5.52659723e-03 9.99984728e-01 1.97758608e-05 2.98595358e+00] [ 5.06356686e-03 8.20881270e-06 9.99987180e-01 3.23987838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864391418 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:67.82, Y:2.99, Z:0.32 [[ 9.99972553e-01 5.40871160e-03 -5.06353716e-03 6.78214061e+01] [-5.40868383e-03 9.99985373e-01 1.91785084e-05 2.98596118e+00] [ 5.06356683e-03 8.20908952e-06 9.99987180e-01 3.24132120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894391418 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:67.85, Y:2.99, Z:0.33 [[ 9.99977376e-01 4.42820231e-03 -5.06353935e-03 6.78500925e+01] [-4.42816499e-03 9.99990195e-01 1.85814327e-05 2.98505496e+00] [ 5.06357199e-03 3.84117537e-06 9.99987180e-01 3.26252363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924391418 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:67.88, Y:2.98, Z:0.33 [[ 9.99982723e-01 2.98569917e-03 -5.06354078e-03 6.78792749e+01] [-2.98564537e-03 9.99995543e-01 1.81829873e-05 2.98251148e+00] [ 5.06357250e-03 -3.06473608e-06 9.99987180e-01 3.28607141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.91, Y:2.98, Z:0.33 [[ 9.99985086e-01 2.04637629e-03 -5.06354217e-03 6.79068172e+01] [-2.04631246e-03 9.99997906e-01 1.77867401e-05 2.98082780e+00] [ 5.06356797e-03 -7.42488539e-06 9.99987180e-01 3.28682138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984391418 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:67.94, Y:2.98, Z:0.33 [[ 9.99987097e-01 -4.07700001e-04 -5.06354385e-03 6.79360344e+01] [ 4.07792808e-04 9.99999917e-01 1.72960706e-05 2.97914783e+00] [ 5.06353638e-03 -1.93607242e-05 9.99987180e-01 3.31435876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01439141799999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:67.97, Y:2.98, Z:0.33 [[ 9.99983353e-01 -2.76671645e-03 -5.06354521e-03 6.79652146e+01] [ 2.76683743e-03 9.99996172e-01 1.68880477e-05 2.97680887e+00] [ 5.06347910e-03 -3.08977730e-05 9.99987180e-01 3.32828798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:67.99, Y:2.97, Z:0.33 [[ 9.99951060e-01 -8.49926408e-03 -5.06354654e-03 6.79946083e+01] [ 8.49945648e-03 9.99963879e-01 1.64787649e-05 2.97263935e+00] [ 5.06322358e-03 -5.95153519e-05 9.99987180e-01 3.34071929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07439141799999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:68.02, Y:2.97, Z:0.33 [[ 9.99923445e-01 -1.12899823e-02 -5.06354720e-03 6.80248867e+01] [ 1.12902094e-02 9.99936263e-01 1.62726405e-05 2.97076759e+00] [ 5.06304075e-03 -7.34399033e-05 9.99987180e-01 3.34189728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:68.06, Y:2.97, Z:0.33 [[ 9.99900001e-01 -1.32041283e-02 -5.06354687e-03 6.80574001e+01] [ 1.32043805e-02 9.99912818e-01 1.63748369e-05 2.96835916e+00] [ 5.06288921e-03 -8.32341989e-05 9.99987180e-01 3.31248922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13439141799999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:68.09, Y:2.97, Z:0.33 [[ 9.99852535e-01 -1.64094249e-02 -5.06354552e-03 6.80897856e+01] [ 1.64097202e-02 9.99865351e-01 1.67832045e-05 2.96645373e+00] [ 5.06258832e-03 -9.98720949e-05 9.99987180e-01 3.31876412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:68.12, Y:2.96, Z:0.33 [[ 9.99785837e-01 -2.00659180e-02 -5.06354411e-03 6.81221010e+01] [ 2.00662623e-02 9.99798652e-01 1.71974595e-05 2.96138918e+00] [ 5.06217950e-03 -1.18800181e-04 9.99987180e-01 3.27650038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:68.15, Y:2.96, Z:0.33 [[ 9.99764055e-01 -2.11233059e-02 -5.06354267e-03 6.81533987e+01] [ 2.11236659e-02 9.99776870e-01 1.76139183e-05 2.95905956e+00] [ 5.06204077e-03 -1.24570346e-04 9.99987180e-01 3.26011972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:68.19, Y:2.96, Z:0.33 [[ 9.99764618e-01 -2.10966562e-02 -5.06354157e-03 6.81859413e+01] [ 2.10970174e-02 9.99777433e-01 1.79241489e-05 2.95529458e+00] [ 5.06203645e-03 -1.24745554e-04 9.99987180e-01 3.25708431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:68.22, Y:2.95, Z:0.33 [[ 9.99777180e-01 -2.04927061e-02 -5.06354007e-03 6.82184721e+01] [ 2.04930616e-02 9.99789995e-01 1.83376111e-05 2.95410660e+00] [ 5.06210091e-03 -1.22100964e-04 9.99987180e-01 3.26333323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:68.25, Y:2.95, Z:0.33 [[ 9.99803991e-01 -1.91400174e-02 -5.06353853e-03 6.82492770e+01] [ 1.91403578e-02 9.99816806e-01 1.87538167e-05 2.95301524e+00] [ 5.06225197e-03 -1.15668080e-04 9.99987180e-01 3.27631770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:68.28, Y:2.95, Z:0.33 [[ 9.99836700e-01 -1.73474733e-02 -5.06353736e-03 6.82803715e+01] [ 1.73477922e-02 9.99849516e-01 1.90635638e-05 2.95250747e+00] [ 5.06244467e-03 -1.06901645e-04 9.99987180e-01 3.28879133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:68.31, Y:2.95, Z:0.33 [[ 9.99906496e-01 -1.27027770e-02 -5.06353620e-03 6.83124948e+01] [ 1.27030379e-02 9.99919313e-01 1.93678075e-05 2.95150836e+00] [ 5.06288161e-03 -8.36882889e-05 9.99987180e-01 3.30915645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:68.34, Y:2.95, Z:0.33 [[ 9.99938377e-01 -9.87944451e-03 -5.06353462e-03 6.83437369e+01] [ 9.87967127e-03 9.99951195e-01 1.97711543e-05 2.95081748e+00] [ 5.06309217e-03 -6.97959935e-05 9.99987180e-01 3.31076520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:68.38, Y:2.95, Z:0.33 [[ 9.99963461e-01 -6.88743271e-03 -5.06353205e-03 6.83755523e+01] [ 6.88762435e-03 9.99976280e-01 2.04100216e-05 2.94981705e+00] [ 5.06327137e-03 -5.52849825e-05 9.99987180e-01 3.30811615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43439141799999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:68.41, Y:2.94, Z:0.33 [[ 9.99987111e-01 3.71029636e-04 -5.06353124e-03 6.84121612e+01] [-3.70930043e-04 9.99999931e-01 2.06076500e-05 2.94424203e+00] [ 5.06353854e-03 -1.87291685e-05 9.99987180e-01 3.26808689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:68.43, Y:2.95, Z:0.33 [[ 9.99985215e-01 1.98412891e-03 -5.06296953e-03 6.84345424e+01] [-1.98340257e-03 9.99998022e-01 1.48479010e-04 2.94577317e+00] [ 5.06325412e-03 -1.38434908e-04 9.99987172e-01 3.25298674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49439141799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:68.46, Y:2.95, Z:0.33 [[ 9.99980370e-01 3.69075937e-03 -5.06344682e-03 6.84615501e+01] [-3.69071247e-03 9.99993189e-01 1.86068582e-05 2.94607815e+00] [ 5.06348101e-03 8.12333979e-08 9.99987180e-01 3.25211802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:68.49, Y:2.94, Z:0.32 [[ 9.99965172e-01 6.63442568e-03 -5.06352249e-03 6.84897291e+01] [-6.63452294e-03 9.99977991e-01 -2.41002600e-06 2.94465219e+00] [ 5.06339505e-03 3.60039981e-05 9.99987180e-01 3.24746344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:68.52, Y:2.94, Z:0.32 [[ 9.99936858e-01 1.00319292e-02 -5.06356266e-03 6.85173527e+01] [-1.00321312e-02 9.99949677e-01 -1.44987096e-05 2.94309243e+00] [ 5.06316240e-03 6.52961193e-05 9.99987180e-01 3.24419468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:68.54, Y:2.94, Z:0.32 [[ 9.99941748e-01 9.53209986e-03 -5.06355134e-03 6.85447639e+01] [-9.53227837e-03 9.99954567e-01 -1.11212990e-05 2.94360693e+00] [ 5.06321527e-03 5.93878321e-05 9.99987180e-01 3.24832695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:68.58, Y:2.94, Z:0.32 [[ 9.99931666e-01 1.05367145e-02 -5.06361699e-03 6.85757174e+01] [-1.05370098e-02 9.99944484e-01 -3.16395434e-05 2.94018427e+00] [ 5.06300250e-03 8.49927632e-05 9.99987179e-01 3.24201969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:68.60, Y:2.94, Z:0.33 [[ 9.99956474e-01 7.83658247e-03 -5.06344863e-03 6.86017883e+01] [-7.83659488e-03 9.99969293e-01 1.73886427e-05 2.94116723e+00] [ 5.06342941e-03 2.22923097e-05 9.99987181e-01 3.28473630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:68.63, Y:2.93, Z:0.33 [[ 9.99985411e-01 1.88063533e-03 -5.06359708e-03 6.86328169e+01] [-1.88082633e-03 9.99998231e-01 -3.29573852e-05 2.93455906e+00] [ 5.06352614e-03 4.24806511e-05 9.99987179e-01 3.30590353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:68.66, Y:2.93, Z:0.33 [[ 9.99981947e-01 -3.23531603e-03 -5.06344235e-03 6.86615340e+01] [ 3.23543853e-03 9.99994766e-01 1.60026374e-05 2.93250631e+00] [ 5.06336408e-03 -3.23848049e-05 9.99987181e-01 3.30753173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:68.69, Y:2.93, Z:0.33 [[ 9.99951036e-01 -8.50216205e-03 -5.06344355e-03 6.86902593e+01] [ 8.50235010e-03 9.99963854e-01 1.56128496e-05 2.93056350e+00] [ 5.06312779e-03 -5.86632549e-05 9.99987181e-01 3.30322677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:68.72, Y:2.93, Z:0.33 [[ 9.99796114e-01 -1.95471882e-02 -5.06344443e-03 6.87210667e+01] [ 1.95475164e-02 9.99808929e-01 1.53228900e-05 2.92707923e+00] [ 5.06217743e-03 -1.14297529e-04 9.99987181e-01 3.28734264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79439141799999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:68.75, Y:2.92, Z:0.33 [[ 9.99722021e-01 -2.30269772e-02 -5.06344443e-03 6.87510642e+01] [ 2.30273500e-02 9.99734835e-01 1.53228900e-05 2.92491959e+00] [ 5.06174894e-03 -1.31916338e-04 9.99987181e-01 3.27914872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:68.78, Y:2.92, Z:0.33 [[ 9.99596542e-01 -2.79484044e-02 -5.06352957e-03 6.87844702e+01] [ 2.79486930e-02 9.99609359e-01 -1.37757139e-05 2.92331755e+00] [ 5.06193656e-03 -1.27748878e-04 9.99987180e-01 3.26796336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85439141799999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:68.82, Y:2.92, Z:0.33 [[ 9.99450876e-01 -3.27461103e-02 -5.06343073e-03 6.88171075e+01] [ 3.27466137e-02 9.99463686e-01 1.65200090e-05 2.92146571e+00] [ 5.06017418e-03 -1.82321148e-04 9.99987181e-01 3.27484556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:68.85, Y:2.92, Z:0.33 [[ 9.99411957e-01 -3.39131417e-02 -5.06342935e-03 6.88483043e+01] [ 3.39136621e-02 9.99424766e-01 1.69329641e-05 2.92087977e+00] [ 5.05994245e-03 -1.88642439e-04 9.99987181e-01 3.28321122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:68.88, Y:2.92, Z:0.33 [[ 9.99375825e-01 -3.49617200e-02 -5.06342830e-03 6.88796446e+01] [ 3.49622554e-02 9.99388633e-01 1.72406408e-05 2.92041917e+00] [ 5.05972993e-03 -1.94258753e-04 9.99987181e-01 3.30772689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:68.91, Y:2.92, Z:0.33 [[ 9.99381151e-01 -3.48091553e-02 -5.06342725e-03 6.89127578e+01] [ 3.48096903e-02 9.99393959e-01 1.75452013e-05 2.92059948e+00] [ 5.05974787e-03 -1.93790678e-04 9.99987181e-01 3.32256005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:68.95, Y:2.92, Z:0.33 [[ 9.99402303e-01 -3.41964821e-02 -5.06342508e-03 6.89451653e+01] [ 3.41970124e-02 9.99415111e-01 1.81506842e-05 2.92038911e+00] [ 5.05984285e-03 -1.91293846e-04 9.99987181e-01 3.33065395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:68.98, Y:2.92, Z:0.33 [[ 9.99427592e-01 -3.34492307e-02 -5.06342323e-03 6.89777373e+01] [ 3.34497538e-02 9.99440400e-01 1.86518342e-05 2.92003831e+00] [ 5.05996585e-03 -1.88011419e-04 9.99987181e-01 3.33694227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:69.01, Y:2.92, Z:0.33 [[ 9.99499196e-01 -3.12364903e-02 -5.06342088e-03 6.90105494e+01] [ 3.12369882e-02 9.99512006e-01 1.92707147e-05 2.91933869e+00] [ 5.06034801e-03 -1.77427082e-04 9.99987181e-01 3.33277051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:69.04, Y:2.92, Z:0.33 [[ 9.99547178e-01 -2.96614262e-02 -5.06341844e-03 6.90425596e+01] [ 2.96619071e-02 9.99559989e-01 1.98906424e-05 2.91924751e+00] [ 5.06060050e-03 -1.70072283e-04 9.99987181e-01 3.33214406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:69.08, Y:2.92, Z:0.33 [[ 9.99602648e-01 -2.77292050e-02 -5.06341638e-03 6.90759845e+01] [ 2.77296638e-02 9.99615459e-01 2.04034228e-05 2.91925129e+00] [ 5.06090351e-03 -1.60802149e-04 9.99987181e-01 3.33823961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:69.11, Y:2.92, Z:0.33 [[ 9.99654520e-01 -2.57915226e-02 -5.06341379e-03 6.91086729e+01] [ 2.57919596e-02 9.99667332e-01 2.10255852e-05 2.91941531e+00] [ 5.06118707e-03 -1.51613685e-04 9.99987181e-01 3.33772041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15439141799999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:69.14, Y:2.92, Z:0.33 [[ 9.99765145e-01 -2.10716810e-02 -5.06341205e-03 6.91412491e+01] [ 2.10720596e-02 9.99777959e-01 2.14370605e-05 2.91896888e+00] [ 5.06183605e-03 -1.28128546e-04 9.99987181e-01 3.32956585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.17, Y:2.92, Z:0.33 [[ 9.99821431e-01 -1.82062524e-02 -5.06341027e-03 6.91738510e+01] [ 1.82065964e-02 9.99834246e-01 2.18492265e-05 2.91932790e+00] [ 5.06217320e-03 -1.14032792e-04 9.99987181e-01 3.32365156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21439141799999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:69.20, Y:2.92, Z:0.33 [[ 9.99881239e-01 -1.45557171e-02 -5.06340848e-03 6.92049469e+01] [ 1.45560164e-02 9.99894055e-01 2.22575329e-05 2.91972582e+00] [ 5.06254806e-03 -9.59579462e-05 9.99987181e-01 3.30859642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:69.24, Y:2.92, Z:0.33 [[ 9.99967869e-01 -6.21469302e-03 -5.06340712e-03 6.92363832e+01] [ 6.21488693e-03 9.99980687e-01 2.25620539e-05 2.92199915e+00] [ 5.06316912e-03 -5.40298317e-05 9.99987181e-01 3.27877682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:69.27, Y:2.92, Z:0.33 [[ 9.99985672e-01 -1.73735270e-03 -5.06340622e-03 6.92667375e+01] [ 1.73749022e-03 9.99998490e-01 2.27615761e-05 2.92376316e+00] [ 5.06335903e-03 -3.15588687e-05 9.99987181e-01 3.28295219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:69.30, Y:2.93, Z:0.33 [[ 9.99982964e-01 2.90414540e-03 -5.06340622e-03 6.92952036e+01] [-2.90406738e-03 9.99995783e-01 2.27615761e-05 2.92553598e+00] [ 5.06345097e-03 -8.05671544e-06 9.99987181e-01 3.29219002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:69.32, Y:2.93, Z:0.33 [[ 9.99961722e-01 7.13563855e-03 -5.06341206e-03 6.93243764e+01] [-7.13562177e-03 9.99974541e-01 2.13788412e-05 2.92686296e+00] [ 5.06343570e-03 1.47525705e-05 9.99987181e-01 3.30179762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:69.35, Y:2.93, Z:0.33 [[ 9.99894097e-01 1.36439360e-02 -5.06341748e-03 6.93523560e+01] [-1.36440096e-02 9.99906916e-01 2.00063316e-05 2.92807688e+00] [ 5.06321913e-03 4.90811041e-05 9.99987181e-01 3.31586255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:69.38, Y:2.93, Z:0.33 [[ 9.99875982e-01 1.49124742e-02 -5.06342014e-03 6.93803139e+01] [-1.49125676e-02 9.99888801e-01 1.93092782e-05 2.92811274e+00] [ 5.06314505e-03 5.62017116e-05 9.99987181e-01 3.33555893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:69.41, Y:2.93, Z:0.33 [[ 9.99875266e-01 1.49604543e-02 -5.06342192e-03 6.94088583e+01] [-1.49605508e-02 9.99888085e-01 1.88322581e-05 2.92785086e+00] [ 5.06313698e-03 5.69216716e-05 9.99987181e-01 3.33358854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:69.44, Y:2.93, Z:0.33 [[ 9.99883116e-01 1.44262453e-02 -5.06342331e-03 6.94369936e+01] [-1.44263368e-02 9.99895935e-01 1.84497417e-05 2.92616432e+00] [ 5.06316255e-03 5.45990650e-05 9.99987181e-01 3.29512642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:69.46, Y:2.93, Z:0.33 [[ 9.99878571e-01 1.47378451e-02 -5.06342500e-03 6.94634531e+01] [-1.47379431e-02 9.99891390e-01 1.79752427e-05 2.92572785e+00] [ 5.06313998e-03 5.66514093e-05 9.99987181e-01 3.29626263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51439141799999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:69.49, Y:2.93, Z:0.33 [[ 9.99896898e-01 1.34370253e-02 -5.06352648e-03 6.94933077e+01] [-1.34372613e-02 9.99909716e-01 -1.25791940e-05 2.92552705e+00] [ 5.06290029e-03 8.06178252e-05 9.99987180e-01 3.26910270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:69.52, Y:2.93, Z:0.33 [[ 9.99899728e-01 1.32247811e-02 -5.06342511e-03 6.95211175e+01] [-1.32248635e-02 9.99912548e-01 1.72226318e-05 2.92607427e+00] [ 5.06321007e-03 4.97422009e-05 9.99987181e-01 3.26301186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57439141799999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.55, Y:2.93, Z:0.33 [[ 9.99885790e-01 1.42396906e-02 -5.06342678e-03 6.95474679e+01] [-1.42397886e-02 9.99898609e-01 1.67159888e-05 2.92558176e+00] [ 5.06315143e-03 5.53880471e-05 9.99987181e-01 3.28193263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:69.58, Y:2.92, Z:0.33 [[ 9.99906087e-01 1.27349018e-02 -5.06349188e-03 6.95773288e+01] [-1.27350865e-02 9.99918905e-01 -4.22829675e-06 2.92491394e+00] [ 5.06302741e-03 6.87119068e-05 9.99987180e-01 3.30992894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63439141799999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:69.61, Y:2.92, Z:0.34 [[ 9.99935214e-01 1.01945924e-02 -5.06342989e-03 6.96059124e+01] [-1.01946434e-02 9.99948033e-01 1.57281506e-05 2.92109312e+00] [ 5.06332710e-03 3.58927307e-05 9.99987181e-01 3.36592097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:69.63, Y:2.92, Z:0.34 [[ 9.99950128e-01 8.60837626e-03 -5.06343113e-03 6.96334088e+01] [-8.60840905e-03 9.99962947e-01 1.53198965e-05 2.91817485e+00] [ 5.06337539e-03 2.82689539e-05 9.99987181e-01 3.37125336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:69.66, Y:2.91, Z:0.34 [[ 9.99979274e-01 3.97657067e-03 -5.06343261e-03 6.96620142e+01] [-3.97654664e-03 9.99992093e-01 1.48129562e-05 2.91445247e+00] [ 5.06345148e-03 5.32232674e-06 9.99987181e-01 3.38268812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:69.69, Y:2.91, Z:0.34 [[ 9.99985223e-01 1.97852318e-03 -5.06343376e-03 6.96897962e+01] [-1.97847559e-03 9.99998043e-01 1.44082947e-05 2.91327776e+00] [ 5.06345236e-03 -4.39020173e-06 9.99987181e-01 3.37744031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:69.72, Y:2.91, Z:0.34 [[ 9.99987047e-01 5.16973928e-04 -5.06343524e-03 6.97185143e+01] [-5.16910335e-04 9.99999866e-01 1.38678326e-05 2.91213277e+00] [ 5.06344173e-03 -1.12503110e-05 9.99987181e-01 3.37016974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:69.75, Y:2.91, Z:0.34 [[ 9.99987101e-01 3.99071385e-04 -5.06343630e-03 6.97469708e+01] [-3.99008293e-04 9.99999920e-01 1.34704056e-05 2.91217319e+00] [ 5.06344127e-03 -1.14498788e-05 9.99987181e-01 3.37161192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:69.77, Y:2.91, Z:0.34 [[ 9.99987088e-01 -4.29711359e-04 -5.06343782e-03 6.97746091e+01] [ 4.29782052e-04 9.99999908e-01 1.28734083e-05 2.91117282e+00] [ 5.06343182e-03 -1.50494167e-05 9.99987181e-01 3.35705381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:69.80, Y:2.91, Z:0.33 [[ 9.99986968e-01 -6.52234460e-04 -5.06343902e-03 6.98037743e+01] [ 6.52305509e-04 9.99999787e-01 1.23803334e-05 2.91036566e+00] [ 5.06342987e-03 -1.56830813e-05 9.99987181e-01 3.33992162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87439141799999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:69.83, Y:2.91, Z:0.33 [[ 9.99986537e-01 -1.13467685e-03 -5.06343995e-03 6.98330673e+01] [ 1.13475210e-03 9.99999356e-01 1.19889973e-05 2.90862972e+00] [ 5.06342309e-03 -1.77345850e-05 9.99987181e-01 3.30988360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:69.86, Y:2.91, Z:0.33 [[ 9.99985597e-01 -1.77945415e-03 -5.06344066e-03 6.98608051e+01] [ 1.77953610e-03 9.99998417e-01 1.16793672e-05 2.90753446e+00] [ 5.06341186e-03 -2.06897744e-05 9.99987181e-01 3.30159536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93439141799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:69.89, Y:2.91, Z:0.33 [[ 9.99977096e-01 -4.49109464e-03 -5.06344182e-03 6.98893826e+01] [ 4.49120871e-03 9.99989914e-01 1.11563686e-05 2.90630700e+00] [ 5.06334064e-03 -3.38970870e-05 9.99987181e-01 3.30576268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:69.92, Y:2.91, Z:0.33 [[ 9.99969711e-01 -5.91090473e-03 -5.06344268e-03 6.99194059e+01] [ 5.91103493e-03 9.99982530e-01 1.07498448e-05 2.90574291e+00] [ 5.06329068e-03 -4.06797058e-05 9.99987181e-01 3.31463606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99439141799999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:69.95, Y:2.91, Z:0.33 [[ 9.99956927e-01 -7.77852910e-03 -5.06344310e-03 6.99485091e+01] [ 7.77868221e-03 9.99969746e-01 1.05462573e-05 2.90509957e+00] [ 5.06320788e-03 -4.99327179e-05 9.99987181e-01 3.32064582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:69.98, Y:2.90, Z:0.33 [[ 9.99940676e-01 -9.64396840e-03 -5.06344331e-03 6.99788248e+01] [ 9.64414492e-03 9.99953494e-01 1.04455364e-05 2.90425491e+00] [ 5.06310709e-03 -5.92774978e-05 9.99987181e-01 3.32911621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:70.00, Y:2.91, Z:0.33 [[ 9.99846506e-01 -1.67727788e-02 -5.06344331e-03 7.00044450e+01] [ 1.67730467e-02 9.99859323e-01 1.04455364e-05 2.90814288e+00] [ 5.06255580e-03 -9.53733040e-05 9.99987181e-01 3.33764773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:70.04, Y:2.90, Z:0.33 [[ 9.99848493e-01 -1.66538667e-02 -5.06360540e-03 7.00379031e+01] [ 1.66535967e-02 9.99861315e-01 -9.54699424e-05 2.90283560e+00] [ 5.06449309e-03 1.11282357e-05 9.99987175e-01 3.33031926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:70.07, Y:2.90, Z:0.33 [[ 9.99793817e-01 -1.96643358e-02 -5.06338225e-03 7.00700761e+01] [ 1.96646418e-02 9.99806632e-01 1.06486768e-05 2.90229812e+00] [ 5.06219376e-03 -1.10216079e-04 9.99987181e-01 3.33268427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:70.10, Y:2.90, Z:0.33 [[ 9.99635071e-01 -2.65346357e-02 -5.06338138e-03 7.01010647e+01] [ 2.65350318e-02 9.99647884e-01 1.10493859e-05 2.90115412e+00] [ 5.06130529e-03 -1.45402340e-04 9.99987181e-01 3.33484098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:70.13, Y:2.90, Z:0.33 [[ 9.99539038e-01 -2.99344747e-02 -5.06338071e-03 7.01335670e+01] [ 2.99349158e-02 9.99551850e-01 1.13476867e-05 2.90036879e+00] [ 5.06077187e-03 -1.62914331e-04 9.99987181e-01 3.34351403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:70.16, Y:2.90, Z:0.33 [[ 9.99435350e-01 -3.32166060e-02 -5.06337976e-03 7.01649547e+01] [ 3.32170913e-02 9.99448160e-01 1.17566206e-05 2.89936517e+00] [ 5.06019507e-03 -1.79940730e-04 9.99987181e-01 3.34591655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:70.20, Y:2.90, Z:0.34 [[ 9.99165098e-01 -4.05397342e-02 -5.06337903e-03 7.01974646e+01] [ 4.05403149e-02 9.99177903e-01 1.20611782e-05 2.89659934e+00] [ 5.05872749e-03 -2.17322089e-04 9.99987181e-01 3.36015166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:70.23, Y:2.90, Z:0.34 [[ 9.99006466e-01 -4.42768844e-02 -5.06337805e-03 7.02296698e+01] [ 4.42775151e-02 9.99019270e-01 1.24608641e-05 2.89502512e+00] [ 5.05786051e-03 -2.36642282e-04 9.99987181e-01 3.37079122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29439141799999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:70.26, Y:2.89, Z:0.34 [[ 9.98855691e-01 -4.75570276e-02 -5.06337703e-03 7.02614285e+01] [ 4.75577023e-02 9.98868492e-01 1.28613389e-05 2.89381341e+00] [ 5.05703614e-03 -2.53649199e-04 9.99987181e-01 3.39177903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:70.29, Y:2.89, Z:0.34 [[ 9.98643678e-01 -5.18185994e-02 -5.06337595e-03 7.02926803e+01] [ 5.18193308e-02 9.98656476e-01 1.32730583e-05 2.89312863e+00] [ 5.05588539e-03 -2.75635809e-04 9.99987181e-01 3.38890004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35439141799999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:70.32, Y:2.89, Z:0.34 [[ 9.98566612e-01 -5.32830605e-02 -5.06337513e-03 7.03245722e+01] [ 5.32838122e-02 9.98579409e-01 1.35794932e-05 2.89376913e+00] [ 5.05545859e-03 -2.83355958e-04 9.99987181e-01 3.39721285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:70.36, Y:2.89, Z:0.34 [[ 9.98555212e-01 -5.34962777e-02 -5.06337399e-03 7.03562337e+01] [ 5.34970342e-02 9.98568008e-01 1.39918529e-05 2.89388386e+00] [ 5.05537477e-03 -2.84847129e-04 9.99987181e-01 3.37309718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:70.39, Y:2.89, Z:0.33 [[ 9.98665864e-01 -5.13892506e-02 -5.06337283e-03 7.03889125e+01] [ 5.13899822e-02 9.98678662e-01 1.44007863e-05 2.89430007e+00] [ 5.05594236e-03 -2.74588213e-04 9.99987181e-01 3.31206604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:70.42, Y:2.90, Z:0.33 [[ 9.98740173e-01 -4.99242384e-02 -5.06337134e-03 7.04208471e+01] [ 4.99249538e-02 9.98752972e-01 1.49082660e-05 2.89567280e+00] [ 5.05631288e-03 -2.67678064e-04 9.99987181e-01 3.33734737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474391418 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:70.45, Y:2.90, Z:0.33 [[ 9.98880495e-01 -4.70331776e-02 -5.06337009e-03 7.04534646e+01] [ 4.70338580e-02 9.98893296e-01 1.53201812e-05 2.89631789e+00] [ 5.05704588e-03 -2.53452860e-04 9.99987181e-01 3.34380075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:70.48, Y:2.90, Z:0.34 [[ 9.99031266e-01 -4.37137441e-02 -5.06336880e-03 7.04843875e+01] [ 4.37143840e-02 9.99044069e-01 1.57364251e-05 2.89752329e+00] [ 5.05784067e-03 -2.37063229e-04 9.99987181e-01 3.35975710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:70.52, Y:2.90, Z:0.34 [[ 9.99384377e-01 -3.47164187e-02 -5.06336781e-03 7.05165845e+01] [ 3.47169450e-02 9.99397185e-01 1.60463493e-05 2.90191356e+00] [ 5.05975847e-03 -1.91821132e-04 9.99987181e-01 3.41028648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:70.55, Y:2.91, Z:0.34 [[ 9.99695910e-01 -2.41340000e-02 -5.06336649e-03 7.05488081e+01] [ 2.41343927e-02 9.99708723e-01 1.64540744e-05 2.90650312e+00] [ 5.06149454e-03 -1.38650346e-04 9.99987181e-01 3.42374881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:70.58, Y:2.91, Z:0.34 [[ 9.99798466e-01 -1.94265144e-02 -5.06336305e-03 7.05814169e+01] [ 1.94268517e-02 9.99811281e-01 1.74526353e-05 2.90831761e+00] [ 5.06206845e-03 -1.15814321e-04 9.99987181e-01 3.44396996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:70.61, Y:2.91, Z:0.34 [[ 9.99928549e-01 -1.08286135e-02 -5.06336158e-03 7.06128280e+01] [ 1.08288428e-02 9.99941366e-01 1.78684261e-05 2.91205293e+00] [ 5.06287120e-03 -7.26974961e-05 9.99987181e-01 3.44374019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65439141799999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:70.64, Y:2.92, Z:0.35 [[ 9.99981170e-01 -3.46715823e-03 -5.06336047e-03 7.06443688e+01] [ 3.46729472e-03 9.99993989e-01 1.81772004e-05 2.91570301e+00] [ 5.06326701e-03 -3.57330211e-05 9.99987181e-01 3.45778883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:70.67, Y:2.92, Z:0.34 [[ 9.99987018e-01 5.71306361e-04 -5.06335973e-03 7.06731842e+01] [-5.71220614e-04 9.99999837e-01 1.83809190e-05 2.91640990e+00] [ 5.06336941e-03 -1.54883850e-05 9.99987181e-01 3.40796258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71439141799999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:70.70, Y:2.92, Z:0.34 [[ 9.99987152e-01 2.39507620e-04 -5.06336081e-03 7.07019971e+01] [-2.39419152e-04 9.99999971e-01 1.80783022e-05 2.91544634e+00] [ 5.06336500e-03 -1.68658044e-05 9.99987181e-01 3.39718227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:70.73, Y:2.92, Z:0.34 [[ 9.99987174e-01 1.21236794e-04 -5.06336221e-03 7.07304504e+01] [-1.21148831e-04 9.99999993e-01 1.76791302e-05 2.91546210e+00] [ 5.06336431e-03 -1.70654830e-05 9.99987181e-01 3.39862429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:70.76, Y:2.92, Z:0.34 [[ 9.99987180e-01 4.23916177e-05 -5.06336423e-03 7.07597513e+01] [-4.23056764e-05 9.99999999e-01 1.70802768e-05 2.91544015e+00] [ 5.06336494e-03 -1.68658488e-05 9.99987181e-01 3.40010990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:70.79, Y:2.92, Z:0.34 [[ 9.99985510e-01 -1.82809588e-03 -5.06336554e-03 7.07880244e+01] [ 1.82820377e-03 9.99998329e-01 1.66810600e-05 2.91585340e+00] [ 5.06332658e-03 -2.59376823e-05 9.99987181e-01 3.43065964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:70.82, Y:2.92, Z:0.35 [[ 9.99980864e-01 -3.55448963e-03 -5.06336728e-03 7.08168472e+01] [ 3.55461689e-03 9.99993682e-01 1.61342276e-05 2.91590554e+00] [ 5.06327794e-03 -3.41322497e-05 9.99987181e-01 3.45041115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:70.85, Y:2.92, Z:0.35 [[ 9.99971704e-01 -5.56352570e-03 -5.06336851e-03 7.08469303e+01] [ 5.56367670e-03 9.99984523e-01 1.57381767e-05 2.91568187e+00] [ 5.06320259e-03 -4.39086768e-05 9.99987181e-01 3.45643640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:70.88, Y:2.91, Z:0.34 [[ 9.99935967e-01 -1.01205190e-02 -5.06336912e-03 7.08765237e+01] [ 1.01207274e-02 9.99948784e-01 1.55411561e-05 2.91428078e+00] [ 5.06295251e-03 -6.67851394e-05 9.99987181e-01 3.42214231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:70.91, Y:2.91, Z:0.34 [[ 9.99906345e-01 -1.27146598e-02 -5.06336863e-03 7.09073944e+01] [ 1.27149022e-02 9.99919162e-01 1.56973516e-05 2.91284938e+00] [ 5.06275974e-03 -8.00761186e-05 9.99987181e-01 3.40331517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:70.94, Y:2.91, Z:0.34 [[ 9.99875707e-01 -1.49309260e-02 -5.06336803e-03 7.09399990e+01] [ 1.49311979e-02 9.99888523e-01 1.58896363e-05 2.91111310e+00] [ 5.06256634e-03 -9.14898114e-05 9.99987181e-01 3.40726223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:70.97, Y:2.91, Z:0.34 [[ 9.99829888e-01 -1.77357387e-02 -5.06336672e-03 7.09711991e+01] [ 1.77360486e-02 9.99842704e-01 1.62960615e-05 2.90933110e+00] [ 5.06228125e-03 -1.06097408e-04 9.99987181e-01 3.42859365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:71.00, Y:2.91, Z:0.35 [[ 9.99818872e-01 -1.83462638e-02 -5.06336573e-03 7.10037395e+01] [ 1.83465830e-02 9.99831687e-01 1.65989048e-05 2.91005179e+00] [ 5.06220897e-03 -1.09491358e-04 9.99987181e-01 3.48610120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:71.04, Y:2.91, Z:0.35 [[ 9.99816319e-01 -1.84848738e-02 -5.06336444e-03 7.10360977e+01] [ 1.84851967e-02 9.99829134e-01 1.69837293e-05 2.91153918e+00] [ 5.06218534e-03 -1.10577897e-04 9.99987181e-01 3.53257803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07439141799999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:71.07, Y:2.91, Z:0.35 [[ 9.99833226e-01 -1.75465810e-02 -5.06336313e-03 7.10686527e+01] [ 1.75468938e-02 9.99846041e-01 1.73668851e-05 2.91180520e+00] [ 5.06227885e-03 -1.06210284e-04 9.99987181e-01 3.53957572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:71.10, Y:2.91, Z:0.35 [[ 9.99838822e-01 -1.72247760e-02 -5.06336168e-03 7.10999876e+01] [ 1.72250868e-02 9.99851637e-01 1.77779650e-05 2.91030029e+00] [ 5.06230425e-03 -1.04991944e-04 9.99987181e-01 3.50979416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13439141799999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:71.13, Y:2.91, Z:0.35 [[ 9.99837742e-01 -1.72873141e-02 -5.06335915e-03 7.11310320e+01] [ 1.72876293e-02 9.99850558e-01 1.84728478e-05 2.90774467e+00] [ 5.06228312e-03 -1.06003326e-04 9.99987181e-01 3.48223451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:71.16, Y:2.91, Z:0.35 [[ 9.99826507e-01 -1.79253767e-02 -5.06335670e-03 7.11634470e+01] [ 1.79257033e-02 9.99839321e-01 1.91203695e-05 2.90533348e+00] [ 5.06220039e-03 -1.09881282e-04 9.99987181e-01 3.48745727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:71.20, Y:2.90, Z:0.35 [[ 9.99819994e-01 -1.82850365e-02 -5.06335527e-03 7.11960132e+01] [ 1.82853696e-02 9.99832808e-01 1.94909975e-05 2.90343568e+00] [ 5.06215233e-03 -1.12072812e-04 9.99987181e-01 3.52431054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:71.23, Y:2.90, Z:0.35 [[ 9.99821250e-01 -1.82162040e-02 -5.06335366e-03 7.12280074e+01] [ 1.82165383e-02 9.99834065e-01 1.99027151e-05 2.90190134e+00] [ 5.06215092e-03 -1.12135933e-04 9.99987181e-01 3.54881103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:71.26, Y:2.90, Z:0.35 [[ 9.99840832e-01 -1.71076885e-02 -5.06335200e-03 7.12604683e+01] [ 1.71080107e-02 9.99853647e-01 2.03146289e-05 2.90084261e+00] [ 5.06226343e-03 -1.06935276e-04 9.99987181e-01 3.53389271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:71.29, Y:2.90, Z:0.35 [[ 9.99905331e-01 -1.27941659e-02 -5.06335033e-03 7.12917425e+01] [ 1.27944349e-02 9.99918148e-01 2.07225452e-05 2.89795568e+00] [ 5.06267076e-03 -8.55032894e-05 9.99987181e-01 3.48106401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:71.32, Y:2.90, Z:0.35 [[ 9.99938695e-01 -9.84727842e-03 -5.06334907e-03 7.13226154e+01] [ 9.84751111e-03 9.99951512e-01 2.10261709e-05 2.89691351e+00] [ 5.06289651e-03 -7.08862681e-05 9.99987181e-01 3.48372372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344391418 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:71.35, Y:2.90, Z:0.35 [[ 9.99974819e-01 -4.97224789e-03 -5.06334824e-03 7.13543164e+01] [ 4.97241910e-03 9.99987637e-01 2.12247938e-05 2.89516031e+00] [ 5.06318011e-03 -4.64013488e-05 9.99987181e-01 3.46975319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37439141799999 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:71.38, Y:2.90, Z:0.35 [[ 9.99985423e-01 -1.87531673e-03 -5.06320031e-03 7.13831129e+01] [ 1.87562644e-03 9.99998239e-01 5.64204097e-05 2.89596448e+00] [ 5.06308559e-03 -6.59162596e-05 9.99987180e-01 3.48548650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:71.41, Y:2.90, Z:0.35 [[ 9.99967106e-01 6.33639957e-03 -5.06334373e-03 7.14115597e+01] [-6.33638021e-03 9.99979925e-01 1.98649508e-05 2.89721095e+00] [ 5.06336795e-03 1.22189737e-05 9.99987181e-01 3.49825189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43439141799999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:71.44, Y:2.90, Z:0.35 [[ 9.99944322e-01 9.25821368e-03 -5.06334489e-03 7.14394589e+01] [-9.25823330e-03 9.99957141e-01 1.95649338e-05 2.89708339e+00] [ 5.06330902e-03 2.73137838e-05 9.99987181e-01 3.50355469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:71.47, Y:2.90, Z:0.35 [[ 9.99924616e-01 1.11858892e-02 -5.06335056e-03 7.14677479e+01] [-1.11859416e-02 9.99937435e-01 1.79662708e-05 2.89530212e+00] [ 5.06323474e-03 3.86734273e-05 9.99987181e-01 3.49176106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49439141799999 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:71.50, Y:2.89, Z:0.35 [[ 9.99921098e-01 1.14960711e-02 -5.06335260e-03 7.14965293e+01] [-1.14961305e-02 9.99933917e-01 1.73722341e-05 2.88989146e+00] [ 5.06321771e-03 4.08380990e-05 9.99987181e-01 3.50846363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:71.53, Y:2.89, Z:0.35 [[ 9.99931334e-01 1.05683700e-02 -5.06335395e-03 7.15257918e+01] [-1.05684196e-02 9.99944153e-01 1.69685755e-05 2.88777051e+00] [ 5.06325050e-03 3.65442386e-05 9.99987181e-01 3.53067421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:71.55, Y:2.89, Z:0.35 [[ 9.99944554e-01 9.23319798e-03 -5.06335528e-03 7.15540278e+01] [-9.23323248e-03 9.99957373e-01 1.65630643e-05 2.88619777e+00] [ 5.06329237e-03 3.01889904e-05 9.99987181e-01 3.51672934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:71.58, Y:2.88, Z:0.35 [[ 9.99973645e-01 5.20306483e-03 -5.06335687e-03 7.15831033e+01] [-5.20305021e-03 9.99986464e-01 1.60602719e-05 2.88395976e+00] [ 5.06337190e-03 1.02850514e-05 9.99987181e-01 3.50987655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:71.61, Y:2.88, Z:0.35 [[ 9.99981798e-01 3.28122985e-03 -5.06335813e-03 7.16116156e+01] [-3.28119266e-03 9.99994617e-01 1.56520702e-05 2.88235786e+00] [ 5.06338223e-03 9.62068279e-07 9.99987181e-01 3.49997731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:71.64, Y:2.88, Z:0.35 [[ 9.99986371e-01 1.27280759e-03 -5.06335937e-03 7.16399641e+01] [-1.27274674e-03 9.99999190e-01 1.52405042e-05 2.88080749e+00] [ 5.06337467e-03 -8.79592237e-06 9.99987181e-01 3.49840774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:71.67, Y:2.88, Z:0.35 [[ 9.99986471e-01 1.19185340e-03 -5.06336057e-03 7.16692670e+01] [-1.19179358e-03 9.99999290e-01 1.48316728e-05 2.88079684e+00] [ 5.06337465e-03 -8.79699152e-06 9.99987181e-01 3.49989269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:71.70, Y:2.88, Z:0.35 [[ 9.99985283e-01 -1.94817296e-03 -5.06336174e-03 7.16970850e+01] [ 1.94827095e-03 9.99998102e-01 1.44217721e-05 2.87795539e+00] [ 5.06332403e-03 -2.42863605e-05 9.99987181e-01 3.52585669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:71.73, Y:2.88, Z:0.35 [[ 9.99980979e-01 -3.52181275e-03 -5.06336313e-03 7.17263329e+01] [ 3.52192835e-03 9.99993798e-01 1.39140621e-05 2.87640576e+00] [ 5.06328273e-03 -3.17465996e-05 9.99987181e-01 3.53454777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:71.75, Y:2.88, Z:0.35 [[ 9.99969406e-01 -5.96240059e-03 -5.06336422e-03 7.17547778e+01] [ 5.96254541e-03 9.99982224e-01 1.35060538e-05 2.87517783e+00] [ 5.06319368e-03 -4.36961796e-05 9.99987181e-01 3.53982522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79439141799999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:71.78, Y:2.87, Z:0.35 [[ 9.99906259e-01 -1.27214678e-02 -5.06336501e-03 7.17846525e+01] [ 1.27216977e-02 9.99919076e-01 1.32025471e-05 2.87152424e+00] [ 5.06278731e-03 -7.76159086e-05 9.99987181e-01 3.53329338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:71.82, Y:2.87, Z:0.35 [[ 9.99851644e-01 -1.64636698e-02 -5.06336554e-03 7.18154838e+01] [ 1.64639466e-02 9.99864460e-01 1.29971910e-05 2.86858122e+00] [ 5.06246527e-03 -9.63582428e-05 9.99987181e-01 3.53318726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85439141799999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:71.85, Y:2.87, Z:0.35 [[ 9.99772157e-01 -2.07363611e-02 -5.06336379e-03 7.18463141e+01] [ 2.07366960e-02 9.99784972e-01 1.36468989e-05 2.86572942e+00] [ 5.06199203e-03 -1.18641225e-04 9.99987181e-01 3.54393179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:71.88, Y:2.86, Z:0.36 [[ 9.99682630e-01 -2.46779649e-02 -5.06336295e-03 7.18786120e+01] [ 2.46783519e-02 9.99695443e-01 1.39514173e-05 2.86318843e+00] [ 5.06147657e-03 -1.38902442e-04 9.99987181e-01 3.56612090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:71.91, Y:2.86, Z:0.36 [[ 9.99503453e-01 -3.10999991e-02 -5.06336179e-03 7.19103860e+01] [ 3.11004704e-02 9.99516263e-01 1.43603498e-05 2.86111567e+00] [ 5.06046585e-03 -1.71826153e-04 9.99987181e-01 3.60910321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:71.94, Y:2.86, Z:0.36 [[ 9.99439163e-01 -3.31016891e-02 -5.06336059e-03 7.19419455e+01] [ 3.31021882e-02 9.99451972e-01 1.47725117e-05 2.86024215e+00] [ 5.06009673e-03 -1.82372542e-04 9.99987181e-01 3.59977129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:71.97, Y:2.86, Z:0.36 [[ 9.99403559e-01 -3.41597465e-02 -5.06335967e-03 7.19731668e+01] [ 3.41602607e-02 9.99416368e-01 1.50800386e-05 2.85887334e+00] [ 5.05988940e-03 -1.88036731e-04 9.99987181e-01 3.55461359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:72.01, Y:2.86, Z:0.35 [[ 9.99299642e-01 -3.70754447e-02 -5.06335876e-03 7.20055416e+01] [ 3.70759977e-02 9.99312449e-01 1.53813642e-05 2.85697612e+00] [ 5.05930717e-03 -2.03099670e-04 9.99987181e-01 3.51220347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:72.04, Y:2.86, Z:0.35 [[ 9.99266404e-01 -3.79607235e-02 -5.06335752e-03 7.20373930e+01] [ 3.79612900e-02 9.99279210e-01 1.57780581e-05 2.85576044e+00] [ 5.05910896e-03 -2.07978066e-04 9.99987181e-01 3.52315920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:72.07, Y:2.86, Z:0.36 [[ 9.99213014e-01 -3.93410119e-02 -5.06335625e-03 7.20685132e+01] [ 3.93415981e-02 9.99225820e-01 1.61739778e-05 2.85538734e+00] [ 5.05880000e-03 -2.15361776e-04 9.99987181e-01 3.56019605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:72.10, Y:2.86, Z:0.36 [[ 9.99152955e-01 -4.08379215e-02 -5.06335530e-03 7.21010951e+01] [ 4.08385283e-02 9.99165759e-01 1.64687394e-05 2.85628693e+00] [ 5.05845869e-03 -2.23234768e-04 9.99987181e-01 3.60205429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:72.13, Y:2.86, Z:0.36 [[ 9.99116126e-01 -4.17292336e-02 -5.06335327e-03 7.21336752e+01] [ 4.17298549e-02 9.99128930e-01 1.70683797e-05 2.85687649e+00] [ 5.05823049e-03 -2.28346291e-04 9.99987181e-01 3.58089113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15439141799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:72.16, Y:2.86, Z:0.36 [[ 9.99026797e-01 -4.38157702e-02 -5.06335189e-03 7.21644435e+01] [ 4.38164202e-02 9.99039599e-01 1.74699280e-05 2.85750933e+00] [ 5.05772358e-03 -2.39310880e-04 9.99987181e-01 3.57013087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:72.20, Y:2.85, Z:0.35 [[ 9.98852820e-01 -4.76172849e-02 -5.06335084e-03 7.21970402e+01] [ 4.76179852e-02 9.98865620e-01 1.77689870e-05 2.85476227e+00] [ 5.05676097e-03 -2.58855168e-04 9.99987181e-01 3.50317765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21439141799999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:72.23, Y:2.85, Z:0.35 [[ 9.98786006e-01 -4.89987419e-02 -5.06334943e-03 7.22296945e+01] [ 4.89994619e-02 9.98798805e-01 1.81617930e-05 2.85320040e+00] [ 5.05637745e-03 -2.66241142e-04 9.99987181e-01 3.49401612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:72.26, Y:2.85, Z:0.35 [[ 9.98774229e-01 -4.92382080e-02 -5.06334725e-03 7.22612046e+01] [ 4.92389340e-02 9.98787028e-01 1.87513079e-05 2.85417345e+00] [ 5.05628227e-03 -2.68042144e-04 9.99987181e-01 3.54286749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:72.29, Y:2.86, Z:0.36 [[ 9.98844203e-01 -4.77977067e-02 -5.06334615e-03 7.22941131e+01] [ 4.77984157e-02 9.98857002e-01 1.90430415e-05 2.85640209e+00] [ 5.05664854e-03 -2.61040956e-04 9.99987181e-01 3.57453789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:72.33, Y:2.86, Z:0.36 [[ 9.98956166e-01 -4.53975877e-02 -5.06334373e-03 7.23257102e+01] [ 4.53982692e-02 9.98968967e-01 1.96668497e-05 2.85957858e+00] [ 5.05723042e-03 -2.49513362e-04 9.99987181e-01 3.58397501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:72.36, Y:2.86, Z:0.36 [[ 9.99084456e-01 -4.24807195e-02 -5.06334167e-03 7.23579711e+01] [ 4.24813661e-02 9.99097259e-01 2.01828159e-05 2.86251028e+00] [ 5.05791340e-03 -2.35262009e-04 9.99987181e-01 3.57203301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:72.39, Y:2.86, Z:0.35 [[ 9.99296769e-01 -3.71527801e-02 -5.06334007e-03 7.23901050e+01] [ 3.71533605e-02 9.99309575e-01 2.05771949e-05 2.86467387e+00] [ 5.05907971e-03 -2.08682823e-04 9.99987181e-01 3.53227112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:72.42, Y:2.86, Z:0.35 [[ 9.99378832e-01 -3.48756771e-02 -5.06333839e-03 7.24220413e+01] [ 3.48762303e-02 9.99391639e-01 2.09819960e-05 2.86422487e+00] [ 5.05952629e-03 -1.97559119e-04 9.99987181e-01 3.51061252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:72.45, Y:2.86, Z:0.35 [[ 9.99456534e-01 -3.25729773e-02 -5.06333668e-03 7.24546766e+01] [ 3.25735030e-02 9.99469342e-01 2.13878462e-05 2.86426485e+00] [ 5.05995311e-03 -1.86306835e-04 9.99987181e-01 3.50842337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:72.49, Y:2.86, Z:0.35 [[ 9.99562435e-01 -2.91427688e-02 -5.06333494e-03 7.24858876e+01] [ 2.91432527e-02 9.99575245e-01 2.17914145e-05 2.86482411e+00] [ 5.06054920e-03 -1.69343929e-04 9.99987181e-01 3.50201154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:72.52, Y:2.87, Z:0.36 [[ 9.99717238e-01 -2.32337274e-02 -5.06333203e-03 7.25177542e+01] [ 2.32341388e-02 9.99730051e-01 2.24481986e-05 2.87163969e+00] [ 5.06144363e-03 -1.40084010e-04 9.99987181e-01 3.59051604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51439141799999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:72.55, Y:2.87, Z:0.36 [[ 9.99802074e-01 -1.92399214e-02 -5.06333019e-03 7.25501974e+01] [ 1.92402838e-02 9.99814888e-01 2.28554365e-05 2.87474393e+00] [ 5.06195317e-03 -1.20270822e-04 9.99987181e-01 3.59977558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:72.58, Y:2.88, Z:0.36 [[ 9.99874283e-01 -1.50260174e-02 -5.06332830e-03 7.25825392e+01] [ 1.50263278e-02 9.99887098e-01 2.32667093e-05 2.87654054e+00] [ 5.06240703e-03 -9.93470152e-05 9.99987181e-01 3.59290061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57439141799999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:72.61, Y:2.88, Z:0.36 [[ 9.99957131e-01 -7.75229355e-03 -5.06332639e-03 7.26138021e+01] [ 7.75251279e-03 9.99969949e-01 2.36748163e-05 2.87556616e+00] [ 5.06299070e-03 -6.29273040e-05 9.99987181e-01 3.58420010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:72.64, Y:2.87, Z:0.36 [[ 9.99979842e-01 -3.83122968e-03 -5.06332543e-03 7.26432883e+01] [ 3.83139971e-03 9.99992660e-01 2.38795748e-05 2.87381801e+00] [ 5.06319677e-03 -4.32787170e-05 9.99987181e-01 3.56995742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63439141799999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:72.67, Y:2.88, Z:0.36 [[ 9.99985850e-01 1.63172187e-03 -5.06332590e-03 7.26733159e+01] [-1.63162239e-03 9.99998669e-01 2.37781445e-05 2.87558530e+00] [ 5.06335796e-03 -1.55163721e-05 9.99987181e-01 3.63321854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:72.70, Y:2.88, Z:0.37 [[ 9.99969770e-01 5.90100764e-03 -5.06332685e-03 7.26995780e+01] [-5.90096392e-03 9.99982589e-01 2.35747776e-05 2.87747203e+00] [ 5.06337781e-03 6.30444412e-06 9.99987181e-01 3.65095365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:72.73, Y:2.88, Z:0.37 [[ 9.99969882e-01 5.88189625e-03 -5.06348435e-03 7.27307883e+01] [-5.88203189e-03 9.99982701e-01 -1.18956239e-05 2.88012979e+00] [ 5.06332679e-03 4.16788421e-05 9.99987180e-01 3.66762338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:72.76, Y:2.88, Z:0.36 [[ 9.99968417e-01 6.12602059e-03 -5.06331955e-03 7.27594694e+01] [-6.12597990e-03 9.99981236e-01 2.35452834e-05 2.88188110e+00] [ 5.06336878e-03 7.47325397e-06 9.99987181e-01 3.61164847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:72.79, Y:2.88, Z:0.36 [[ 9.99977416e-01 4.41933116e-03 -5.06332138e-03 7.27885992e+01] [-4.41927062e-03 9.99990235e-01 2.31444456e-05 2.87987958e+00] [ 5.06337422e-03 -7.67735449e-07 9.99987181e-01 3.55563272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:72.82, Y:2.88, Z:0.35 [[ 9.99986338e-01 1.29852678e-03 -5.06332317e-03 7.28173040e+01] [-1.29842825e-03 9.99999157e-01 2.27466594e-05 2.87661365e+00] [ 5.06334843e-03 -1.61719868e-05 9.99987181e-01 3.52933697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:72.85, Y:2.87, Z:0.36 [[ 9.99964345e-01 -6.75812039e-03 -5.06332498e-03 7.28461624e+01] [ 6.75832011e-03 9.99977162e-01 2.23359306e-05 2.87226850e+00] [ 5.06305839e-03 -5.65547052e-05 9.99987181e-01 3.56585892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:72.88, Y:2.87, Z:0.36 [[ 9.99925322e-01 -1.11226018e-02 -5.06332630e-03 7.28766515e+01] [ 1.11228559e-02 9.99938139e-01 2.20308508e-05 2.87335936e+00] [ 5.06276804e-03 -7.83478544e-05 9.99987181e-01 3.63029668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87439141799999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:72.91, Y:2.87, Z:0.37 [[ 9.99880913e-01 -1.45781797e-02 -5.06332630e-03 7.29083777e+01] [ 1.45784781e-02 9.99893728e-01 2.20308508e-05 2.87488649e+00] [ 5.06246705e-03 -9.58438191e-05 9.99987181e-01 3.67793180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:72.94, Y:2.88, Z:0.37 [[ 9.99834462e-01 -1.74760216e-02 -5.06332543e-03 7.29404918e+01] [ 1.74763582e-02 9.99847277e-01 2.22299554e-05 2.87540436e+00] [ 5.06216365e-03 -1.10714764e-04 9.99987181e-01 3.68458775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93439141799999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:72.97, Y:2.87, Z:0.36 [[ 9.99717616e-01 -2.32174606e-02 -5.06332363e-03 7.29712999e+01] [ 2.32178728e-02 9.99730429e-01 2.26324852e-05 2.87169505e+00] [ 5.06143324e-03 -1.40185698e-04 9.99987181e-01 3.57012367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:73.00, Y:2.87, Z:0.35 [[ 9.99613956e-01 -2.73185412e-02 -5.06332228e-03 7.30030782e+01] [ 2.73190075e-02 9.99626766e-01 2.29318181e-05 2.86939723e+00] [ 5.06080601e-03 -1.61247904e-04 9.99987181e-01 3.54000294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99439141799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:73.03, Y:2.87, Z:0.35 [[ 9.99515100e-01 -3.07234178e-02 -5.06332044e-03 7.30345531e+01] [ 3.07239297e-02 9.99527908e-01 2.33296999e-05 2.86651051e+00] [ 5.06021332e-03 -1.78883489e-04 9.99987181e-01 3.50329063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:73.07, Y:2.86, Z:0.35 [[ 9.99354265e-01 -3.55726887e-02 -5.06331906e-03 7.30668527e+01] [ 3.55732642e-02 9.99367071e-01 2.36260824e-05 2.86410978e+00] [ 5.05927389e-03 -2.03729613e-04 9.99987181e-01 3.52905828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054391418 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:73.10, Y:2.87, Z:0.36 [[ 9.99326143e-01 -3.63541185e-02 -5.06331723e-03 7.30994484e+01] [ 3.63547060e-02 9.99338949e-01 2.40121962e-05 2.86520367e+00] [ 5.05909717e-03 -2.08071425e-04 9.99987181e-01 3.56350881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:73.13, Y:2.87, Z:0.36 [[ 9.99335598e-01 -3.60932855e-02 -5.06331532e-03 7.31323016e+01] [ 3.60938717e-02 9.99348404e-01 2.44089341e-05 2.86747562e+00] [ 5.05913508e-03 -2.07147370e-04 9.99987181e-01 3.57903174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:73.16, Y:2.87, Z:0.36 [[ 9.99418774e-01 -3.37116792e-02 -5.06331233e-03 7.31640182e+01] [ 3.37122379e-02 9.99431581e-01 2.50128450e-05 2.87014095e+00] [ 5.05959102e-03 -1.95693897e-04 9.99987181e-01 3.55989621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:73.20, Y:2.87, Z:0.36 [[ 9.99474180e-01 -3.20269531e-02 -5.06331034e-03 7.31964746e+01] [ 3.20274922e-02 9.99486988e-01 2.54103600e-05 2.86936661e+00] [ 5.05989898e-03 -1.87562131e-04 9.99987181e-01 3.55338129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:73.23, Y:2.87, Z:0.36 [[ 9.99539896e-01 -2.99058422e-02 -5.06330834e-03 7.32284480e+01] [ 2.99063562e-02 9.99552705e-01 2.58031164e-05 2.86843598e+00] [ 5.06027188e-03 -1.77216347e-04 9.99987181e-01 3.56323184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:73.26, Y:2.87, Z:0.36 [[ 9.99787657e-01 -1.99750855e-02 -5.06330629e-03 7.32636468e+01] [ 1.99754741e-02 9.99800470e-01 2.61986227e-05 2.86524513e+00] [ 5.06177269e-03 -1.27335003e-04 9.99987181e-01 3.60220562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:73.29, Y:2.87, Z:0.37 [[ 9.99799978e-01 -1.93486929e-02 -5.06285449e-03 7.32897598e+01] [ 1.93494826e-02 9.99812776e-01 1.07024415e-04 2.87219778e+00] [ 5.05983582e-03 -2.04966623e-04 9.99987178e-01 3.66208380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:73.32, Y:2.88, Z:0.37 [[ 9.99884082e-01 -1.43591699e-02 -5.06327274e-03 7.33224261e+01] [ 1.43594867e-02 9.99896897e-01 2.62004779e-05 2.87580589e+00] [ 5.06237449e-03 -9.89034382e-05 9.99987181e-01 3.69150271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29439141799999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:73.35, Y:2.88, Z:0.37 [[ 9.99968058e-01 -6.18432044e-03 -5.06327058e-03 7.33542559e+01] [ 6.18453446e-03 9.99980875e-01 2.66117460e-05 2.88252833e+00] [ 5.06300917e-03 -5.79248673e-05 9.99987181e-01 3.67446710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:73.38, Y:2.88, Z:0.36 [[ 9.99980657e-01 -3.61234982e-03 -5.06326950e-03 7.33840986e+01] [ 3.61253190e-03 9.99993474e-01 2.68151484e-05 2.88288072e+00] [ 5.06313960e-03 -4.51058523e-05 9.99987181e-01 3.63727877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35439141799999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:73.41, Y:2.88, Z:0.36 [[ 9.99985936e-01 -1.57838558e-03 -5.06327003e-03 7.34133962e+01] [ 1.57854107e-03 9.99998754e-01 2.67145950e-05 2.88124776e+00] [ 5.06322156e-03 -3.47067990e-05 9.99987181e-01 3.60165927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:73.44, Y:2.88, Z:0.36 [[ 9.99986986e-01 -6.26154778e-04 -5.06327108e-03 7.34418502e+01] [ 6.26297057e-04 9.99999804e-01 2.65146987e-05 2.87964368e+00] [ 5.06325348e-03 -2.96854654e-05 9.99987181e-01 3.57270280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:73.47, Y:2.88, Z:0.36 [[ 9.99987152e-01 -2.42252826e-04 -5.06327262e-03 7.34697672e+01] [ 2.42388680e-04 9.99999970e-01 2.62176849e-05 2.87942538e+00] [ 5.06326612e-03 -2.74446280e-05 9.99987181e-01 3.56802098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:73.50, Y:2.88, Z:0.36 [[ 9.99987035e-01 -5.40454231e-04 -5.06327511e-03 7.34983996e+01] [ 5.40591427e-04 9.99999854e-01 2.57277668e-05 2.88004651e+00] [ 5.06326046e-03 -2.84645964e-05 9.99987181e-01 3.57856608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:73.53, Y:2.88, Z:0.36 [[ 9.99986899e-01 -7.51209907e-04 -5.06327706e-03 7.35271706e+01] [ 7.51347835e-04 9.99999717e-01 2.53387404e-05 2.88087673e+00] [ 5.06325659e-03 -2.91426907e-05 9.99987181e-01 3.60198057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:73.56, Y:2.88, Z:0.36 [[ 9.99986291e-01 -1.33482464e-03 -5.06328349e-03 7.35556874e+01] [ 1.33496317e-03 9.99999109e-01 2.39796736e-05 2.88399337e+00] [ 5.06324697e-03 -3.07386418e-05 9.99987181e-01 3.63405916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:73.58, Y:2.88, Z:0.36 [[ 9.99985575e-01 -1.79269675e-03 -5.06328530e-03 7.35847933e+01] [ 1.79283918e-03 9.99998393e-01 2.35912166e-05 2.88414017e+00] [ 5.06323487e-03 -3.26685325e-05 9.99987181e-01 3.64796422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:73.61, Y:2.88, Z:0.36 [[ 9.99977015e-01 -4.50909968e-03 -5.06328719e-03 7.36131781e+01] [ 4.50927484e-03 9.99989833e-01 2.31779296e-05 2.88138829e+00] [ 5.06313120e-03 -4.60091504e-05 9.99987181e-01 3.61933472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:73.64, Y:2.88, Z:0.36 [[ 9.99976845e-01 -4.54661676e-03 -5.06328858e-03 7.36433289e+01] [ 4.54679085e-03 9.99989663e-01 2.28706401e-05 2.88129254e+00] [ 5.06313226e-03 -4.58918247e-05 9.99987181e-01 3.62086233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:73.67, Y:2.88, Z:0.36 [[ 9.99962771e-01 -6.98706318e-03 -5.06328943e-03 7.36729341e+01] [ 6.98726758e-03 9.99975588e-01 2.26806813e-05 2.87966998e+00] [ 5.06300736e-03 -5.80583950e-05 9.99987181e-01 3.61249037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65439141799999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:73.70, Y:2.88, Z:0.36 [[ 9.99941649e-01 -9.54258403e-03 -5.06329033e-03 7.37026008e+01] [ 9.54282016e-03 9.99954466e-01 2.24784384e-05 2.87809496e+00] [ 5.06284528e-03 -7.07951958e-05 9.99987181e-01 3.58588403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:73.73, Y:2.88, Z:0.36 [[ 9.99910695e-01 -1.23678917e-02 -5.06329077e-03 7.37333271e+01] [ 1.23681635e-02 9.99923511e-01 2.23780369e-05 2.87657223e+00] [ 5.06262672e-03 -8.49996466e-05 9.99987181e-01 3.58786645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71439141799999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:73.76, Y:2.87, Z:0.36 [[ 9.99880825e-01 -1.45841704e-02 -5.06329077e-03 7.37646993e+01] [ 1.45844706e-02 9.99893641e-01 2.23780369e-05 2.87419216e+00] [ 5.06242588e-03 -9.62207857e-05 9.99987181e-01 3.63705630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:73.80, Y:2.88, Z:0.37 [[ 9.99887218e-01 -1.41391259e-02 -5.06328989e-03 7.37970455e+01] [ 1.41394215e-02 9.99900033e-01 2.25767494e-05 2.87564582e+00] [ 5.06246451e-03 -9.41661930e-05 9.99987181e-01 3.70049091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:73.83, Y:2.88, Z:0.37 [[ 9.99955250e-01 -7.99135477e-03 -5.06328802e-03 7.38271169e+01] [ 7.99157360e-03 9.99968067e-01 2.29891022e-05 2.87792723e+00] [ 5.06294261e-03 -6.34517122e-05 9.99987181e-01 3.68714286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:73.86, Y:2.88, Z:0.37 [[ 9.99977130e-01 -4.48364564e-03 -5.06328755e-03 7.38573978e+01] [ 4.48382003e-03 9.99989947e-01 2.30910274e-05 2.87747880e+00] [ 5.06313312e-03 -4.57933695e-05 9.99987181e-01 3.66919069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:73.89, Y:2.88, Z:0.37 [[ 9.99986348e-01 -1.29087016e-03 -5.06328755e-03 7.38868341e+01] [ 1.29100363e-03 9.99999166e-01 2.30910275e-05 2.87615643e+00] [ 5.06325352e-03 -2.96274348e-05 9.99987181e-01 3.66266775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:73.92, Y:2.87, Z:0.36 [[ 9.99985691e-01 1.72639634e-03 -5.06328846e-03 7.39151711e+01] [-1.72630257e-03 9.99998510e-01 2.28899173e-05 2.87449336e+00] [ 5.06332043e-03 -1.41488218e-05 9.99987181e-01 3.64864351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:73.94, Y:2.87, Z:0.37 [[ 9.99966240e-01 6.47167798e-03 -5.06329446e-03 7.39424601e+01] [-6.47165221e-03 9.99979058e-01 2.14752425e-05 2.87356289e+00] [ 5.06332741e-03 1.12933633e-05 9.99987181e-01 3.66725691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:73.97, Y:2.87, Z:0.37 [[ 9.99948320e-01 8.81586172e-03 -5.06329693e-03 7.39707499e+01] [-8.81586902e-03 9.99961139e-01 2.08766869e-05 2.87317996e+00] [ 5.06328421e-03 2.37617546e-05 9.99987181e-01 3.67571685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:74.00, Y:2.87, Z:0.37 [[ 9.99939996e-01 9.71430453e-03 -5.06329951e-03 7.39996670e+01] [-9.71432662e-03 9.99952815e-01 2.02306440e-05 2.87402179e+00] [ 5.06325712e-03 2.89571151e-05 9.99987181e-01 3.73606888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:74.03, Y:2.87, Z:0.37 [[ 9.99940663e-01 9.64539853e-03 -5.06330104e-03 7.40276214e+01] [-9.64542172e-03 9.99953482e-01 1.98400731e-05 2.87307912e+00] [ 5.06325687e-03 2.89987780e-05 9.99987181e-01 3.70306124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01439141799999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:74.06, Y:2.87, Z:0.36 [[ 9.99953516e-01 8.20535998e-03 -5.06330289e-03 7.40562230e+01] [-8.20536716e-03 9.99966335e-01 1.93556608e-05 2.87017499e+00] [ 5.06329126e-03 2.21914982e-05 9.99987181e-01 3.64762226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:74.09, Y:2.87, Z:0.36 [[ 9.99969226e-01 5.99252273e-03 -5.06330434e-03 7.40852014e+01] [-5.99250350e-03 9.99982045e-01 1.89686865e-05 2.86651030e+00] [ 5.06332710e-03 1.13737663e-05 9.99987181e-01 3.62115203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07439141799999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:74.11, Y:2.86, Z:0.36 [[ 9.99986476e-01 1.18740645e-03 -5.06330585e-03 7.41126015e+01] [-1.18732770e-03 9.99999295e-01 1.85579593e-05 2.86083966e+00] [ 5.06332431e-03 -1.25459050e-05 9.99987181e-01 3.60087434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:74.14, Y:2.86, Z:0.36 [[ 9.99986324e-01 1.30916579e-03 -5.06330766e-03 7.41404946e+01] [-1.30909118e-03 9.99999143e-01 1.80489937e-05 2.85994499e+00] [ 5.06332695e-03 -1.14204155e-05 9.99987181e-01 3.63920531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13439141799999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:74.17, Y:2.86, Z:0.37 [[ 9.99985336e-01 -1.92085002e-03 -5.06344873e-03 7.41718574e+01] [ 1.92078184e-03 9.99998155e-01 -1.83273477e-05 2.86041094e+00] [ 5.06347460e-03 8.60129859e-06 9.99987180e-01 3.65312102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:74.20, Y:2.86, Z:0.37 [[ 9.99970366e-01 -5.79922427e-03 -5.06329358e-03 7.42006161e+01] [ 5.79940152e-03 9.99983183e-01 2.03250481e-05 2.86098805e+00] [ 5.06309056e-03 -4.96885182e-05 9.99987181e-01 3.65789518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:74.23, Y:2.86, Z:0.36 [[ 9.99950854e-01 -8.52366650e-03 -5.06329518e-03 7.42300337e+01] [ 8.52387660e-03 9.99963671e-01 1.99170454e-05 2.85991276e+00] [ 5.06294147e-03 -6.30749699e-05 9.99987181e-01 3.63486215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224391418 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:74.26, Y:2.86, Z:0.36 [[ 9.99920721e-01 -1.15288687e-02 -5.06329558e-03 7.42607795e+01] [ 1.15291168e-02 9.99933537e-01 1.98158660e-05 2.85740023e+00] [ 5.06273061e-03 -7.81896212e-05 9.99987181e-01 3.63500510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:74.29, Y:2.85, Z:0.37 [[ 9.99831765e-01 -1.76296610e-02 -5.06329558e-03 7.42924059e+01] [ 1.76299873e-02 9.99844580e-01 1.98158660e-05 2.85145257e+00] [ 5.06215929e-03 -1.09078369e-04 9.99987181e-01 3.68247663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:74.32, Y:2.85, Z:0.37 [[ 9.99786413e-01 -2.00372498e-02 -5.06329477e-03 7.43249089e+01] [ 2.00376080e-02 9.99799227e-01 2.00207210e-05 2.85068090e+00] [ 5.06187704e-03 -1.21472761e-04 9.99987181e-01 3.73484829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:74.36, Y:2.85, Z:0.38 [[ 9.99753974e-01 -2.15952535e-02 -5.06329312e-03 7.43571159e+01] [ 2.15956338e-02 9.99766787e-01 2.04298919e-05 2.85160428e+00] [ 5.06167110e-03 -1.29769889e-04 9.99987181e-01 3.77332160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:74.39, Y:2.85, Z:0.38 [[ 9.99703908e-01 -2.38004023e-02 -5.06329144e-03 7.43884163e+01] [ 2.38008129e-02 9.99716720e-01 2.08379961e-05 2.85392215e+00] [ 5.06136116e-03 -1.41342278e-04 9.99987181e-01 3.76460906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37439141799999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:74.42, Y:2.85, Z:0.37 [[ 9.99685132e-01 -2.45764101e-02 -5.06329017e-03 7.44206068e+01] [ 2.45768321e-02 9.99697944e-01 2.11422250e-05 2.85219988e+00] [ 5.06124117e-03 -1.45575201e-04 9.99987181e-01 3.73099886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:74.45, Y:2.85, Z:0.37 [[ 9.99641081e-01 -2.63072544e-02 -5.06328840e-03 7.44516543e+01] [ 2.63077008e-02 9.99653892e-01 2.15586629e-05 2.85033789e+00] [ 5.06096880e-03 -1.54754401e-04 9.99987181e-01 3.70741900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43439141799999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:74.48, Y:2.85, Z:0.37 [[ 9.99598385e-01 -2.78824665e-02 -5.06328706e-03 7.44842048e+01] [ 2.78829346e-02 9.99611195e-01 2.18685821e-05 2.84824439e+00] [ 5.06070868e-03 -1.63039101e-04 9.99987181e-01 3.71369001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:74.52, Y:2.85, Z:0.37 [[ 9.99617578e-01 -2.71856658e-02 -5.06328528e-03 7.45164610e+01] [ 2.71861270e-02 9.99630389e-01 2.22738078e-05 2.84826798e+00] [ 5.06080830e-03 -1.59916407e-04 9.99987181e-01 3.72680206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49439141799999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:74.55, Y:2.85, Z:0.38 [[ 9.99677544e-01 -2.48831362e-02 -5.06328344e-03 7.45491093e+01] [ 2.48835700e-02 9.99690356e-01 2.26831717e-05 2.85200922e+00] [ 5.06115120e-03 -1.48668425e-04 9.99987181e-01 3.75917240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:74.58, Y:2.85, Z:0.37 [[ 9.99704484e-01 -2.37761848e-02 -5.06328156e-03 7.45804930e+01] [ 2.37766064e-02 9.99717296e-01 2.30953272e-05 2.85395372e+00] [ 5.06130103e-03 -1.43476155e-04 9.99987181e-01 3.73069254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:74.61, Y:2.85, Z:0.37 [[ 9.99714635e-01 -2.33454884e-02 -5.06328014e-03 7.46130900e+01] [ 2.33459061e-02 9.99727447e-01 2.34020457e-05 2.85429734e+00] [ 5.06135380e-03 -1.41602230e-04 9.99987181e-01 3.70506148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:74.65, Y:2.85, Z:0.37 [[ 9.99711268e-01 -2.34892287e-02 -5.06327829e-03 7.46454028e+01] [ 2.34896502e-02 9.99724080e-01 2.37965532e-05 2.85249543e+00] [ 5.06132227e-03 -1.42724318e-04 9.99987181e-01 3.69427124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:74.68, Y:2.85, Z:0.37 [[ 9.99674955e-01 -2.49869569e-02 -5.06327634e-03 7.46768885e+01] [ 2.49873997e-02 9.99687766e-01 2.42048489e-05 2.84893224e+00] [ 5.06109060e-03 -1.50715091e-04 9.99987181e-01 3.71427174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:74.71, Y:2.85, Z:0.37 [[ 9.99671303e-01 -2.51326416e-02 -5.06327487e-03 7.47090565e+01] [ 2.51330878e-02 9.99684114e-01 2.45088964e-05 2.84975461e+00] [ 5.06105947e-03 -1.51756572e-04 9.99987181e-01 3.73459108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:74.74, Y:2.85, Z:0.38 [[ 9.99681742e-01 -2.47139206e-02 -5.06327285e-03 7.47404217e+01] [ 2.47143636e-02 9.99694553e-01 2.49178720e-05 2.85270085e+00] [ 5.06111047e-03 -1.50045508e-04 9.99987181e-01 3.75568448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:74.77, Y:2.86, Z:0.37 [[ 9.99750226e-01 -2.17680503e-02 -5.06326933e-03 7.47718219e+01] [ 2.17684590e-02 9.99763039e-01 2.56140574e-05 2.85865370e+00] [ 5.06151196e-03 -1.35827231e-04 9.99987181e-01 3.73874303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:74.80, Y:2.86, Z:0.37 [[ 9.99791198e-01 -1.97970747e-02 -5.06326782e-03 7.48041311e+01] [ 1.97974597e-02 9.99804011e-01 2.59085110e-05 2.86054102e+00] [ 5.06176257e-03 -1.26142942e-04 9.99987181e-01 3.69774772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:74.84, Y:2.86, Z:0.36 [[ 9.99815251e-01 -1.85425753e-02 -5.06326580e-03 7.48355327e+01] [ 1.85429462e-02 9.99828064e-01 2.62989962e-05 2.86095991e+00] [ 5.06190759e-03 -1.20182003e-04 9.99987181e-01 3.64676102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79439141799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:74.87, Y:2.86, Z:0.37 [[ 9.99818541e-01 -1.83643124e-02 -5.06326427e-03 7.48661062e+01] [ 1.83646824e-02 9.99831355e-01 2.65897414e-05 2.85897852e+00] [ 5.06192207e-03 -1.19570157e-04 9.99987181e-01 3.65348795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:74.90, Y:2.86, Z:0.37 [[ 9.99822647e-01 -1.81394199e-02 -5.06326325e-03 7.48980973e+01] [ 1.81397880e-02 9.99835460e-01 2.67822229e-05 2.85860491e+00] [ 5.06194433e-03 -1.18623995e-04 9.99987181e-01 3.71940832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85439141799999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:74.93, Y:2.86, Z:0.38 [[ 9.99823343e-01 -1.81009960e-02 -5.06326108e-03 7.49302839e+01] [ 1.81013657e-02 9.99836156e-01 2.71870177e-05 2.86155111e+00] [ 5.06193938e-03 -1.18834155e-04 9.99987181e-01 3.80585288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:74.96, Y:2.87, Z:0.38 [[ 9.99841096e-01 -1.70922555e-02 -5.06325884e-03 7.49624690e+01] [ 1.70926143e-02 9.99853910e-01 2.75984806e-05 2.86846066e+00] [ 5.06204742e-03 -1.14138425e-04 9.99987181e-01 3.84434527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:75.00, Y:2.87, Z:0.38 [[ 9.99843653e-01 -1.69420419e-02 -5.06325655e-03 7.49950976e+01] [ 1.69424009e-02 9.99856467e-01 2.80114216e-05 2.86964167e+00] [ 5.06205523e-03 -1.13790764e-04 9.99987181e-01 3.82272893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:75.03, Y:2.87, Z:0.38 [[ 9.99834247e-01 -1.74883204e-02 -5.06325424e-03 7.50276538e+01] [ 1.74886885e-02 9.99847061e-01 2.84237715e-05 2.86925152e+00] [ 5.06198278e-03 -1.16968736e-04 9.99987181e-01 3.79570943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:75.06, Y:2.87, Z:0.38 [[ 9.99757554e-01 -2.14288715e-02 -5.06325188e-03 7.50589612e+01] [ 2.14292922e-02 9.99770366e-01 2.88365664e-05 2.86768188e+00] [ 5.06147125e-03 -1.37331479e-04 9.99987181e-01 3.81419700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:75.09, Y:2.87, Z:0.38 [[ 9.99713192e-01 -2.34072218e-02 -5.06324815e-03 7.50908367e+01] [ 2.34076711e-02 9.99726002e-01 2.94777811e-05 2.86586379e+00] [ 5.06117084e-03 -1.47988174e-04 9.99987181e-01 3.82460153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:75.12, Y:2.87, Z:0.38 [[ 9.99680322e-01 -2.47713195e-02 -5.06324576e-03 7.51225618e+01] [ 2.47717883e-02 9.99693132e-01 2.98830037e-05 2.86502983e+00] [ 5.06095177e-03 -1.55299103e-04 9.99987181e-01 3.83597098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:75.15, Y:2.87, Z:0.38 [[ 9.99661127e-01 -2.55341768e-02 -5.06324327e-03 7.51540082e+01] [ 2.55346574e-02 9.99673937e-01 3.02991850e-05 2.86761466e+00] [ 5.06081867e-03 -1.59577100e-04 9.99987181e-01 3.81760264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:75.18, Y:2.87, Z:0.38 [[ 9.99666455e-01 -2.53247558e-02 -5.06323907e-03 7.51848039e+01] [ 2.53252373e-02 9.99679264e-01 3.09853165e-05 2.86859094e+00] [ 5.06083041e-03 -1.59202712e-04 9.99987181e-01 3.78491619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:75.22, Y:2.87, Z:0.38 [[ 9.99684308e-01 -2.46099309e-02 -5.06323719e-03 7.52170224e+01] [ 2.46104047e-02 9.99697118e-01 3.12889355e-05 2.86875868e+00] [ 5.06093361e-03 -1.55887374e-04 9.99987181e-01 3.75484839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15439141799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:75.25, Y:2.87, Z:0.38 [[ 9.99707741e-01 -2.36388637e-02 -5.06323473e-03 7.52488638e+01] [ 2.36393270e-02 9.99720552e-01 3.16827206e-05 2.86956148e+00] [ 5.06107087e-03 -1.51364923e-04 9.99987181e-01 3.77270020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:75.28, Y:2.87, Z:0.38 [[ 9.99743114e-01 -2.20923192e-02 -5.06323211e-03 7.52802138e+01] [ 2.20927648e-02 9.99755925e-01 3.20955138e-05 2.87120405e+00] [ 5.06128724e-03 -1.43948065e-04 9.99987181e-01 3.77870097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21439141799999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:75.31, Y:2.88, Z:0.38 [[ 9.99825384e-01 -1.79879410e-02 -5.06323015e-03 7.53122338e+01] [ 1.79883356e-02 9.99838196e-01 3.24028484e-05 2.87517766e+00] [ 5.06182804e-03 -1.23476273e-04 9.99987181e-01 3.79692250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:75.34, Y:2.88, Z:0.38 [[ 9.99848237e-01 -1.66693325e-02 -5.06322749e-03 7.53448889e+01] [ 1.66697123e-02 9.99861050e-01 3.28132301e-05 2.87571111e+00] [ 5.06197698e-03 -1.17210796e-04 9.99987181e-01 3.79313873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:75.38, Y:2.88, Z:0.38 [[ 9.99850882e-01 -1.65098955e-02 -5.06322476e-03 7.53771303e+01] [ 1.65102754e-02 9.99863696e-01 3.32285579e-05 2.87507170e+00] [ 5.06198602e-03 -1.16818838e-04 9.99987181e-01 3.78890601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:75.41, Y:2.87, Z:0.38 [[ 9.99840109e-01 -1.71499588e-02 -5.06322201e-03 7.54083652e+01] [ 1.71503490e-02 9.99852921e-01 3.36432877e-05 2.87375370e+00] [ 5.06190033e-03 -1.20473933e-04 9.99987181e-01 3.78395413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:75.44, Y:2.87, Z:0.38 [[ 9.99797751e-01 -1.94633386e-02 -5.06321993e-03 7.54405724e+01] [ 1.94637599e-02 9.99810563e-01 3.39522397e-05 2.87358223e+00] [ 5.06159995e-03 -1.32494670e-04 9.99987181e-01 3.81413222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:75.47, Y:2.87, Z:0.38 [[ 9.99798968e-01 -1.94007064e-02 -5.06321718e-03 7.54727236e+01] [ 1.94011290e-02 9.99811780e-01 3.43582213e-05 2.87493354e+00] [ 5.06159761e-03 -1.32583444e-04 9.99987181e-01 3.84420485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:75.50, Y:2.88, Z:0.39 [[ 9.99809994e-01 -1.88239192e-02 -5.06321438e-03 7.55034552e+01] [ 1.88243365e-02 9.99822806e-01 3.47652582e-05 2.87762654e+00] [ 5.06166279e-03 -1.30070304e-04 9.99987181e-01 3.86502371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:75.54, Y:2.88, Z:0.38 [[ 9.99844515e-01 -1.68910857e-02 -5.06321229e-03 7.55354417e+01] [ 1.68914797e-02 9.99857328e-01 3.50682336e-05 2.88208056e+00] [ 5.06189757e-03 -1.20587929e-04 9.99987181e-01 3.83390516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:75.57, Y:2.88, Z:0.38 [[ 9.99848547e-01 -1.66507419e-02 -5.06320941e-03 7.55670783e+01] [ 1.66511349e-02 9.99861360e-01 3.54786138e-05 2.88158829e+00] [ 5.06191670e-03 -1.19781423e-04 9.99987181e-01 3.78120519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:75.60, Y:2.88, Z:0.38 [[ 9.99849853e-01 -1.65721358e-02 -5.06320725e-03 7.55997690e+01] [ 1.65725294e-02 9.99862666e-01 3.57836283e-05 2.88127827e+00] [ 5.06191889e-03 -1.19688406e-04 9.99987181e-01 3.78285954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51439141799999 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:75.63, Y:2.88, Z:0.37 [[ 9.99842994e-01 -1.69809189e-02 -5.06320441e-03 7.56318871e+01] [ 1.69813197e-02 9.99855806e-01 3.61816842e-05 2.87889822e+00] [ 5.06185993e-03 -1.22155896e-04 9.99987181e-01 3.74632461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:75.66, Y:2.87, Z:0.38 [[ 9.99815547e-01 -1.85266102e-02 -5.06320156e-03 7.56640129e+01] [ 1.85270328e-02 9.99828359e-01 3.65766400e-05 2.87398826e+00] [ 5.06165486e-03 -1.30375995e-04 9.99987181e-01 3.76006927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57439141799999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:75.70, Y:2.87, Z:0.38 [[ 9.99813821e-01 -1.86195294e-02 -5.06319868e-03 7.56957407e+01] [ 1.86199552e-02 9.99826633e-01 3.69700172e-05 2.87424179e+00] [ 5.06163253e-03 -1.31239667e-04 9.99987181e-01 3.82472756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:75.73, Y:2.88, Z:0.39 [[ 9.99835617e-01 -1.74098665e-02 -5.06319577e-03 7.57275074e+01] [ 1.74102788e-02 9.99848429e-01 3.73649257e-05 2.87635565e+00] [ 5.06177782e-03 -1.25510434e-04 9.99987181e-01 3.87877824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63439141799999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:75.76, Y:2.88, Z:0.39 [[ 9.99908795e-01 -1.25206078e-02 -5.06319266e-03 7.57598420e+01] [ 1.25209595e-02 9.99921609e-01 3.77822647e-05 2.88248682e+00] [ 5.06232269e-03 -1.01174849e-04 9.99987181e-01 3.90791200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:75.79, Y:2.88, Z:0.39 [[ 9.99932789e-01 -1.04298271e-02 -5.06318950e-03 7.57908693e+01] [ 1.04301542e-02 9.99945604e-01 3.82000069e-05 2.88384723e+00] [ 5.06251567e-03 -9.10072867e-05 9.99987181e-01 3.88489837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:75.82, Y:2.88, Z:0.38 [[ 9.99944462e-01 -9.24316344e-03 -5.06318794e-03 7.58224546e+01] [ 9.24347637e-03 9.99957277e-01 3.84068984e-05 2.88349534e+00] [ 5.06261662e-03 -8.52062233e-05 9.99987181e-01 3.84288330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:75.85, Y:2.88, Z:0.38 [[ 9.99959768e-01 -7.40449127e-03 -5.06318637e-03 7.58520460e+01] [ 7.40478167e-03 9.99972583e-01 3.86119680e-05 2.87854867e+00] [ 5.06276165e-03 -7.61022042e-05 9.99987181e-01 3.78306822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:75.88, Y:2.88, Z:0.38 [[ 9.99950838e-01 -8.52540432e-03 -5.06341517e-03 7.58829802e+01] [ 8.52555870e-03 9.99963657e-01 8.90523880e-06 2.87695009e+00] [ 5.06315523e-03 -5.20732442e-05 9.99987181e-01 3.80219510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:75.91, Y:2.88, Z:0.38 [[ 9.99952058e-01 -8.38133342e-03 -5.06317700e-03 7.59131191e+01] [ 8.38164065e-03 9.99964873e-01 3.94629028e-05 2.87751838e+00] [ 5.06266840e-03 -8.18987411e-05 9.99987181e-01 3.83767825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:75.94, Y:2.88, Z:0.39 [[ 9.99968638e-01 -6.08998390e-03 -5.06317621e-03 7.59434337e+01] [ 6.09026228e-03 9.99981453e-01 3.95646694e-05 2.88107506e+00] [ 5.06284136e-03 -7.03994996e-05 9.99987181e-01 3.88144992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:75.97, Y:2.88, Z:0.39 [[ 9.99975155e-01 -4.90451690e-03 -5.06317366e-03 7.59739733e+01] [ 4.90478172e-03 9.99987971e-01 3.98882634e-05 2.88136458e+00] [ 5.06291712e-03 -6.47210340e-05 9.99987181e-01 3.87765597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87439141799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:76.00, Y:2.88, Z:0.38 [[ 9.99974616e-01 -5.01315475e-03 -5.06317366e-03 7.60034451e+01] [ 5.01342096e-03 9.99987432e-01 3.98882634e-05 2.87972121e+00] [ 5.06291006e-03 -6.52710718e-05 9.99987181e-01 3.83545733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:76.03, Y:2.88, Z:0.38 [[ 9.99971781e-01 -5.54991923e-03 -5.06317524e-03 7.60331523e+01] [ 5.55019131e-03 9.99984597e-01 3.96870635e-05 2.87791900e+00] [ 5.06287699e-03 -6.77875347e-05 9.99987181e-01 3.82005464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93439141799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:76.06, Y:2.88, Z:0.38 [[ 9.99963567e-01 -6.87233733e-03 -5.06317680e-03 7.60623152e+01] [ 6.87262534e-03 9.99976382e-01 3.94869846e-05 2.87695206e+00] [ 5.06278585e-03 -7.42828631e-05 9.99987181e-01 3.83590964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:76.09, Y:2.88, Z:0.39 [[ 9.99929656e-01 -1.07259765e-02 -5.06317757e-03 7.60929077e+01] [ 1.07263134e-02 9.99942471e-01 3.93876389e-05 2.87789269e+00] [ 5.06246382e-03 -9.36940977e-05 9.99987181e-01 3.86758454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99439141799999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:76.12, Y:2.88, Z:0.39 [[ 9.99894192e-01 -1.36370303e-02 -5.06317757e-03 7.61245094e+01] [ 1.36374045e-02 9.99907006e-01 3.93876389e-05 2.87843083e+00] [ 5.06216959e-03 -1.08432072e-04 9.99987181e-01 3.85798406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:76.16, Y:2.88, Z:0.38 [[ 9.99839516e-01 -1.71844919e-02 -5.06317521e-03 7.61557658e+01] [ 1.71849130e-02 9.99852328e-01 3.96880431e-05 2.87705245e+00] [ 5.06174550e-03 -1.26691900e-04 9.99987181e-01 3.83380754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:76.19, Y:2.87, Z:0.38 [[ 9.99641505e-01 -2.62911693e-02 -5.06317286e-03 7.61885452e+01] [ 2.62917087e-02 9.99654312e-01 3.99861581e-05 2.87095311e+00] [ 5.06037130e-03 -1.73091289e-04 9.99987181e-01 3.80328875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:76.22, Y:2.87, Z:0.38 [[ 9.99492079e-01 -3.14634356e-02 -5.06315996e-03 7.62202164e+01] [ 3.14640491e-02 9.99504883e-01 4.15579220e-05 2.86921127e+00] [ 5.05934555e-03 -2.00844328e-04 9.99987181e-01 3.82292084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:76.25, Y:2.87, Z:0.39 [[ 9.99184191e-01 -4.00664078e-02 -5.06315748e-03 7.62517672e+01] [ 4.00671331e-02 9.99196989e-01 4.18580105e-05 2.87208469e+00] [ 5.05741461e-03 -2.44690067e-04 9.99987181e-01 3.89665587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:76.29, Y:2.87, Z:0.39 [[ 9.99053940e-01 -4.31924744e-02 -5.06315500e-03 7.62851340e+01] [ 4.31932413e-02 9.99066736e-01 4.21559877e-05 2.87381380e+00] [ 5.05660891e-03 -2.60810181e-04 9.99987181e-01 3.92324952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:76.32, Y:2.87, Z:0.39 [[ 9.98929468e-01 -4.59813302e-02 -5.06314997e-03 7.63172966e+01] [ 4.59821358e-02 9.98942261e-01 4.27516606e-05 2.87393718e+00] [ 5.05582870e-03 -2.75520343e-04 9.99987181e-01 3.90980655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:76.35, Y:2.87, Z:0.39 [[ 9.98796581e-01 -4.87827333e-02 -5.06314654e-03 7.63491503e+01] [ 4.87835767e-02 9.98809372e-01 4.31537531e-05 2.87221254e+00] [ 5.05501306e-03 -2.90100219e-04 9.99987181e-01 3.87474973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:76.38, Y:2.87, Z:0.38 [[ 9.98490836e-01 -5.46846807e-02 -5.06314306e-03 7.63805729e+01] [ 5.46856018e-02 9.98503622e-01 4.35583490e-05 2.86748175e+00] [ 5.05318471e-03 -3.20373638e-04 9.99987181e-01 3.82640692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:76.41, Y:2.87, Z:0.38 [[ 9.98373373e-01 -5.67888518e-02 -5.06314045e-03 7.64126686e+01] [ 5.67898014e-02 9.98386156e-01 4.38596616e-05 2.86677576e+00] [ 5.05247859e-03 -3.31323059e-04 9.99987181e-01 3.84819474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29439141799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:76.44, Y:2.87, Z:0.39 [[ 9.98316828e-01 -5.77743443e-02 -5.06313701e-03 7.64445619e+01] [ 5.77753084e-02 9.98329611e-01 4.42532132e-05 2.86791992e+00] [ 5.05212290e-03 -3.36703030e-04 9.99987181e-01 3.88271946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:76.48, Y:2.87, Z:0.39 [[ 9.98424623e-01 -5.58805643e-02 -5.06313357e-03 7.64767457e+01] [ 5.58815062e-02 9.98437407e-01 4.46436882e-05 2.87405488e+00] [ 5.05272723e-03 -3.27508887e-04 9.99987181e-01 3.91336904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35439141799999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:76.51, Y:2.88, Z:0.39 [[ 9.98545223e-01 -5.36824178e-02 -5.06312990e-03 7.65077605e+01] [ 5.36833336e-02 9.98558009e-01 4.50560280e-05 2.87654851e+00] [ 5.05341019e-03 -3.16796173e-04 9.99987181e-01 3.89040895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:76.54, Y:2.88, Z:0.38 [[ 9.98814686e-01 -4.84106125e-02 -5.06312715e-03 7.65394473e+01] [ 4.84114624e-02 9.98827477e-01 4.53629209e-05 2.87919712e+00] [ 5.05499447e-03 -2.90422541e-04 9.99987181e-01 3.83647076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:76.57, Y:2.88, Z:0.38 [[ 9.98896704e-01 -4.66876827e-02 -5.06312456e-03 7.65717417e+01] [ 4.66885119e-02 9.98909496e-01 4.56495943e-05 2.87962858e+00] [ 5.05547193e-03 -2.81988981e-04 9.99987181e-01 3.84650015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:76.60, Y:2.88, Z:0.39 [[ 9.99002134e-01 -4.43745615e-02 -5.06312113e-03 7.66035546e+01] [ 4.43753630e-02 9.99014927e-01 4.60270655e-05 2.87926931e+00] [ 5.05609116e-03 -2.70658975e-04 9.99987181e-01 3.85548594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:76.63, Y:2.88, Z:0.39 [[ 9.99129502e-01 -4.14077618e-02 -5.06311723e-03 7.66345318e+01] [ 4.14085275e-02 9.99142298e-01 4.64521704e-05 2.88400128e+00] [ 5.05685111e-03 -2.56067963e-04 9.99987181e-01 3.93521134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:76.67, Y:2.89, Z:0.40 [[ 9.99209893e-01 -3.94202246e-02 -5.06310966e-03 7.66672392e+01] [ 3.94209690e-02 9.99222690e-01 4.72633062e-05 2.88721908e+00] [ 5.05731093e-03 -2.46818652e-04 9.99987181e-01 3.96558473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:76.70, Y:2.89, Z:0.40 [[ 9.99265025e-01 -3.79970280e-02 -5.06310383e-03 7.66997929e+01] [ 3.79977572e-02 9.99277823e-01 4.78800182e-05 2.89035403e+00] [ 5.05762807e-03 -2.40231418e-04 9.99987181e-01 3.96526092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:76.73, Y:2.89, Z:0.39 [[ 9.99387786e-01 -3.46181834e-02 -5.06309986e-03 7.67311774e+01] [ 3.46188715e-02 9.99400586e-01 4.82962401e-05 2.89209094e+00] [ 5.05839304e-03 -2.23545476e-04 9.99987181e-01 3.89594404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:76.76, Y:2.89, Z:0.39 [[ 9.99444571e-01 -3.29380485e-02 -5.06309689e-03 7.67632747e+01] [ 3.29387166e-02 9.99457372e-01 4.86058127e-05 2.89245863e+00] [ 5.05874853e-03 -2.15350729e-04 9.99987181e-01 3.85859311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:76.80, Y:2.90, Z:0.39 [[ 9.99593113e-01 -2.80708777e-02 -5.06309301e-03 7.67959190e+01] [ 2.80714855e-02 9.99605917e-01 4.90064991e-05 2.89781377e+00] [ 5.05972207e-03 -1.91115101e-04 9.99987181e-01 3.87334402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65439141799999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:76.83, Y:2.90, Z:0.39 [[ 9.99684898e-01 -2.45859555e-02 -5.06308702e-03 7.68277430e+01] [ 2.45865217e-02 9.99697705e-01 4.96171571e-05 2.90111286e+00] [ 5.06033659e-03 -1.74085222e-04 9.99987181e-01 3.88747063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:76.86, Y:2.90, Z:0.39 [[ 9.99770179e-01 -2.08315615e-02 -5.06308302e-03 7.68600436e+01] [ 2.08320817e-02 9.99782987e-01 5.00227471e-05 2.90346571e+00] [ 5.06094221e-03 -1.55485810e-04 9.99987181e-01 3.90666664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:76.89, Y:2.91, Z:0.39 [[ 9.99828718e-01 -1.78016848e-02 -5.06307900e-03 7.68919652e+01] [ 1.78021682e-02 9.99841528e-01 5.04254938e-05 2.90505308e+00] [ 5.06137899e-03 -1.40550641e-04 9.99987181e-01 3.92199203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:76.92, Y:2.91, Z:0.39 [[ 9.99898736e-01 -1.32997335e-02 -5.06307488e-03 7.69231414e+01] [ 1.33001613e-02 9.99911548e-01 5.08364993e-05 2.90649100e+00] [ 5.06195093e-03 -1.18171064e-04 9.99987181e-01 3.93901077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:76.96, Y:2.91, Z:0.39 [[ 9.99918475e-01 -1.17221524e-02 -5.06307179e-03 7.69557542e+01] [ 1.17225616e-02 9.99931287e-01 5.11424057e-05 2.90670239e+00] [ 5.06212439e-03 -1.10490407e-04 9.99987181e-01 3.94249671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:76.99, Y:2.91, Z:0.39 [[ 9.99938518e-01 -9.86534642e-03 -5.06306779e-03 7.69880454e+01] [ 9.86573378e-03 9.99951331e-01 5.15355473e-05 2.90716046e+00] [ 5.06231296e-03 -1.01483258e-04 9.99987181e-01 3.93512447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:77.02, Y:2.91, Z:0.39 [[ 9.99971142e-01 -5.66392614e-03 -5.06306378e-03 7.70190787e+01] [ 5.66426164e-03 9.99983957e-01 5.19264160e-05 2.91156865e+00] [ 5.06268844e-03 -8.06034354e-05 9.99987181e-01 3.94561225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:77.05, Y:2.91, Z:0.39 [[ 9.99981488e-01 -3.37462703e-03 -5.06306174e-03 7.70485101e+01] [ 3.37493419e-03 9.99994304e-01 5.21246389e-05 2.91404966e+00] [ 5.06285699e-03 -6.92111742e-05 9.99987181e-01 3.93091397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:77.08, Y:2.92, Z:0.39 [[ 9.99986105e-01 -1.46812785e-03 -5.06306275e-03 7.70783241e+01] [ 1.46841008e-03 9.99998921e-01 5.20264170e-05 2.91530113e+00] [ 5.06298090e-03 -5.94603465e-05 9.99987181e-01 3.92127957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.11, Y:2.91, Z:0.39 [[ 9.99987135e-01 3.08803141e-04 -5.06306477e-03 7.71073354e+01] [-3.08544681e-04 9.99999951e-01 5.18292056e-05 2.91388872e+00] [ 5.06308052e-03 -5.02663571e-05 9.99987181e-01 3.90909590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:77.14, Y:2.91, Z:0.39 [[ 9.99987121e-01 3.50589660e-04 -5.06306775e-03 7.71363281e+01] [-3.50333219e-04 9.99999937e-01 5.15360106e-05 2.91260834e+00] [ 5.06308550e-03 -4.97615861e-05 9.99987181e-01 3.91999872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:77.16, Y:2.91, Z:0.39 [[ 9.99987070e-01 4.73912841e-04 -5.06307168e-03 7.71647627e+01] [-4.73659949e-04 9.99999887e-01 5.11473943e-05 2.91209498e+00] [ 5.06309534e-03 -4.87485587e-05 9.99987181e-01 3.94167645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01439141799999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.19, Y:2.91, Z:0.40 [[ 9.99986998e-01 6.07937006e-04 -5.06307561e-03 7.71935252e+01] [-6.07687819e-04 9.99999814e-01 5.07547483e-05 2.91347881e+00] [ 5.06310553e-03 -4.76773190e-05 9.99987181e-01 3.97144332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:77.22, Y:2.91, Z:0.40 [[ 9.99987170e-01 1.59486448e-04 -5.06307961e-03 7.72222113e+01] [-1.59233549e-04 9.99999986e-01 5.03527138e-05 2.91439010e+00] [ 5.06308757e-03 -4.95458556e-05 9.99987181e-01 3.96669013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07439141799999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:77.25, Y:2.91, Z:0.40 [[ 9.99986153e-01 -1.43512556e-03 -5.06308362e-03 7.72504626e+01] [ 1.43539683e-03 9.99998969e-01 4.99462188e-05 2.91489629e+00] [ 5.06300672e-03 -5.72130614e-05 9.99987181e-01 3.95771709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:77.28, Y:2.91, Z:0.39 [[ 9.99969190e-01 -5.99860029e-03 -5.06308854e-03 7.72793359e+01] [ 5.99892750e-03 9.99982005e-01 4.94423959e-05 2.91309471e+00] [ 5.06270084e-03 -7.98139737e-05 9.99987181e-01 3.94737825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13439141799999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:77.31, Y:2.91, Z:0.39 [[ 9.99950238e-01 -8.59575214e-03 -5.06306576e-03 7.73087251e+01] [ 8.59612458e-03 9.99963051e-01 5.18015037e-05 2.91120758e+00] [ 5.06243342e-03 -9.53216700e-05 9.99987181e-01 3.93288529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:77.34, Y:2.91, Z:0.39 [[ 9.99927693e-01 -1.09075072e-02 -5.06309251e-03 7.73401050e+01] [ 1.09078953e-02 9.99940506e-01 4.90396767e-05 2.90842377e+00] [ 5.06225639e-03 -1.04263814e-04 9.99987181e-01 3.89901488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:77.37, Y:2.90, Z:0.39 [[ 9.99836627e-01 -1.73517707e-02 -5.06309062e-03 7.73712574e+01] [ 1.73522423e-02 9.99849437e-01 4.92344060e-05 2.90437016e+00] [ 5.06147400e-03 -1.37082338e-04 9.99987181e-01 3.89489148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:77.40, Y:2.90, Z:0.39 [[ 9.99787424e-01 -1.99868039e-02 -5.06308873e-03 7.74037944e+01] [ 1.99873103e-02 9.99800233e-01 4.94279976e-05 2.90349604e+00] [ 5.06108938e-03 -1.50615016e-04 9.99987181e-01 3.91517462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:77.43, Y:2.90, Z:0.39 [[ 9.99752647e-01 -2.16566589e-02 -5.06308485e-03 7.74347441e+01] [ 2.16571887e-02 9.99765454e-01 4.98227171e-05 2.90385542e+00] [ 5.06081833e-03 -1.59462577e-04 9.99987181e-01 3.94634830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:77.47, Y:2.91, Z:0.40 [[ 9.99739750e-01 -2.22440391e-02 -5.06308193e-03 7.74667393e+01] [ 2.22445779e-02 9.99752558e-01 5.01168576e-05 2.90729598e+00] [ 5.06071431e-03 -1.62729935e-04 9.99987181e-01 3.99741757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:77.50, Y:2.91, Z:0.40 [[ 9.99758856e-01 -2.13680784e-02 -5.06307795e-03 7.74990148e+01] [ 2.13686080e-02 9.99771664e-01 5.05159182e-05 2.90865568e+00] [ 5.06084244e-03 -1.58694664e-04 9.99987181e-01 3.99810726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:77.53, Y:2.91, Z:0.40 [[ 9.99782005e-01 -2.02560670e-02 -5.06307390e-03 7.75305732e+01] [ 2.02565843e-02 9.99794813e-01 5.09192773e-05 2.90867013e+00] [ 5.06100359e-03 -1.53468761e-04 9.99987181e-01 3.96831290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37439141799999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:77.56, Y:2.90, Z:0.39 [[ 9.99781255e-01 -2.02930230e-02 -5.06306706e-03 7.75627290e+01] [ 2.02935443e-02 9.99794063e-01 5.15901983e-05 2.90490295e+00] [ 5.06097747e-03 -1.54326489e-04 9.99987181e-01 3.91327630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:77.60, Y:2.90, Z:0.39 [[ 9.99782882e-01 -2.02127241e-02 -5.06306288e-03 7.75954246e+01] [ 2.02132464e-02 9.99795690e-01 5.19970315e-05 2.90449025e+00] [ 5.06097745e-03 -1.54326680e-04 9.99987181e-01 3.91493045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43439141799999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:77.63, Y:2.90, Z:0.39 [[ 9.99785509e-01 -2.00823852e-02 -5.06305867e-03 7.76256797e+01] [ 2.00829079e-02 9.99798317e-01 5.24036729e-05 2.90125550e+00] [ 5.06098515e-03 -1.54073374e-04 9.99987181e-01 3.89735923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:77.66, Y:2.90, Z:0.39 [[ 9.99751924e-01 -2.16899800e-02 -5.06322041e-03 7.76588862e+01] [ 2.16904437e-02 9.99764734e-01 3.66765151e-05 2.90020244e+00] [ 5.06123369e-03 -1.46490914e-04 9.99987181e-01 3.91995669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49439141799999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:77.69, Y:2.90, Z:0.40 [[ 9.99757851e-01 -2.14150719e-02 -5.06305852e-03 7.76912679e+01] [ 2.14156113e-02 9.99770658e-01 5.23374528e-05 2.90206732e+00] [ 5.06077654e-03 -1.60753273e-04 9.99987181e-01 3.96589025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:77.72, Y:2.90, Z:0.40 [[ 9.99796238e-01 -1.95409232e-02 -5.06305434e-03 7.77221755e+01] [ 1.95414406e-02 9.99809046e-01 5.27381360e-05 2.90382248e+00] [ 5.06105698e-03 -1.51666766e-04 9.99987181e-01 3.97191975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:77.75, Y:2.91, Z:0.40 [[ 9.99882511e-01 -1.44682404e-02 -5.06305122e-03 7.77540494e+01] [ 1.44686943e-02 9.99895322e-01 5.30365544e-05 2.90561877e+00] [ 5.06175388e-03 -1.26286064e-04 9.99987181e-01 3.96071411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:77.79, Y:2.91, Z:0.39 [[ 9.99912899e-01 -1.21884925e-02 -5.06304710e-03 7.77858427e+01] [ 1.21889192e-02 9.99925711e-01 5.34266245e-05 2.90518676e+00] [ 5.06201978e-03 -1.15135043e-04 9.99987181e-01 3.93518894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:77.82, Y:2.90, Z:0.39 [[ 9.99934466e-01 -1.02679137e-02 -5.06304293e-03 7.78168415e+01] [ 1.02683178e-02 9.99947278e-01 5.38187794e-05 2.90388700e+00] [ 5.06222339e-03 -1.05804186e-04 9.99987181e-01 3.91057478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:77.85, Y:2.90, Z:0.39 [[ 9.99950241e-01 -8.59547120e-03 -5.06303982e-03 7.78484016e+01] [ 8.59585532e-03 9.99963053e-01 5.41104954e-05 2.90118706e+00] [ 5.06238765e-03 -9.76289606e-05 9.99987181e-01 3.91954713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:77.88, Y:2.90, Z:0.40 [[ 9.99954276e-01 -8.11238947e-03 -5.06303767e-03 7.78797082e+01] [ 8.11276841e-03 9.99967089e-01 5.43105121e-05 2.90032366e+00] [ 5.06243046e-03 -9.53832809e-05 9.99987181e-01 3.95077337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:77.91, Y:2.90, Z:0.40 [[ 9.99962243e-01 -7.06251136e-03 -5.06303546e-03 7.79097650e+01] [ 7.06287788e-03 9.99975056e-01 5.45154778e-05 2.90219876e+00] [ 5.06252416e-03 -9.02730206e-05 9.99987181e-01 4.00498402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:77.94, Y:2.90, Z:0.40 [[ 9.99966706e-01 -6.39942069e-03 -5.06303437e-03 7.79400759e+01] [ 6.39977923e-03 9.99979520e-01 5.46171933e-05 2.90355588e+00] [ 5.06258116e-03 -8.70176771e-05 9.99987181e-01 4.01202306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:77.97, Y:2.90, Z:0.40 [[ 9.99970023e-01 -5.85826155e-03 -5.06303437e-03 7.79708843e+01] [ 5.85861315e-03 9.99982837e-01 5.46171933e-05 2.90392585e+00] [ 5.06262751e-03 -8.42779158e-05 9.99987181e-01 4.00985210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79439141799999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:78.00, Y:2.90, Z:0.40 [[ 9.99972098e-01 -5.49255089e-03 -5.06303437e-03 7.80011109e+01] [ 5.49289781e-03 9.99984912e-01 5.46171933e-05 2.90337741e+00] [ 5.06265799e-03 -8.24263998e-05 9.99987181e-01 3.99830472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:78.03, Y:2.90, Z:0.39 [[ 9.99974977e-01 -4.94074433e-03 -5.06303437e-03 7.80305009e+01] [ 4.94108418e-03 9.99987791e-01 5.46171933e-05 2.90066312e+00] [ 5.06270270e-03 -7.96327056e-05 9.99987181e-01 3.94459732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:78.06, Y:2.90, Z:0.39 [[ 9.99976004e-01 -4.72832033e-03 -5.06303544e-03 7.80603307e+01] [ 4.72865695e-03 9.99988818e-01 5.45174017e-05 2.89897293e+00] [ 5.06272105e-03 -7.84574512e-05 9.99987181e-01 3.92994550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:78.09, Y:2.90, Z:0.39 [[ 9.99976360e-01 -4.65240827e-03 -5.06303761e-03 7.80898566e+01] [ 4.65274290e-03 9.99989174e-01 5.43147642e-05 2.89762180e+00] [ 5.06273011e-03 -7.78704924e-05 9.99987181e-01 3.92613844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:78.12, Y:2.90, Z:0.40 [[ 9.99975551e-01 -4.82311707e-03 -5.06303869e-03 7.81193779e+01] [ 4.82345337e-03 9.99988366e-01 5.42143094e-05 2.89847380e+00] [ 5.06271830e-03 -7.86343150e-05 9.99987181e-01 4.00437826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:78.15, Y:2.90, Z:0.41 [[ 9.99973211e-01 -5.28614970e-03 -5.06304081e-03 7.81488286e+01] [ 5.28649093e-03 9.99986025e-01 5.40155288e-05 2.89994232e+00] [ 5.06268452e-03 -8.07798011e-05 9.99987181e-01 4.06173932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:78.18, Y:2.90, Z:0.41 [[ 9.99963784e-01 -6.84082919e-03 -5.06304298e-03 7.81790256e+01] [ 6.84118931e-03 9.99976597e-01 5.38110385e-05 2.90031757e+00] [ 5.06255638e-03 -8.84463252e-05 9.99987181e-01 4.09290171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:78.21, Y:2.90, Z:0.41 [[ 9.99953870e-01 -8.16233716e-03 -5.06304298e-03 7.82094195e+01] [ 8.16271421e-03 9.99966683e-01 5.38110385e-05 2.89769037e+00] [ 5.06243508e-03 -9.51367291e-05 9.99987181e-01 4.05171711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:78.24, Y:2.89, Z:0.40 [[ 9.99937644e-01 -9.95356834e-03 -5.06304189e-03 7.82407615e+01] [ 9.95396886e-03 9.99950457e-01 5.39135897e-05 2.89373769e+00] [ 5.06225442e-03 -1.04307589e-04 9.99987181e-01 3.99327418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:78.27, Y:2.89, Z:0.39 [[ 9.99883733e-01 -1.43835534e-02 -5.06303970e-03 7.82720784e+01] [ 1.43840117e-02 9.99896543e-01 5.41189476e-05 2.88814144e+00] [ 5.06173747e-03 -1.26939478e-04 9.99987181e-01 3.93480323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:78.30, Y:2.89, Z:0.40 [[ 9.99857047e-01 -1.61323183e-02 -5.06303749e-03 7.83033954e+01] [ 1.61328001e-02 9.99869856e-01 5.43247463e-05 2.88753046e+00] [ 5.06150218e-03 -1.35997952e-04 9.99987181e-01 3.95101633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:78.34, Y:2.89, Z:0.40 [[ 9.99852387e-01 -1.64185763e-02 -5.06303416e-03 7.83356321e+01] [ 1.64190633e-02 9.99865197e-01 5.46328758e-05 2.88743922e+00] [ 5.06145466e-03 -1.37755090e-04 9.99987181e-01 3.98783901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15439141799999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:78.37, Y:2.89, Z:0.40 [[ 9.99866580e-01 -1.55302359e-02 -5.06302965e-03 7.83669329e+01] [ 1.55307136e-02 9.99879390e-01 5.50481877e-05 2.88770129e+00] [ 5.06156408e-03 -1.33673307e-04 9.99987181e-01 4.02230522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:78.40, Y:2.89, Z:0.41 [[ 9.99928605e-01 -1.08236605e-02 -5.06302627e-03 7.83993296e+01] [ 1.08240794e-02 9.99941416e-01 5.53574613e-05 2.88948933e+00] [ 5.06213049e-03 -1.10156108e-04 9.99987181e-01 4.06059850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21439141799999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:78.43, Y:2.89, Z:0.40 [[ 9.99956760e-01 -7.80028493e-03 -5.06302181e-03 7.84295865e+01] [ 7.80066722e-03 9.99969573e-01 5.57626165e-05 2.88980934e+00] [ 5.06243279e-03 -9.52551536e-05 9.99987181e-01 4.04496139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:78.46, Y:2.89, Z:0.41 [[ 9.99961043e-01 -7.23036126e-03 -5.06301783e-03 7.84600582e+01] [ 7.23073806e-03 9.99973856e-01 5.61211717e-05 2.89009896e+00] [ 5.06247969e-03 -9.27283411e-05 9.99987181e-01 4.05643790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:78.49, Y:2.89, Z:0.41 [[ 9.99940719e-01 -9.63971329e-03 -5.06301783e-03 7.84903980e+01] [ 9.64012096e-03 9.99953531e-01 5.61211717e-05 2.88662172e+00] [ 5.06224157e-03 -1.04925949e-04 9.99987181e-01 4.05587861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:78.52, Y:2.88, Z:0.40 [[ 9.99921604e-01 -1.14521572e-02 -5.06301673e-03 7.85216575e+01] [ 1.14525886e-02 9.99934415e-01 5.62202090e-05 2.88260927e+00] [ 5.06204083e-03 -1.14200449e-04 9.99987181e-01 4.03967995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:78.55, Y:2.88, Z:0.40 [[ 9.99903658e-01 -1.29243938e-02 -5.06301452e-03 7.85533992e+01] [ 1.29248450e-02 9.99916469e-01 5.64184996e-05 2.87902692e+00] [ 5.06186243e-03 -1.21851742e-04 9.99987181e-01 4.02578255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364391418 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:78.58, Y:2.88, Z:0.40 [[ 9.99904288e-01 -1.28756084e-02 -5.06300994e-03 7.85844159e+01] [ 1.28760612e-02 9.99917098e-01 5.68270171e-05 2.87784135e+00] [ 5.06185852e-03 -1.22013204e-04 9.99987181e-01 4.01209676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:78.62, Y:2.88, Z:0.40 [[ 9.99922085e-01 -1.14100384e-02 -5.06300650e-03 7.86169026e+01] [ 1.14104739e-02 9.99934897e-01 5.71313715e-05 2.87909406e+00] [ 5.06202501e-03 -1.14898224e-04 9.99987181e-01 4.02509281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:78.65, Y:2.88, Z:0.40 [[ 9.99946655e-01 -9.00299856e-03 -5.06300193e-03 7.86494855e+01] [ 9.00340522e-03 9.99959467e-01 5.75336883e-05 2.88188608e+00] [ 5.06227874e-03 -1.03114877e-04 9.99987181e-01 4.03773248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:78.68, Y:2.88, Z:0.40 [[ 9.99951278e-01 -8.47392596e-03 -5.06299724e-03 7.86798577e+01] [ 8.47432792e-03 9.99964091e-01 5.79436622e-05 2.88142581e+00] [ 5.06232442e-03 -1.00846338e-04 9.99987181e-01 4.03135432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:78.71, Y:2.88, Z:0.40 [[ 9.99954255e-01 -8.11503726e-03 -5.06299608e-03 7.87101832e+01] [ 8.11543513e-03 9.99967068e-01 5.80448153e-05 2.87924442e+00] [ 5.06235831e-03 -9.91305763e-05 9.99987181e-01 4.02735526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51439141799999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:78.74, Y:2.88, Z:0.40 [[ 9.99953651e-01 -8.18911712e-03 -5.06299493e-03 7.87405577e+01] [ 8.18951644e-03 9.99966464e-01 5.81444477e-05 2.87615478e+00] [ 5.06234899e-03 -9.96052331e-05 9.99987181e-01 4.03393850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:78.77, Y:2.87, Z:0.40 [[ 9.99941833e-01 -9.52348786e-03 -5.06299493e-03 7.87709144e+01] [ 9.52390428e-03 9.99954645e-01 5.81444477e-05 2.87259081e+00] [ 5.06221156e-03 -1.06360545e-04 9.99987181e-01 4.04735815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57439141799999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:78.80, Y:2.87, Z:0.41 [[ 9.99937182e-01 -9.99993873e-03 -5.06299493e-03 7.88013882e+01] [ 1.00003613e-02 9.99949993e-01 5.81444477e-05 2.87288748e+00] [ 5.06216031e-03 -1.08772574e-04 9.99987181e-01 4.05996902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:78.83, Y:2.87, Z:0.41 [[ 9.99934231e-01 -1.02908036e-02 -5.06299376e-03 7.88325110e+01] [ 1.02912304e-02 9.99947042e-01 5.82462705e-05 2.87393595e+00] [ 5.06212624e-03 -1.10346875e-04 9.99987181e-01 4.08133988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63439141799999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:78.86, Y:2.88, Z:0.41 [[ 9.99927833e-01 -1.08947418e-02 -5.06299143e-03 7.88633808e+01] [ 1.08951774e-02 9.99940644e-01 5.84484932e-05 2.87562878e+00] [ 5.06205413e-03 -1.13606465e-04 9.99987181e-01 4.10529792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:78.90, Y:2.87, Z:0.41 [[ 9.99927252e-01 -1.09479099e-02 -5.06298910e-03 7.88951343e+01] [ 1.09483471e-02 9.99940063e-01 5.86490911e-05 2.87464938e+00] [ 5.06204356e-03 -1.14076187e-04 9.99987181e-01 4.08915643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:78.93, Y:2.87, Z:0.40 [[ 9.99933284e-01 -1.03823457e-02 -5.06298674e-03 7.89262768e+01] [ 1.03827767e-02 9.99946096e-01 5.88522666e-05 2.87102500e+00] [ 5.06210280e-03 -1.11416201e-04 9.99987181e-01 4.00986059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:78.96, Y:2.87, Z:0.40 [[ 9.99934154e-01 -1.02982604e-02 -5.06298438e-03 7.89571870e+01] [ 1.02986913e-02 9.99946965e-01 5.90547255e-05 2.87002383e+00] [ 5.06210771e-03 -1.11192950e-04 9.99987181e-01 3.98562330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:78.99, Y:2.87, Z:0.40 [[ 9.99937010e-01 -1.00170531e-02 -5.06298199e-03 7.89881663e+01] [ 1.00174815e-02 9.99949822e-01 5.92587426e-05 2.86972045e+00] [ 5.06213435e-03 -1.09973338e-04 9.99987181e-01 3.98050080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:79.02, Y:2.87, Z:0.40 [[ 9.99951038e-01 -8.50224711e-03 -5.06297841e-03 7.90192587e+01] [ 8.50265764e-03 9.99963850e-01 5.95637433e-05 2.87200172e+00] [ 5.06228895e-03 -1.02609599e-04 9.99987181e-01 4.02959953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:79.05, Y:2.87, Z:0.41 [[ 9.99963571e-01 -6.87185418e-03 -5.06297606e-03 7.90496406e+01] [ 6.87224482e-03 9.99976384e-01 5.97628562e-05 2.87344725e+00] [ 5.06244581e-03 -9.45546901e-05 9.99987181e-01 4.05532308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:79.08, Y:2.87, Z:0.41 [[ 9.99974097e-01 -5.11581777e-03 -5.06297231e-03 7.90805842e+01] [ 5.11618751e-03 9.99986910e-01 6.00788554e-05 2.87419093e+00] [ 5.06259868e-03 -8.59804148e-05 9.99987181e-01 4.06837013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87439141799999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:79.11, Y:2.87, Z:0.40 [[ 9.99976494e-01 -4.62359013e-03 -5.06297231e-03 7.91104716e+01] [ 4.62395356e-03 9.99989308e-01 6.00788554e-05 2.87207647e+00] [ 5.06264039e-03 -8.34883920e-05 9.99987181e-01 4.04441282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:79.14, Y:2.87, Z:0.40 [[ 9.99970783e-01 -5.72704300e-03 -5.06297347e-03 7.91400205e+01] [ 5.72742008e-03 9.99983596e-01 5.99806909e-05 2.86980289e+00] [ 5.06254691e-03 -8.89767143e-05 9.99987181e-01 4.02948241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93439141799999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:79.17, Y:2.87, Z:0.40 [[ 9.99960259e-01 -7.33808585e-03 -5.06297577e-03 7.91702420e+01] [ 7.33848258e-03 9.99973071e-01 5.97855371e-05 2.86823681e+00] [ 5.06240072e-03 -9.69377206e-05 9.99987181e-01 4.03265647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:79.20, Y:2.87, Z:0.41 [[ 9.99935268e-01 -1.01895508e-02 -5.06297577e-03 7.92009404e+01] [ 1.01899841e-02 9.99948079e-01 5.97855371e-05 2.86934567e+00] [ 5.06210371e-03 -1.11373309e-04 9.99987181e-01 4.07919294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99439141799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:79.23, Y:2.87, Z:0.41 [[ 9.99933634e-01 -1.03486199e-02 -5.06297577e-03 7.92318650e+01] [ 1.03490552e-02 9.99946445e-01 5.97855371e-05 2.87099607e+00] [ 5.06208593e-03 -1.12178585e-04 9.99987181e-01 4.07177235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:79.26, Y:2.87, Z:0.41 [[ 9.99923635e-01 -1.12734514e-02 -5.06297339e-03 7.92637056e+01] [ 1.12738996e-02 9.99936446e-01 5.99865550e-05 2.87284040e+00] [ 5.06197536e-03 -1.17061428e-04 9.99987181e-01 4.07327692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:79.29, Y:2.87, Z:0.40 [[ 9.99929178e-01 -1.07705644e-02 -5.06297100e-03 7.92939088e+01] [ 1.07710071e-02 9.99941989e-01 6.01878555e-05 2.87177653e+00] [ 5.06202903e-03 -1.14716890e-04 9.99987181e-01 4.00656930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:79.33, Y:2.87, Z:0.40 [[ 9.99940696e-01 -9.64218817e-03 -5.06296981e-03 7.93255326e+01] [ 9.64261697e-03 9.99953507e-01 6.02875800e-05 2.86995225e+00] [ 5.06215311e-03 -1.09104283e-04 9.99987181e-01 3.99370463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:79.36, Y:2.87, Z:0.40 [[ 9.99957250e-01 -7.73716200e-03 -5.06296742e-03 7.93565168e+01] [ 7.73756740e-03 9.99970063e-01 6.04879673e-05 2.86935747e+00] [ 5.06234784e-03 -9.96604331e-05 9.99987181e-01 3.99161419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:79.39, Y:2.87, Z:0.40 [[ 9.99985987e-01 -1.54699222e-03 -5.06296501e-03 7.93866473e+01] [ 1.54731932e-03 9.99998801e-01 6.06888683e-05 2.87295121e+00] [ 5.06286505e-03 -6.85220414e-05 9.99987181e-01 4.01197166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:79.42, Y:2.88, Z:0.40 [[ 9.99985894e-01 1.60592263e-03 -5.06296501e-03 7.94150593e+01] [-1.60563594e-03 9.99998709e-01 6.06888683e-05 2.87527920e+00] [ 5.06305593e-03 -5.25587336e-05 9.99987181e-01 4.02973423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:79.44, Y:2.88, Z:0.41 [[ 9.99975634e-01 4.80601065e-03 -5.06298197e-03 7.94431914e+01] [-4.80577232e-03 9.99988450e-01 5.92389092e-05 2.87715779e+00] [ 5.06320820e-03 -3.49059271e-05 9.99987181e-01 4.05328377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:79.47, Y:2.88, Z:0.41 [[ 9.99938446e-01 9.87272729e-03 -5.06298791e-03 7.94715255e+01] [-9.87255649e-03 9.99951263e-01 5.87268297e-05 2.87866831e+00] [ 5.06332095e-03 -8.73858060e-06 9.99987181e-01 4.11949224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:79.50, Y:2.88, Z:0.41 [[ 9.99926576e-01 1.10094332e-02 -5.06300410e-03 7.94986570e+01] [-1.10092842e-02 9.99939394e-01 5.72966105e-05 2.87847726e+00] [ 5.06332806e-03 -1.55235245e-06 9.99987181e-01 4.13279748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:79.53, Y:2.88, Z:0.41 [[ 9.99927875e-01 1.08908651e-02 -5.06301385e-03 7.95271077e+01] [-1.08907190e-02 9.99940693e-01 5.64214242e-05 2.87827571e+00] [ 5.06332806e-03 -1.27749353e-06 9.99987181e-01 4.13424124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:79.56, Y:2.88, Z:0.41 [[ 9.99922000e-01 1.14175319e-02 -5.06302047e-03 7.95551652e+01] [-1.14173957e-02 9.99934818e-01 5.58210824e-05 2.87732515e+00] [ 5.06332779e-03 1.98977958e-06 9.99987181e-01 4.12294539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35439141799999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:79.58, Y:2.87, Z:0.40 [[ 9.99945851e-01 9.09183328e-03 -5.06302717e-03 7.95832353e+01] [-9.09167030e-03 9.99958668e-01 5.52065355e-05 2.87492404e+00] [ 5.06331984e-03 -9.17217232e-06 9.99987181e-01 4.03391363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:79.61, Y:2.87, Z:0.40 [[ 9.99966731e-01 6.39546301e-03 -5.06303265e-03 7.96124125e+01] [-6.39526803e-03 9.99979549e-01 5.46991562e-05 2.87383003e+00] [ 5.06327893e-03 -2.23178855e-05 9.99987181e-01 3.98910123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:79.64, Y:2.87, Z:0.40 [[ 9.99987101e-01 4.04926904e-04 -5.06303691e-03 7.96408462e+01] [-4.04657154e-04 9.99999917e-01 5.43025826e-05 2.87367027e+00] [ 5.06305847e-03 -5.22530880e-05 9.99987181e-01 3.96862063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:79.67, Y:2.87, Z:0.40 [[ 9.99985781e-01 -1.67436731e-03 -5.06304112e-03 7.96695581e+01] [ 1.67466170e-03 9.99998596e-01 5.39066011e-05 2.87388500e+00] [ 5.06294376e-03 -6.23847156e-05 9.99987181e-01 3.99762408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:79.70, Y:2.87, Z:0.40 [[ 9.99982057e-01 -3.20168017e-03 -5.06304534e-03 7.96982356e+01] [ 3.20199212e-03 9.99994872e-01 5.35072238e-05 2.87425487e+00] [ 5.06284807e-03 -6.97180951e-05 9.99987181e-01 4.02443267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:79.73, Y:2.87, Z:0.41 [[ 9.99978160e-01 -4.24797992e-03 -5.06304765e-03 7.97278038e+01] [ 4.24830417e-03 9.99990974e-01 5.32885050e-05 2.87440803e+00] [ 5.06277558e-03 -7.47967076e-05 9.99987181e-01 4.05081010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:79.76, Y:2.87, Z:0.41 [[ 9.99958602e-01 -7.56034649e-03 -5.06304969e-03 7.97571667e+01] [ 7.56071220e-03 9.99971416e-01 5.30939001e-05 2.87489900e+00] [ 5.06250356e-03 -9.13719637e-05 9.99987181e-01 4.05463029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:79.79, Y:2.87, Z:0.40 [[ 9.99930634e-01 -1.06344875e-02 -5.06305178e-03 7.97874011e+01] [ 1.06348916e-02 9.99943447e-01 5.28931978e-05 2.87473990e+00] [ 5.06220296e-03 -1.06734536e-04 9.99987181e-01 4.04423226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:79.82, Y:2.87, Z:0.40 [[ 9.99893694e-01 -1.36735335e-02 -5.06305074e-03 7.98186441e+01] [ 1.36739771e-02 9.99906505e-01 5.29927279e-05 2.87357594e+00] [ 5.06185278e-03 -1.22219134e-04 9.99987181e-01 4.03662445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:79.85, Y:2.87, Z:0.41 [[ 9.99827864e-01 -1.78495767e-02 -5.06304866e-03 7.98495620e+01] [ 1.78500748e-02 9.99840673e-01 5.31910198e-05 2.87298538e+00] [ 5.06129254e-03 -1.43557661e-04 9.99987181e-01 4.05692523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65439141799999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:79.88, Y:2.87, Z:0.41 [[ 9.99706188e-01 -2.37044919e-02 -5.06304553e-03 7.98821434e+01] [ 2.37050665e-02 9.99718994e-01 5.34869452e-05 2.87350129e+00] [ 5.06035490e-03 -1.73491061e-04 9.99987181e-01 4.10386649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:79.91, Y:2.87, Z:0.41 [[ 9.99688495e-01 -2.44392655e-02 -5.06304137e-03 7.99144736e+01] [ 2.44398514e-02 9.99701301e-01 5.38775896e-05 2.87394800e+00] [ 5.06021232e-03 -1.77600785e-04 9.99987181e-01 4.11937301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71439141799999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:79.95, Y:2.88, Z:0.41 [[ 9.99711059e-01 -2.34981730e-02 -5.06303718e-03 7.99457675e+01] [ 2.34987489e-02 9.99723865e-01 5.42692109e-05 2.87538912e+00] [ 5.06036387e-03 -1.73228569e-04 9.99987181e-01 4.09521153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:79.98, Y:2.88, Z:0.41 [[ 9.99729265e-01 -2.27104130e-02 -5.06303403e-03 7.99782388e+01] [ 2.27109802e-02 9.99742071e-01 5.45609266e-05 2.87513035e+00] [ 5.06048903e-03 -1.69532621e-04 9.99987181e-01 4.05721937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:80.01, Y:2.88, Z:0.40 [[ 9.99741224e-01 -2.21777030e-02 -5.06302983e-03 8.00102178e+01] [ 2.21782654e-02 9.99754031e-01 5.49477996e-05 2.87509314e+00] [ 5.06056587e-03 -1.67222800e-04 9.99987181e-01 4.02638924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:80.04, Y:2.88, Z:0.41 [[ 9.99800923e-01 -1.92997461e-02 -5.06302563e-03 8.00414904e+01] [ 1.93002735e-02 9.99813731e-01 5.53323826e-05 2.87751250e+00] [ 5.06101465e-03 -1.53039147e-04 9.99987181e-01 4.07022526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:2.88, Z:0.41 [[ 9.99851715e-01 -1.64594590e-02 -5.06302249e-03 8.00722398e+01] [ 1.64599515e-02 9.99864524e-01 5.56187638e-05 2.87938848e+00] [ 5.06142111e-03 -1.38947621e-04 9.99987181e-01 4.11953721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.10, Y:2.88, Z:0.41 [[ 9.99942713e-01 -9.43063269e-03 -5.06301936e-03 8.01046528e+01] [ 9.43103658e-03 9.99955525e-01 5.59016357e-05 2.88232718e+00] [ 5.06226700e-03 -1.03647954e-04 9.99987181e-01 4.12763727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.14, Y:2.88, Z:0.41 [[ 9.99965912e-01 -6.52228058e-03 -5.06301523e-03 8.01365218e+01] [ 6.52264908e-03 9.99978726e-01 5.62734792e-05 2.88255058e+00] [ 5.06254049e-03 -8.92958326e-05 9.99987181e-01 4.09007724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:80.17, Y:2.88, Z:0.40 [[ 9.99975052e-01 -4.92554766e-03 -5.06301297e-03 8.01665842e+01] [ 4.92589672e-03 9.99987866e-01 5.64758503e-05 2.88210186e+00] [ 5.06267336e-03 -8.14143203e-05 9.99987181e-01 4.04647831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:80.20, Y:2.88, Z:0.40 [[ 9.99975453e-01 -4.84354083e-03 -5.06301297e-03 8.01966820e+01] [ 4.84388884e-03 9.99988267e-01 5.64758503e-05 2.88155152e+00] [ 5.06268002e-03 -8.09991360e-05 9.99987181e-01 4.02079636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:80.23, Y:2.88, Z:0.40 [[ 9.99960554e-01 -7.29762940e-03 -5.06301499e-03 8.02259061e+01] [ 7.29800794e-03 9.99973368e-01 5.62940587e-05 2.88214785e+00] [ 5.06246934e-03 -9.32417618e-05 9.99987181e-01 4.03803944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01439141799999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:80.26, Y:2.88, Z:0.41 [[ 9.99953585e-01 -8.19715159e-03 -5.06301399e-03 8.02562927e+01] [ 8.19754211e-03 9.99966398e-01 5.63838893e-05 2.88333136e+00] [ 5.06238168e-03 -9.78855427e-05 9.99987181e-01 4.05610158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:80.29, Y:2.89, Z:0.40 [[ 9.99960564e-01 -7.29627761e-03 -5.06301399e-03 8.02865433e+01] [ 7.29665659e-03 9.99973377e-01 5.63838893e-05 2.88513224e+00] [ 5.06246781e-03 -9.33247402e-05 9.99987181e-01 4.04861171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07439141799999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:80.32, Y:2.88, Z:0.40 [[ 9.99969916e-01 -5.87656200e-03 -5.06301300e-03 8.03172595e+01] [ 5.87692324e-03 9.99982729e-01 5.64726607e-05 2.88469832e+00] [ 5.06259370e-03 -8.62259005e-05 9.99987181e-01 4.01492701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:80.35, Y:2.88, Z:0.40 [[ 9.99978173e-01 -4.24501287e-03 -5.06301300e-03 8.03474271e+01] [ 4.24535319e-03 9.99990987e-01 5.64726607e-05 2.88395687e+00] [ 5.06272764e-03 -7.79657065e-05 9.99987181e-01 4.01512966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13439141799999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:80.38, Y:2.88, Z:0.40 [[ 9.99983011e-01 -2.88840073e-03 -5.06301414e-03 8.03769458e+01] [ 2.88872315e-03 9.99995826e-01 5.63709062e-05 2.88446248e+00] [ 5.06283018e-03 -7.09955947e-05 9.99987181e-01 3.98882836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.41, Y:2.88, Z:0.40 [[ 9.99982735e-01 -2.98258393e-03 -5.06301526e-03 8.04065268e+01] [ 2.98290705e-03 9.99995550e-01 5.62700519e-05 2.88455597e+00] [ 5.06282489e-03 -7.13715843e-05 9.99987181e-01 4.00448695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:80.44, Y:2.88, Z:0.40 [[ 9.99980456e-01 -3.66799252e-03 -5.06301748e-03 8.04353272e+01] [ 3.66832341e-03 9.99993270e-01 5.60696769e-05 2.88427931e+00] [ 5.06277774e-03 -7.46413666e-05 9.99987181e-01 4.02658623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:80.46, Y:2.88, Z:0.41 [[ 9.99985408e-01 -1.88395100e-03 -5.06302172e-03 8.04647278e+01] [ 1.88425708e-03 9.99998223e-01 5.56840546e-05 2.88323760e+00] [ 5.06290782e-03 -6.52232766e-05 9.99987181e-01 4.10029479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:2.88, Z:0.41 [[ 9.99987038e-01 5.39012875e-04 -5.06302388e-03 8.04932544e+01] [-5.38738848e-04 9.99999853e-01 5.54868665e-05 2.88344080e+00] [ 5.06305304e-03 -5.27584996e-05 9.99987181e-01 4.13462771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:80.52, Y:2.89, Z:0.42 [[ 9.99976027e-01 4.72335877e-03 -5.06303887e-03 8.05210494e+01] [-4.72314548e-03 9.99988844e-01 5.40833174e-05 2.88552485e+00] [ 5.06323784e-03 -3.01685517e-05 9.99987181e-01 4.15421303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314391418 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:80.55, Y:2.89, Z:0.41 [[ 9.99975933e-01 4.74338792e-03 -5.06305608e-03 8.05491475e+01] [-4.74318330e-03 9.99988750e-01 5.24207067e-05 2.88553503e+00] [ 5.06324778e-03 -2.84044420e-05 9.99987181e-01 4.14841267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.58, Y:2.88, Z:0.41 [[ 9.99982167e-01 3.16710754e-03 -5.06306135e-03 8.05770310e+01] [-3.16688532e-03 9.99994984e-01 5.19075231e-05 2.88433064e+00] [ 5.06320035e-03 -3.58724627e-05 9.99987181e-01 4.14501888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37439141799999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.60, Y:2.88, Z:0.41 [[ 9.99986930e-01 7.10332701e-04 -5.06306649e-03 8.06046867e+01] [-7.10081557e-04 9.99999747e-01 5.14006194e-05 2.88225031e+00] [ 5.06310172e-03 -4.78047575e-05 9.99987181e-01 4.14240298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:80.63, Y:2.88, Z:0.41 [[ 9.99985042e-01 -2.06924847e-03 -5.06307153e-03 8.06330617e+01] [ 2.06953270e-03 9.99997857e-01 5.08998438e-05 2.87785384e+00] [ 5.06295535e-03 -6.13772746e-05 9.99987181e-01 4.10783688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43439141799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:80.66, Y:2.88, Z:0.41 [[ 9.99985259e-01 -1.96151867e-03 -5.06307556e-03 8.06616958e+01] [ 1.96179947e-03 9.99998074e-01 5.04958277e-05 2.87637741e+00] [ 5.06296676e-03 -6.04278223e-05 9.99987181e-01 4.07223451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:80.69, Y:2.88, Z:0.40 [[ 9.99986708e-01 -9.73759583e-04 -5.06308932e-03 8.06902891e+01] [ 9.74020544e-04 9.99999524e-01 4.90761643e-05 2.87578952e+00] [ 5.06303912e-03 -5.40070650e-05 9.99987181e-01 4.03272361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49439141799999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.72, Y:2.88, Z:0.40 [[ 9.99987035e-01 -5.43631211e-04 -5.06309222e-03 8.07187402e+01] [ 5.43885132e-04 9.99999851e-01 4.87746570e-05 2.87763549e+00] [ 5.06306495e-03 -5.15277652e-05 9.99987181e-01 4.04029460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.75, Y:2.88, Z:0.41 [[ 9.99985521e-01 -1.82304292e-03 -5.06310521e-03 8.07473149e+01] [ 1.82330621e-03 9.99998337e-01 4.73864982e-05 2.87845227e+00] [ 5.06301040e-03 -5.66174032e-05 9.99987181e-01 4.07803936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:2.88, Z:0.41 [[ 9.99966691e-01 -6.40169177e-03 -5.06310899e-03 8.07759411e+01] [ 6.40201168e-03 9.99979506e-01 4.69793305e-05 2.87615268e+00] [ 5.06270448e-03 -7.93918486e-05 9.99987181e-01 4.13140743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:80.81, Y:2.87, Z:0.41 [[ 9.99947633e-01 -8.89356574e-03 -5.06311272e-03 8.08065406e+01] [ 8.89391553e-03 9.99960447e-01 4.65740761e-05 2.87312127e+00] [ 5.06249825e-03 -9.16025340e-05 9.99987181e-01 4.13480713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:80.84, Y:2.87, Z:0.41 [[ 9.99925104e-01 -1.11423415e-02 -5.06311179e-03 8.08364174e+01] [ 1.11427207e-02 9.99937917e-01 4.66746177e-05 2.86960423e+00] [ 5.06227739e-03 -1.03087962e-04 9.99987181e-01 4.12095804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:80.87, Y:2.87, Z:0.41 [[ 9.99848445e-01 -1.66568675e-02 -5.06311091e-03 8.08689103e+01] [ 1.66573178e-02 9.99861256e-01 4.67696791e-05 2.86539945e+00] [ 5.06162940e-03 -1.31100438e-04 9.99987181e-01 4.06710910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:80.90, Y:2.86, Z:0.41 [[ 9.99789365e-01 -1.98894478e-02 -5.06309762e-03 8.08997674e+01] [ 1.98899465e-02 9.99802174e-01 4.81671067e-05 2.86497469e+00] [ 5.06113799e-03 -1.48861702e-04 9.99987181e-01 4.05126774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:80.93, Y:2.86, Z:0.41 [[ 9.99731663e-01 -2.26045852e-02 -5.06309477e-03 8.09317544e+01] [ 2.26051203e-02 9.99744470e-01 4.84652538e-05 2.86489291e+00] [ 5.06070546e-03 -1.62904115e-04 9.99987181e-01 4.06315870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:80.96, Y:2.86, Z:0.41 [[ 9.99638789e-01 -2.63942524e-02 -5.06309080e-03 8.09648378e+01] [ 2.63948381e-02 9.99651594e-01 4.88756244e-05 2.86425247e+00] [ 5.06003676e-03 -1.82497432e-04 9.99987181e-01 4.08152991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:81.00, Y:2.86, Z:0.41 [[ 9.99627936e-01 -2.68021563e-02 -5.06308471e-03 8.09975319e+01] [ 2.68027503e-02 9.99640741e-01 4.94987211e-05 2.86281696e+00] [ 5.05993908e-03 -1.85184900e-04 9.99987181e-01 4.07614496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79439141799999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:81.03, Y:2.86, Z:0.40 [[ 9.99621338e-01 -2.70471142e-02 -5.06307962e-03 8.10287930e+01] [ 2.70477140e-02 9.99634142e-01 5.00138176e-05 2.85950839e+00] [ 5.05987453e-03 -1.86939609e-04 9.99987181e-01 4.00719935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:81.06, Y:2.86, Z:0.40 [[ 9.99601355e-01 -2.77758319e-02 -5.06307657e-03 8.10620013e+01] [ 2.77764426e-02 9.99614159e-01 5.03209976e-05 2.85752804e+00] [ 5.05972532e-03 -1.90935193e-04 9.99987181e-01 3.99602679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85439141799999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:81.09, Y:2.86, Z:0.40 [[ 9.99574800e-01 -2.87155880e-02 -5.06307070e-03 8.10939234e+01] [ 2.87162136e-02 9.99587603e-01 5.09053566e-05 2.85604764e+00] [ 5.05952092e-03 -1.96275931e-04 9.99987181e-01 4.01910590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:81.13, Y:2.86, Z:0.41 [[ 9.99543786e-01 -2.97755941e-02 -5.06306658e-03 8.11251592e+01] [ 2.97762354e-02 9.99556588e-01 5.13111355e-05 2.85664898e+00] [ 5.05929374e-03 -2.02046789e-04 9.99987181e-01 4.10196105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:81.16, Y:2.86, Z:0.41 [[ 9.99565892e-01 -2.90239984e-02 -5.06306350e-03 8.11578568e+01] [ 2.90246316e-02 9.99578695e-01 5.16131815e-05 2.85784620e+00] [ 5.05943239e-03 -1.98544329e-04 9.99987181e-01 4.13360882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:81.19, Y:2.86, Z:0.41 [[ 9.99601950e-01 -2.77544165e-02 -5.06305728e-03 8.11908919e+01] [ 2.77550365e-02 9.99614753e-01 5.22167042e-05 2.85878132e+00] [ 5.05965751e-03 -1.92721259e-04 9.99987181e-01 4.14744387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:81.22, Y:2.86, Z:0.41 [[ 9.99648240e-01 -2.60338535e-02 -5.06305098e-03 8.12240173e+01] [ 2.60344545e-02 9.99661045e-01 5.28205054e-05 2.85863743e+00] [ 5.05995971e-03 -1.84615696e-04 9.99987181e-01 4.14549224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:81.25, Y:2.86, Z:0.41 [[ 9.99727926e-01 -2.27692884e-02 -5.06304444e-03 8.12547746e+01] [ 2.27698507e-02 9.99740732e-01 5.34406819e-05 2.85801542e+00] [ 5.06051494e-03 -1.68710908e-04 9.99987181e-01 4.12397232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:81.29, Y:2.86, Z:0.41 [[ 9.99775175e-01 -2.05904320e-02 -5.06303718e-03 8.12873660e+01] [ 2.05909698e-02 9.99787982e-01 5.41193044e-05 2.85776793e+00] [ 5.06084939e-03 -1.58359983e-04 9.99987181e-01 4.09803195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:81.32, Y:2.86, Z:0.41 [[ 9.99787736e-01 -1.99711980e-02 -5.06303280e-03 8.13172834e+01] [ 1.99717300e-02 9.99800544e-01 5.45257525e-05 2.85861425e+00] [ 5.06093401e-03 -1.55631703e-04 9.99987181e-01 4.10790129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:81.35, Y:2.86, Z:0.41 [[ 9.99794918e-01 -1.96082948e-02 -5.06319684e-03 8.13503533e+01] [ 1.96087454e-02 9.99807729e-01 3.93599018e-05 2.85851436e+00] [ 5.06145156e-03 -1.38634767e-04 9.99987181e-01 4.09711328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:81.38, Y:2.86, Z:0.41 [[ 9.99818705e-01 -1.83554776e-02 -5.06302640e-03 8.13816441e+01] [ 1.83559915e-02 9.99831513e-01 5.50388328e-05 2.85801802e+00] [ 5.06116308e-03 -1.47965724e-04 9.99987181e-01 4.09764979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:81.41, Y:2.86, Z:0.41 [[ 9.99877904e-01 -1.47832267e-02 -5.06302304e-03 8.14143690e+01] [ 1.47836964e-02 9.99890714e-01 5.53460095e-05 2.86012809e+00] [ 5.06165153e-03 -1.30189447e-04 9.99987181e-01 4.10350802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:81.45, Y:2.86, Z:0.41 [[ 9.99910276e-01 -1.24018481e-02 -5.06301753e-03 8.14466465e+01] [ 1.24022898e-02 9.99923087e-01 5.58460909e-05 2.86164743e+00] [ 5.06193552e-03 -1.18634091e-04 9.99987181e-01 4.10711354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21439141799999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:81.48, Y:2.86, Z:0.41 [[ 9.99911247e-01 -1.23233091e-02 -5.06301311e-03 8.14793418e+01] [ 1.23237518e-02 9.99924058e-01 5.62435825e-05 2.86120574e+00] [ 5.06193551e-03 -1.18633908e-04 9.99987181e-01 4.10876772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:81.51, Y:2.86, Z:0.41 [[ 9.99938343e-01 -9.88313502e-03 -5.06300866e-03 8.15118104e+01] [ 9.88354844e-03 9.99951155e-01 5.66412568e-05 2.86228974e+00] [ 5.06220157e-03 -1.06678256e-04 9.99987181e-01 4.12135180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274391418 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:81.54, Y:2.86, Z:0.41 [[ 9.99959220e-01 -7.47819725e-03 -5.06300410e-03 8.15431716e+01] [ 7.47858191e-03 9.99972033e-01 5.70464106e-05 2.86306560e+00] [ 5.06243590e-03 -9.49081751e-05 9.99987181e-01 4.14265419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:81.57, Y:2.86, Z:0.41 [[ 9.99955230e-01 -7.99400037e-03 -5.06300069e-03 8.15741544e+01] [ 7.99439316e-03 9.99968043e-01 5.73477148e-05 2.86268275e+00] [ 5.06238045e-03 -9.78207655e-05 9.99987181e-01 4.14704005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:81.61, Y:2.86, Z:0.41 [[ 9.99949579e-01 -8.67212629e-03 -5.06300069e-03 8.16052699e+01] [ 8.67252777e-03 9.99962391e-01 5.73477148e-05 2.86187174e+00] [ 5.06231295e-03 -1.01253837e-04 9.99987181e-01 4.14921483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:81.64, Y:2.86, Z:0.41 [[ 9.99927150e-01 -1.09572678e-02 -5.06299845e-03 8.16362550e+01] [ 1.09576996e-02 9.99939961e-01 5.75443524e-05 2.86123623e+00] [ 5.06206394e-03 -1.13018976e-04 9.99987181e-01 4.14474344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:81.67, Y:2.86, Z:0.41 [[ 9.99919274e-01 -1.16538446e-02 -5.06299622e-03 8.16678734e+01] [ 1.16542862e-02 9.99932085e-01 5.77397409e-05 2.86052658e+00] [ 5.06197948e-03 -1.16740687e-04 9.99987181e-01 4.13475163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:81.70, Y:2.86, Z:0.41 [[ 9.99917072e-01 -1.18412185e-02 -5.06299288e-03 8.17002315e+01] [ 1.18416640e-02 9.99929883e-01 5.80317164e-05 2.86033259e+00] [ 5.06195071e-03 -1.17981165e-04 9.99987181e-01 4.10966961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:81.73, Y:2.86, Z:0.41 [[ 9.99927664e-01 -1.09101870e-02 -5.06298824e-03 8.17322311e+01] [ 1.09106226e-02 9.99940476e-01 5.84336094e-05 2.86027019e+00] [ 5.06204934e-03 -1.13669737e-04 9.99987181e-01 4.10141933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:81.76, Y:2.86, Z:0.41 [[ 9.99925626e-01 -1.10954260e-02 -5.06298357e-03 8.17621054e+01] [ 1.10958661e-02 9.99938437e-01 5.88353151e-05 2.86254736e+00] [ 5.06201908e-03 -1.15009127e-04 9.99987181e-01 4.11409769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51439141799999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:81.79, Y:2.86, Z:0.42 [[ 9.99974133e-01 -5.10844262e-03 -5.06335675e-03 8.17939437e+01] [ 5.10864069e-03 9.99986950e-01 2.61843178e-05 2.86062346e+00] [ 5.06315692e-03 -5.20505109e-05 9.99987181e-01 4.15122558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:81.82, Y:2.86, Z:0.42 [[ 9.99983954e-01 -2.54122342e-03 -5.06297421e-03 8.18247160e+01] [ 2.54155474e-03 9.99996769e-01 5.90074556e-05 2.86061384e+00] [ 5.06280790e-03 -7.18743349e-05 9.99987181e-01 4.17669153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:81.85, Y:2.86, Z:0.42 [[ 9.99987180e-01 -7.77199854e-05 -5.06297421e-03 8.18530033e+01] [ 7.80197384e-05 9.99999995e-01 5.90074556e-05 2.86003550e+00] [ 5.06296960e-03 -5.94017110e-05 9.99987181e-01 4.18021969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:81.88, Y:2.86, Z:0.41 [[ 9.99981009e-01 3.51405774e-03 -5.06297769e-03 8.18817560e+01] [-3.51380554e-03 9.99993825e-01 5.87074603e-05 2.85780195e+00] [ 5.06315273e-03 -4.09160263e-05 9.99987181e-01 4.14625565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63439141799999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:81.91, Y:2.86, Z:0.41 [[ 9.99976128e-01 4.70210921e-03 -5.06299361e-03 8.19105356e+01] [-4.70187936e-03 9.99988944e-01 5.73010916e-05 2.85686597e+00] [ 5.06320707e-03 -3.34941386e-05 9.99987181e-01 4.13039308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:81.94, Y:2.86, Z:0.41 [[ 9.99965412e-01 6.59860403e-03 -5.06299822e-03 8.19374402e+01] [-6.59840056e-03 9.99978229e-01 5.68903894e-05 2.85601361e+00] [ 5.06326339e-03 -2.34807313e-05 9.99987181e-01 4.12385424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:81.97, Y:2.86, Z:0.41 [[ 9.99962673e-01 7.00137866e-03 -5.06300612e-03 8.19659377e+01] [-7.00118396e-03 9.99975490e-01 5.61788606e-05 2.85625935e+00] [ 5.06327535e-03 -2.07297264e-05 9.99987181e-01 4.14392197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:81.99, Y:2.86, Z:0.42 [[ 9.99959081e-01 7.49682970e-03 -5.06301064e-03 8.19938722e+01] [-7.49664343e-03 9.99971898e-01 5.57679609e-05 2.85653260e+00] [ 5.06328645e-03 -1.78100935e-05 9.99987181e-01 4.15704112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:82.02, Y:2.86, Z:0.42 [[ 9.99954845e-01 8.04206046e-03 -5.06295091e-03 8.20215798e+01] [-8.04185350e-03 9.99967662e-01 6.12352153e-05 2.85674212e+00] [ 5.06327965e-03 -2.05169407e-05 9.99987181e-01 4.16082457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:82.05, Y:2.85, Z:0.41 [[ 9.99964105e-01 6.79369026e-03 -5.06302586e-03 8.20508175e+01] [-6.79350271e-03 9.99976922e-01 5.42393725e-05 2.85468608e+00] [ 5.06327750e-03 -1.98417457e-05 9.99987181e-01 4.14157448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:82.08, Y:2.85, Z:0.41 [[ 9.99974212e-01 5.09319147e-03 -5.06303008e-03 8.20791566e+01] [-5.09298414e-03 9.99987029e-01 5.38429825e-05 2.85218808e+00] [ 5.06323864e-03 -2.80556621e-05 9.99987181e-01 4.11961172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:82.11, Y:2.85, Z:0.41 [[ 9.99983055e-01 2.87310711e-03 -5.06303425e-03 8.21073023e+01] [-2.87287333e-03 9.99995872e-01 5.34474101e-05 2.84888722e+00] [ 5.06316691e-03 -3.89010484e-05 9.99987181e-01 4.09561251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87439141799999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:82.14, Y:2.85, Z:0.41 [[ 9.99987183e-01 2.13282276e-05 -5.06303937e-03 8.21354324e+01] [-2.10603704e-05 9.99999998e-01 5.29577382e-05 2.84563890e+00] [ 5.06304049e-03 -5.28504300e-05 9.99987181e-01 4.08418917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:82.16, Y:2.84, Z:0.41 [[ 9.99966498e-01 -6.43185325e-03 -5.06304439e-03 8.21645273e+01] [ 6.43220136e-03 9.99979312e-01 5.24740577e-05 2.84232661e+00] [ 5.06260214e-03 -8.50388207e-05 9.99987181e-01 4.10266578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93439141799999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:82.19, Y:2.84, Z:0.41 [[ 9.99947043e-01 -8.95967819e-03 -5.06304837e-03 8.21947562e+01] [ 8.96005673e-03 9.99959857e-01 5.20865793e-05 2.84262528e+00] [ 5.06237845e-03 -9.74490216e-05 9.99987181e-01 4.12944112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:82.22, Y:2.84, Z:0.41 [[ 9.99911994e-01 -1.22625318e-02 -5.06304837e-03 8.22248086e+01] [ 1.22629526e-02 9.99924806e-01 5.20865793e-05 2.84474692e+00] [ 5.06202895e-03 -1.14169918e-04 9.99987181e-01 4.14259847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99439141799999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:82.26, Y:2.84, Z:0.41 [[ 9.99902241e-01 -1.30335405e-02 -5.06304732e-03 8.22574316e+01] [ 1.30339718e-02 9.99915053e-01 5.21884031e-05 2.84395013e+00] [ 5.06193703e-03 -1.18174917e-04 9.99987181e-01 4.12611338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:82.29, Y:2.84, Z:0.41 [[ 9.99881589e-01 -1.45318409e-02 -5.06304303e-03 8.22889936e+01] [ 1.45322935e-02 9.99894399e-01 5.26020226e-05 2.83937498e+00] [ 5.06174396e-03 -1.26173421e-04 9.99987181e-01 4.05951836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:82.32, Y:2.84, Z:0.40 [[ 9.99873566e-01 -1.50737116e-02 -5.06303981e-03 8.23198800e+01] [ 1.50741726e-02 9.99886377e-01 5.29093456e-05 2.83612382e+00] [ 5.06166700e-03 -1.29223792e-04 9.99987181e-01 4.03549907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:82.35, Y:2.83, Z:0.40 [[ 9.99880330e-01 -1.46182177e-02 -5.06303663e-03 8.23533543e+01] [ 1.46186744e-02 9.99893140e-01 5.32126312e-05 2.83306640e+00] [ 5.06171772e-03 -1.27221147e-04 9.99987181e-01 4.04788321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:82.38, Y:2.83, Z:0.41 [[ 9.99889623e-01 -1.39681929e-02 -5.06280501e-03 8.23839185e+01] [ 1.39687516e-02 9.99902429e-01 7.50168097e-05 2.83187987e+00] [ 5.06126318e-03 -1.45729595e-04 9.99987181e-01 4.09066719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:82.42, Y:2.84, Z:0.42 [[ 9.99951551e-01 -8.44164525e-03 -5.06303107e-03 8.24159271e+01] [ 8.44202535e-03 9.99964364e-01 5.37058485e-05 2.83628228e+00] [ 5.06239728e-03 -9.64454831e-05 9.99987181e-01 4.18913418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:82.45, Y:2.84, Z:0.42 [[ 9.99979004e-01 -4.04431435e-03 -5.06302668e-03 8.24477781e+01] [ 4.04464018e-03 9.99991819e-01 5.41164597e-05 2.83935671e+00] [ 5.06276640e-03 -7.45934447e-05 9.99987181e-01 4.21697928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:82.48, Y:2.84, Z:0.42 [[ 9.99987175e-01 -1.28438665e-04 -5.06302448e-03 8.24777495e+01] [ 1.28715346e-04 9.99999990e-01 5.43214249e-05 2.84147980e+00] [ 5.06301746e-03 -5.49724172e-05 9.99987181e-01 4.22126351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:82.51, Y:2.84, Z:0.42 [[ 9.99959684e-01 7.41598248e-03 -5.06302557e-03 8.25053752e+01] [-7.41580301e-03 9.99972501e-01 5.42198451e-05 2.84014569e+00] [ 5.06328844e-03 -1.66712590e-05 9.99987181e-01 4.16431022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:82.54, Y:2.84, Z:0.41 [[ 9.99967216e-01 6.31889058e-03 -5.06344471e-03 8.25361364e+01] [-6.31890195e-03 9.99980035e-01 1.37512600e-05 2.83845228e+00] [ 5.06343051e-03 1.82446014e-05 9.99987181e-01 4.13570169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29439141799999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:82.56, Y:2.83, Z:0.41 [[ 9.99962226e-01 7.06487692e-03 -5.06303465e-03 8.25645341e+01] [-7.06469934e-03 9.99975043e-01 5.29564995e-05 2.83431979e+00] [ 5.06328242e-03 -1.71856816e-05 9.99987181e-01 4.11198810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:82.59, Y:2.83, Z:0.41 [[ 9.99964425e-01 6.74649457e-03 -5.06303889e-03 8.25928701e+01] [-6.74631498e-03 9.99977242e-01 5.25478885e-05 2.83386019e+00] [ 5.06327818e-03 -1.83891640e-05 9.99987181e-01 4.12231552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:82.62, Y:2.83, Z:0.41 [[ 9.99963266e-01 6.91608109e-03 -5.06304311e-03 8.26217004e+01] [-6.91590575e-03 9.99976083e-01 5.21378180e-05 2.83466813e+00] [ 5.06328261e-03 -1.71203738e-05 9.99987181e-01 4.13960042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:82.65, Y:2.84, Z:0.42 [[ 9.99959118e-01 7.49185714e-03 -5.06304726e-03 8.26490224e+01] [-7.49169124e-03 9.99971936e-01 5.17314721e-05 2.83707003e+00] [ 5.06329273e-03 -1.37985704e-05 9.99987181e-01 4.17790096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:82.68, Y:2.84, Z:0.42 [[ 9.99970924e-01 5.70218286e-03 -5.06326980e-03 8.26782005e+01] [-5.70210621e-03 9.99983742e-01 2.95756140e-05 2.83667746e+00] [ 5.06335613e-03 -7.03451875e-07 9.99987181e-01 4.16866363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:82.71, Y:2.83, Z:0.42 [[ 9.99986008e-01 1.53253200e-03 -5.06305857e-03 8.27067906e+01] [-1.53229505e-03 9.99998825e-01 5.06786627e-05 2.83334638e+00] [ 5.06313029e-03 -4.29198541e-05 9.99987181e-01 4.16686551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:82.73, Y:2.83, Z:0.42 [[ 9.99987119e-01 3.57026501e-04 -5.06306255e-03 8.27331703e+01] [-3.56776513e-04 9.99999935e-01 5.02780771e-05 2.83094968e+00] [ 5.06308017e-03 -4.84710476e-05 9.99987181e-01 4.15483731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:82.76, Y:2.83, Z:0.41 [[ 9.99975565e-01 -4.81987487e-03 -5.06336669e-03 8.27643690e+01] [ 4.82003544e-03 9.99988383e-01 1.95103927e-05 2.82924512e+00] [ 5.06321384e-03 -4.39155229e-05 9.99987181e-01 4.14780941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:82.79, Y:2.83, Z:0.41 [[ 9.99949786e-01 -8.64821636e-03 -5.06304392e-03 8.27933782e+01] [ 8.64858713e-03 9.99962599e-01 5.13412294e-05 2.82741945e+00] [ 5.06241055e-03 -9.51268278e-05 9.99987181e-01 4.14202305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:82.83, Y:2.83, Z:0.42 [[ 9.99842004e-01 -1.70391550e-02 -5.06304492e-03 8.28250580e+01] [ 1.70396328e-02 9.99854814e-01 5.12418753e-05 2.82500406e+00] [ 5.06143672e-03 -1.37506206e-04 9.99987181e-01 4.15729776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:82.86, Y:2.82, Z:0.42 [[ 9.99781850e-01 -2.02636884e-02 -5.06304291e-03 8.28576388e+01] [ 2.02642085e-02 9.99794659e-01 5.14402807e-05 2.82405739e+00] [ 5.06096089e-03 -1.54027616e-04 9.99987181e-01 4.17028542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:82.89, Y:2.82, Z:0.42 [[ 9.99737091e-01 -2.23632476e-02 -5.06303884e-03 8.28903154e+01] [ 2.23637966e-02 9.99749898e-01 5.18375441e-05 2.82334470e+00] [ 5.06061331e-03 -1.65052686e-04 9.99987181e-01 4.17946128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65439141799999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:82.92, Y:2.82, Z:0.42 [[ 9.99686230e-01 -2.45317619e-02 -5.06303469e-03 8.29211341e+01] [ 2.45323408e-02 9.99699035e-01 5.22402385e-05 2.82375134e+00] [ 5.06022935e-03 -1.76431939e-04 9.99987181e-01 4.17260888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:82.95, Y:2.82, Z:0.42 [[ 9.99671849e-01 -2.51109725e-02 -5.06303158e-03 8.29527163e+01] [ 2.51115602e-02 9.99684654e-01 5.25398673e-05 2.82425570e+00] [ 5.06011564e-03 -1.79663249e-04 9.99987181e-01 4.17360477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71439141799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:82.99, Y:2.82, Z:0.42 [[ 9.99657077e-01 -2.56922809e-02 -5.06302851e-03 8.29850945e+01] [ 2.56928776e-02 9.99669882e-01 5.28341735e-05 2.82404163e+00] [ 5.05999968e-03 -1.82899827e-04 9.99987181e-01 4.18711269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:83.02, Y:2.82, Z:0.42 [[ 9.99601107e-01 -2.77847453e-02 -5.06302437e-03 8.30161419e+01] [ 2.77853708e-02 9.99613911e-01 5.32277163e-05 2.82066901e+00] [ 5.05959067e-03 -1.93884493e-04 9.99987181e-01 4.20435526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:83.05, Y:2.82, Z:0.42 [[ 9.99560095e-01 -2.92229643e-02 -5.06302127e-03 8.30494812e+01] [ 2.92236097e-02 9.99572898e-01 5.35209856e-05 2.81842011e+00] [ 5.05929480e-03 -2.01457199e-04 9.99987181e-01 4.20579639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:83.08, Y:2.82, Z:0.42 [[ 9.99506036e-01 -3.10169176e-02 -5.06301501e-03 8.30824576e+01] [ 3.10175890e-02 9.99518837e-01 5.41069870e-05 2.81777708e+00] [ 5.05890064e-03 -2.11122779e-04 9.99987181e-01 4.20880607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:83.11, Y:2.82, Z:0.42 [[ 9.99514016e-01 -3.07587106e-02 -5.06300865e-03 8.31149607e+01] [ 3.07593815e-02 9.99526817e-01 5.46953985e-05 2.81820693e+00] [ 5.05893056e-03 -2.10403832e-04 9.99987181e-01 4.21058337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:83.15, Y:2.82, Z:0.42 [[ 9.99552303e-01 -2.94883047e-02 -5.06300440e-03 8.31471224e+01] [ 2.94889614e-02 9.99565104e-01 5.50856871e-05 2.81846681e+00] [ 5.05917814e-03 -2.04363767e-04 9.99987181e-01 4.19349367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:83.18, Y:2.82, Z:0.41 [[ 9.99661003e-01 -2.55390999e-02 -5.06300014e-03 8.31797227e+01] [ 2.55397080e-02 9.99673807e-01 5.54744340e-05 2.81886547e+00] [ 5.05993186e-03 -1.84763174e-04 9.99987181e-01 4.13575941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:83.21, Y:2.82, Z:0.41 [[ 9.99728376e-01 -2.27495226e-02 -5.06299588e-03 8.32108038e+01] [ 2.27500969e-02 9.99741181e-01 5.58613044e-05 2.81812275e+00] [ 5.06041466e-03 -1.71029778e-04 9.99987181e-01 4.10276205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:83.24, Y:2.82, Z:0.41 [[ 9.99786472e-01 -2.00343869e-02 -5.06298840e-03 8.32426121e+01] [ 2.00349298e-02 9.99799279e-01 5.65311854e-05 2.81784077e+00] [ 5.06083958e-03 -1.57955731e-04 9.99987181e-01 4.10710753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:83.27, Y:2.82, Z:0.41 [[ 9.99892952e-01 -1.37277074e-02 -5.06298383e-03 8.32744778e+01] [ 1.37281715e-02 9.99905763e-01 5.69370073e-05 2.81847664e+00] [ 5.06172509e-03 -1.26436423e-04 9.99987181e-01 4.13680501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01439141799999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:83.31, Y:2.82, Z:0.42 [[ 9.99925157e-01 -1.11376071e-02 -5.06297921e-03 8.33055039e+01] [ 1.11380401e-02 9.99937968e-01 5.73447013e-05 2.81992174e+00] [ 5.06202647e-03 -1.13732075e-04 9.99987181e-01 4.15349015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:83.34, Y:2.82, Z:0.42 [[ 9.99961025e-01 -7.23290970e-03 -5.06297576e-03 8.33370499e+01] [ 7.23329426e-03 9.99973838e-01 5.76481248e-05 2.82168268e+00] [ 5.06242634e-03 -9.42678715e-05 9.99987181e-01 4.19235971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07439141799999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:83.37, Y:2.82, Z:0.42 [[ 9.99969337e-01 -5.97423627e-03 -5.06297346e-03 8.33674762e+01] [ 5.97460572e-03 9.99982150e-01 5.78492369e-05 2.82093006e+00] [ 5.06253748e-03 -8.80967333e-05 9.99987181e-01 4.18931846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:83.40, Y:2.82, Z:0.42 [[ 9.99969337e-01 -5.97423627e-03 -5.06297346e-03 8.33984725e+01] [ 5.97460572e-03 9.99982150e-01 5.78492369e-05 2.82057590e+00] [ 5.06253748e-03 -8.80967333e-05 9.99987181e-01 4.19088802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13439141799999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:83.43, Y:2.82, Z:0.42 [[ 9.99971040e-01 -5.68194521e-03 -5.06297346e-03 8.34284796e+01] [ 5.68231091e-03 9.99983854e-01 5.78492369e-05 2.82040172e+00] [ 5.06256302e-03 -8.66169510e-05 9.99987181e-01 4.18478239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:83.46, Y:2.82, Z:0.42 [[ 9.99970326e-01 -5.80639710e-03 -5.06297346e-03 8.34592170e+01] [ 5.80676440e-03 9.99983139e-01 5.78492369e-05 2.82470698e+00] [ 5.06255220e-03 -8.72470144e-05 9.99987181e-01 4.21545915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:83.49, Y:2.83, Z:0.42 [[ 9.99969606e-01 -5.92895022e-03 -5.06297346e-03 8.34884729e+01] [ 5.92931908e-03 9.99982420e-01 5.78492369e-05 2.82656724e+00] [ 5.06254147e-03 -8.78674639e-05 9.99987181e-01 4.21794616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:83.52, Y:2.83, Z:0.42 [[ 9.99968169e-01 -6.16655816e-03 -5.06297461e-03 8.35188248e+01] [ 6.16692956e-03 9.99980983e-01 5.77489355e-05 2.82643290e+00] [ 5.06252221e-03 -8.89701051e-05 9.99987181e-01 4.20262746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:83.55, Y:2.82, Z:0.42 [[ 9.99963058e-01 -6.94620323e-03 -5.06297461e-03 8.35489588e+01] [ 6.94658463e-03 9.99975871e-01 5.77489355e-05 2.82494816e+00] [ 5.06245130e-03 -9.29171837e-05 9.99987181e-01 4.19480001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:83.58, Y:2.82, Z:0.42 [[ 9.99956257e-01 -7.86445561e-03 -5.06297461e-03 8.35795425e+01] [ 7.86484877e-03 9.99969070e-01 5.77489355e-05 2.82074518e+00] [ 5.06236384e-03 -9.75659390e-05 9.99987181e-01 4.15094579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:83.61, Y:2.82, Z:0.41 [[ 9.99951442e-01 -8.45463787e-03 -5.06297348e-03 8.36096609e+01] [ 8.45503910e-03 9.99964254e-01 5.78472374e-05 2.82015593e+00] [ 5.06230342e-03 -1.00652067e-04 9.99987181e-01 4.14921541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:83.64, Y:2.82, Z:0.42 [[ 9.99942933e-01 -9.40731577e-03 -5.06297348e-03 8.36408962e+01] [ 9.40772919e-03 9.99955745e-01 5.78472374e-05 2.82216203e+00] [ 5.06220523e-03 -1.05475020e-04 9.99987181e-01 4.18897616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37439141799999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:83.67, Y:2.82, Z:0.42 [[ 9.99941938e-01 -9.51246436e-03 -5.06297122e-03 8.36724919e+01] [ 9.51288014e-03 9.99954750e-01 5.80442780e-05 2.82352675e+00] [ 5.06218998e-03 -1.06204346e-04 9.99987181e-01 4.21194968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:83.70, Y:2.82, Z:0.42 [[ 9.99943828e-01 -9.31167158e-03 -5.06296897e-03 8.37034144e+01] [ 9.31208577e-03 9.99956640e-01 5.82399539e-05 2.82389095e+00] [ 5.06220713e-03 -1.05383484e-04 9.99987181e-01 4.22948983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43439141799999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:83.73, Y:2.82, Z:0.42 [[ 9.99939034e-01 -9.81301767e-03 -5.06296672e-03 8.37349305e+01] [ 9.81343927e-03 9.99951845e-01 5.84346785e-05 2.82205247e+00] [ 5.06214950e-03 -1.08116232e-04 9.99987181e-01 4.22206338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:83.77, Y:2.82, Z:0.42 [[ 9.99930105e-01 -1.06841581e-02 -5.06296444e-03 8.37659934e+01] [ 1.06845919e-02 9.99942916e-01 5.86320123e-05 2.82033463e+00] [ 5.06204899e-03 -1.12723623e-04 9.99987181e-01 4.21524619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49439141799999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:83.80, Y:2.82, Z:0.42 [[ 9.99914086e-01 -1.20907907e-02 -5.06296211e-03 8.37968555e+01] [ 1.20912435e-02 9.99926897e-01 5.88323994e-05 2.81906873e+00] [ 5.06188066e-03 -1.20044853e-04 9.99987181e-01 4.21101398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:83.83, Y:2.82, Z:0.42 [[ 9.99868701e-01 -1.53930827e-02 -5.06295861e-03 8.38288480e+01] [ 1.53935793e-02 9.99881510e-01 5.91318857e-05 2.81857502e+00] [ 5.06144848e-03 -1.37061177e-04 9.99987181e-01 4.22876184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:83.86, Y:2.82, Z:0.42 [[ 9.99848124e-01 -1.66761872e-02 -5.06295398e-03 8.38605572e+01] [ 1.66767023e-02 9.99860932e-01 5.95256023e-05 2.81812669e+00] [ 5.06125723e-03 -1.43949938e-04 9.99987181e-01 4.21750958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:83.89, Y:2.82, Z:0.42 [[ 9.99831122e-01 -1.76661988e-02 -5.06294936e-03 8.38928784e+01] [ 1.76667286e-02 9.99843929e-01 5.99160631e-05 2.81712270e+00] [ 5.06110070e-03 -1.49351697e-04 9.99987181e-01 4.20493288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:83.92, Y:2.82, Z:0.42 [[ 9.99816408e-01 -1.84801540e-02 -5.06294459e-03 8.39249889e+01] [ 1.84806961e-02 9.99829216e-01 6.03167377e-05 2.81598795e+00] [ 5.06096526e-03 -1.53872405e-04 9.99987181e-01 4.18275721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:83.96, Y:2.82, Z:0.41 [[ 9.99796083e-01 -1.95488749e-02 -5.06293974e-03 8.39561711e+01] [ 1.95494328e-02 9.99808890e-01 6.07210789e-05 2.81739968e+00] [ 5.06078513e-03 -1.59686297e-04 9.99987181e-01 4.14542420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:83.99, Y:2.82, Z:0.42 [[ 9.99801422e-01 -1.92739055e-02 -5.06293611e-03 8.39885084e+01] [ 1.92744614e-02 9.99814228e-01 6.10222023e-05 2.81927504e+00] [ 5.06081943e-03 -1.58595451e-04 9.99987181e-01 4.18211292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:84.02, Y:2.82, Z:0.42 [[ 9.99827730e-01 -1.78571227e-02 -5.06293120e-03 8.40206437e+01] [ 1.78576625e-02 9.99840537e-01 6.14267320e-05 2.82192565e+00] [ 5.06102695e-03 -1.51828267e-04 9.99987181e-01 4.20083409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:84.05, Y:2.82, Z:0.42 [[ 9.99836934e-01 -1.73341176e-02 -5.06292627e-03 8.40532401e+01] [ 1.73346527e-02 9.99849742e-01 6.18304563e-05 2.82169939e+00] [ 5.06109375e-03 -1.49584442e-04 9.99987181e-01 4.19100319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:84.08, Y:2.82, Z:0.42 [[ 9.99831927e-01 -1.76205680e-02 -5.06292134e-03 8.40844912e+01] [ 1.76211089e-02 9.99844734e-01 6.22321084e-05 2.82088960e+00] [ 5.06103867e-03 -1.51435937e-04 9.99987181e-01 4.16903045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79439141799999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:84.12, Y:2.82, Z:0.42 [[ 9.99741100e-01 -2.21833111e-02 -5.06291765e-03 8.41159450e+01] [ 2.21839119e-02 9.99753905e-01 6.25308301e-05 2.82052361e+00] [ 5.06028455e-03 -1.74829960e-04 9.99987181e-01 4.15609725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:84.15, Y:2.82, Z:0.42 [[ 9.99667359e-01 -2.52891096e-02 -5.06291398e-03 8.41485493e+01] [ 2.52897517e-02 9.99680161e-01 6.28265770e-05 2.82068842e+00] [ 5.05970583e-03 -1.90845516e-04 9.99987181e-01 4.17132816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85439141799999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:84.18, Y:2.82, Z:0.42 [[ 9.99579471e-01 -2.85525595e-02 -5.06290910e-03 8.41811915e+01] [ 2.85532453e-02 9.99592271e-01 6.32174338e-05 2.82103457e+00] [ 5.05903978e-03 -2.07753334e-04 9.99987181e-01 4.18768612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.21, Y:2.82, Z:0.42 [[ 9.99393441e-01 -3.44545529e-02 -5.06290421e-03 8.42122090e+01] [ 3.44553162e-02 9.99406237e-01 6.36061733e-05 2.82133491e+00] [ 5.05770653e-03 -2.38011558e-04 9.99987181e-01 4.18447249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.24, Y:2.82, Z:0.42 [[ 9.99298560e-01 -3.71046457e-02 -5.06290056e-03 8.42439552e+01] [ 3.71054445e-02 9.99311354e-01 6.38956278e-05 2.82049630e+00] [ 5.05704319e-03 -2.51711984e-04 9.99987181e-01 4.16094750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:84.27, Y:2.82, Z:0.41 [[ 9.99203764e-01 -3.95752993e-02 -5.06289567e-03 8.42749386e+01] [ 3.95761317e-02 9.99216556e-01 6.42807596e-05 2.81944447e+00] [ 5.05638524e-03 -2.64599403e-04 9.99987181e-01 4.13288011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:84.31, Y:2.82, Z:0.41 [[ 9.99034621e-01 -4.36370549e-02 -5.06289201e-03 8.43057233e+01] [ 4.36379407e-02 9.99047409e-01 6.45676732e-05 2.82065715e+00] [ 5.05525160e-03 -2.85439522e-04 9.99987181e-01 4.11059899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:84.34, Y:2.82, Z:0.41 [[ 9.98999968e-01 -4.44233202e-02 -5.06288838e-03 8.43383857e+01] [ 4.44242175e-02 9.99012755e-01 6.48511882e-05 2.82245366e+00] [ 5.05500916e-03 -2.89701190e-04 9.99987181e-01 4.11858819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:2.82, Z:0.41 [[ 9.99022399e-01 -4.39159875e-02 -5.06288107e-03 8.43706980e+01] [ 4.39168811e-02 9.99035186e-01 6.54171573e-05 2.82429644e+00] [ 5.05512347e-03 -2.87699151e-04 9.99987181e-01 4.12565036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:84.40, Y:2.83, Z:0.41 [[ 9.99091581e-01 -4.23128748e-02 -5.06287620e-03 8.44024120e+01] [ 4.23137498e-02 9.99104370e-01 6.57915750e-05 2.82612498e+00] [ 5.05555791e-03 -2.79961086e-04 9.99987181e-01 4.12786537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:84.43, Y:2.83, Z:0.41 [[ 9.99358695e-01 -3.54480664e-02 -5.06287254e-03 8.44322033e+01] [ 3.54488550e-02 9.99371490e-01 6.60722869e-05 2.82954408e+00] [ 5.05734833e-03 -2.45502949e-04 9.99987181e-01 4.12064404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:84.47, Y:2.83, Z:0.41 [[ 9.99434045e-01 -3.32559166e-02 -5.06299024e-03 8.44657028e+01] [ 3.32566317e-02 9.99446844e-01 5.70886279e-05 2.83093248e+00] [ 5.05829108e-03 -2.25434320e-04 9.99987181e-01 4.13726609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15439141799999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:84.50, Y:2.83, Z:0.42 [[ 9.99497646e-01 -3.12861580e-02 -5.06285948e-03 8.44975638e+01] [ 3.12868978e-02 9.99510443e-01 6.69734047e-05 2.83246516e+00] [ 5.05828558e-03 -2.25340928e-04 9.99987181e-01 4.15178546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:84.53, Y:2.84, Z:0.42 [[ 9.99559727e-01 -2.92356050e-02 -5.06285453e-03 8.45295481e+01] [ 2.92363205e-02 9.99572525e-01 6.73455983e-05 2.83536088e+00] [ 5.05872140e-03 -2.15335185e-04 9.99987181e-01 4.18417272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21439141799999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:84.56, Y:2.84, Z:0.42 [[ 9.99598703e-01 -2.78711267e-02 -5.06284958e-03 8.45603073e+01] [ 2.78718265e-02 9.99611503e-01 6.77153141e-05 2.83665917e+00] [ 5.05899538e-03 -2.08799005e-04 9.99987181e-01 4.20038154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:84.59, Y:2.84, Z:0.42 [[ 9.99657019e-01 -2.56945773e-02 -5.06284588e-03 8.45929126e+01] [ 2.56952506e-02 9.99669820e-01 6.79908479e-05 2.83850500e+00] [ 5.05942724e-03 -1.98058622e-04 9.99987181e-01 4.22677167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:84.62, Y:2.84, Z:0.42 [[ 9.99837153e-01 -1.73215185e-02 -5.06283774e-03 8.46237385e+01] [ 1.73220876e-02 9.99849959e-01 6.85919636e-05 2.84359298e+00] [ 5.06088999e-03 -1.56279713e-04 9.99987181e-01 4.22016426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:84.66, Y:2.85, Z:0.42 [[ 9.99913437e-01 -1.21444122e-02 -5.06282929e-03 8.46561969e+01] [ 1.21449182e-02 9.99926245e-01 6.92103265e-05 2.84596198e+00] [ 5.06161536e-03 -1.30691983e-04 9.99987181e-01 4.22356968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:84.69, Y:2.85, Z:0.42 [[ 9.99962212e-01 -7.06701262e-03 -5.06282433e-03 8.46869930e+01] [ 7.06745540e-03 9.99975023e-01 6.95711756e-05 2.84820218e+00] [ 5.06220621e-03 -1.05349832e-04 9.99987181e-01 4.21941933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364391418 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:84.72, Y:2.85, Z:0.42 [[ 9.99986459e-01 1.20381584e-03 -5.06282062e-03 8.47175662e+01] [-1.20347767e-03 9.99999273e-01 6.98398612e-05 2.85046813e+00] [ 5.06290102e-03 -6.37459239e-05 9.99987181e-01 4.20794314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:84.75, Y:2.85, Z:0.42 [[ 9.99976728e-01 4.57294254e-03 -5.06282062e-03 8.47450662e+01] [-4.57264755e-03 9.99989543e-01 6.98398612e-05 2.84921657e+00] [ 5.06308705e-03 -4.66877415e-05 9.99987181e-01 4.17456054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:2.85, Z:0.42 [[ 9.99966698e-01 6.40090213e-03 -5.06282723e-03 8.47733477e+01] [-6.40063301e-03 9.99979513e-01 6.93576093e-05 2.84799286e+00] [ 5.06316746e-03 -3.69500004e-05 9.99987181e-01 4.15647932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454391418 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:84.80, Y:2.85, Z:0.42 [[ 9.99930134e-01 1.06814733e-02 -5.06283496e-03 8.48015392e+01] [-1.06812619e-02 9.99942951e-01 6.87888000e-05 2.84897256e+00] [ 5.06328089e-03 -1.47065276e-05 9.99987181e-01 4.17435009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:84.83, Y:2.85, Z:0.42 [[ 9.99904512e-01 1.28582483e-02 -5.06285658e-03 8.48296350e+01] [-1.28580731e-02 9.99917329e-01 6.71587973e-05 2.85192419e+00] [ 5.06330157e-03 -2.05380452e-06 9.99987181e-01 4.22216250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51439141799999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:84.86, Y:2.85, Z:0.43 [[ 9.99865782e-01 1.55815963e-02 -5.06286321e-03 8.48584512e+01] [-1.55814585e-02 9.99878599e-01 6.66552899e-05 2.85494352e+00] [ 5.06328717e-03 1.22404495e-05 9.99987181e-01 4.25592142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:84.89, Y:2.86, Z:0.43 [[ 9.99825260e-01 1.79949332e-02 -5.06286849e-03 8.48855919e+01] [-1.79948284e-02 9.99838078e-01 6.62514802e-05 2.85710506e+00] [ 5.06324089e-03 2.48655462e-05 9.99987181e-01 4.25894167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57439141799999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:84.91, Y:2.85, Z:0.42 [[ 9.99807226e-01 1.89704318e-02 -5.06288159e-03 8.49148398e+01] [-1.89703447e-02 9.99820045e-01 6.52345540e-05 2.85323896e+00] [ 5.06320803e-03 3.08226304e-05 9.99987181e-01 4.18375736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:84.94, Y:2.85, Z:0.42 [[ 9.99848940e-01 1.66272159e-02 -5.06288664e-03 8.49439778e+01] [-1.66271007e-02 9.99861758e-01 6.48401702e-05 2.84786823e+00] [ 5.06326485e-03 1.93507507e-05 9.99987181e-01 4.15277369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63439141799999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:84.97, Y:2.84, Z:0.41 [[ 9.99895921e-01 1.35097561e-02 -5.06289164e-03 8.49726177e+01] [-1.35096030e-02 9.99908739e-01 6.44477178e-05 2.84314480e+00] [ 5.06330027e-03 3.95664585e-06 9.99987181e-01 4.14925603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:85.00, Y:2.84, Z:0.42 [[ 9.99966177e-01 6.48172942e-03 -5.06289677e-03 8.50005856e+01] [-6.48148825e-03 9.99978993e-01 6.40424807e-05 2.83947705e+00] [ 5.06320552e-03 -3.12252087e-05 9.99987181e-01 4.18810401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:85.03, Y:2.84, Z:0.42 [[ 9.99982915e-01 2.92174983e-03 -5.06290411e-03 8.50281504e+01] [-2.92146600e-03 9.99995730e-01 6.34564050e-05 2.83963499e+00] [ 5.06306790e-03 -4.86642186e-05 9.99987181e-01 4.23222043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:85.06, Y:2.84, Z:0.42 [[ 9.99987083e-01 4.47510587e-04 -5.06291013e-03 8.50569938e+01] [-4.47197493e-04 9.99999898e-01 6.29726849e-05 2.83986209e+00] [ 5.06293779e-03 -6.07077508e-05 9.99987181e-01 4.24553570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754391418 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:85.08, Y:2.84, Z:0.42 [[ 9.99978687e-01 -4.12219262e-03 -5.06291515e-03 8.50849513e+01] [ 4.12256222e-03 9.99991500e-01 6.25661573e-05 2.83888254e+00] [ 5.06261421e-03 -8.34370065e-05 9.99987181e-01 4.23929200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:85.11, Y:2.84, Z:0.42 [[ 9.99964924e-01 -6.67212246e-03 -5.06292133e-03 8.51143116e+01] [ 6.67252218e-03 9.99977737e-01 6.20625874e-05 2.83638503e+00] [ 5.06239452e-03 -9.58428653e-05 9.99987181e-01 4.23314571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:85.14, Y:2.83, Z:0.42 [[ 9.99948677e-01 -8.77550219e-03 -5.06292369e-03 8.51446451e+01] [ 8.77592788e-03 9.99961489e-01 6.18691236e-05 2.83199990e+00] [ 5.06218578e-03 -1.06297801e-04 9.99987181e-01 4.21466773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:85.18, Y:2.82, Z:0.42 [[ 9.99909464e-01 -1.24671923e-02 -5.06292252e-03 8.51754407e+01] [ 1.24676658e-02 9.99922274e-01 6.19650494e-05 2.82340842e+00] [ 5.06175646e-03 -1.25082265e-04 9.99987181e-01 4.21159509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87439141799999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:85.21, Y:2.82, Z:0.42 [[ 9.99899041e-01 -1.32768700e-02 -5.06292020e-03 8.52074898e+01] [ 1.32773548e-02 9.99911850e-01 6.21538413e-05 2.82054171e+00] [ 5.06164869e-03 -1.29369754e-04 9.99987181e-01 4.20643482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:85.24, Y:2.82, Z:0.42 [[ 9.99892831e-01 -1.37365979e-02 -5.06291553e-03 8.52392990e+01] [ 1.37370905e-02 9.99905640e-01 6.25318782e-05 2.81889205e+00] [ 5.06157882e-03 -1.32074906e-04 9.99987181e-01 4.19766499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93439141799999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.27, Y:2.82, Z:0.42 [[ 9.99898199e-01 -1.33401402e-02 -5.06291050e-03 8.52705657e+01] [ 1.33406298e-02 9.99911008e-01 6.29364555e-05 2.81651558e+00] [ 5.06162036e-03 -1.30472463e-04 9.99987181e-01 4.16691977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:85.30, Y:2.82, Z:0.42 [[ 9.99905869e-01 -1.27522390e-02 -5.06290673e-03 8.53027635e+01] [ 1.27527226e-02 9.99918679e-01 6.32380339e-05 2.81515524e+00] [ 5.06168858e-03 -1.27797926e-04 9.99987181e-01 4.16812295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99439141799999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.33, Y:2.81, Z:0.42 [[ 9.99916384e-01 -1.18992385e-02 -5.06290164e-03 8.53349012e+01] [ 1.18997131e-02 9.99929194e-01 6.36431795e-05 2.81446681e+00] [ 5.06178585e-03 -1.23884935e-04 9.99987181e-01 4.17534341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.37, Y:2.81, Z:0.42 [[ 9.99917331e-01 -1.18194282e-02 -5.06289652e-03 8.53675967e+01] [ 1.18199039e-02 9.99930140e-01 6.40477065e-05 2.81397563e+00] [ 5.06178582e-03 -1.23885362e-04 9.99987181e-01 4.17699759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:85.40, Y:2.81, Z:0.42 [[ 9.99945338e-01 -9.14815880e-03 -5.06289138e-03 8.53974775e+01] [ 9.14860233e-03 9.99958149e-01 6.44518054e-05 2.81474536e+00] [ 5.06208987e-03 -1.10766662e-04 9.99987181e-01 4.19870003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.43, Y:2.82, Z:0.42 [[ 9.99959502e-01 -7.44056782e-03 -5.06289011e-03 8.54285261e+01] [ 7.44098998e-03 9.99972313e-01 6.45515746e-05 2.81515247e+00] [ 5.06226963e-03 -1.02221875e-04 9.99987181e-01 4.19714278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.46, Y:2.81, Z:0.42 [[ 9.99972521e-01 -5.41524114e-03 -5.06288758e-03 8.54590715e+01] [ 5.41563835e-03 9.99985333e-01 6.47489053e-05 2.81438236e+00] [ 5.06246270e-03 -9.21658942e-05 9.99987181e-01 4.17010030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:85.49, Y:2.81, Z:0.42 [[ 9.99981201e-01 -3.45916032e-03 -5.06288633e-03 8.54897110e+01] [ 3.45953296e-03 9.99994014e-01 6.48467593e-05 2.81228431e+00] [ 5.06263171e-03 -8.23607623e-05 9.99987181e-01 4.15512014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:85.52, Y:2.81, Z:0.41 [[ 9.99987183e-01 3.61997332e-05 -5.06288633e-03 8.55188798e+01] [-3.58718812e-05 9.99999997e-01 6.48467593e-05 2.80651121e+00] [ 5.06288866e-03 -6.46643128e-05 9.99987181e-01 4.11959702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:85.55, Y:2.80, Z:0.41 [[ 9.99986092e-01 1.47721584e-03 -5.06288892e-03 8.55477283e+01] [-1.47690748e-03 9.99998907e-01 6.46440320e-05 2.80449239e+00] [ 5.06297888e-03 -5.71657145e-05 9.99987181e-01 4.12284191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23439141799999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:85.58, Y:2.80, Z:0.41 [[ 9.99981945e-01 3.23670848e-03 -5.06290703e-03 8.55756512e+01] [-3.23643002e-03 9.99994761e-01 6.31929678e-05 2.80393411e+00] [ 5.06308504e-03 -4.68060825e-05 9.99987181e-01 4.13743929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:85.60, Y:2.80, Z:0.42 [[ 9.99964270e-01 6.76946088e-03 -5.06291338e-03 8.56044472e+01] [-6.76923029e-03 9.99977087e-01 6.26797991e-05 2.80449748e+00] [ 5.06322168e-03 -2.84055330e-05 9.99987181e-01 4.20075000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29439141799999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:85.63, Y:2.80, Z:0.42 [[ 9.99957352e-01 7.72403511e-03 -5.06293061e-03 8.56327068e+01] [-7.72382396e-03 9.99970169e-01 6.12554605e-05 2.80369399e+00] [ 5.06325272e-03 -2.21476633e-05 9.99987181e-01 4.21210228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:85.66, Y:2.80, Z:0.42 [[ 9.99956115e-01 7.88257271e-03 -5.06293666e-03 8.56611913e+01] [-7.88236615e-03 9.99968932e-01 6.07516527e-05 2.80169485e+00] [ 5.06325824e-03 -2.08410660e-05 9.99987181e-01 4.21003641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:85.69, Y:2.80, Z:0.42 [[ 9.99968940e-01 6.04031934e-03 -5.06294149e-03 8.56889248e+01] [-6.04009122e-03 9.99981757e-01 6.03467940e-05 2.79760909e+00] [ 5.06321363e-03 -2.97642912e-05 9.99987181e-01 4.19561384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:85.72, Y:2.80, Z:0.42 [[ 9.99977275e-01 4.45162668e-03 -5.06294742e-03 8.57177630e+01] [-4.45138073e-03 9.99990091e-01 5.98450384e-05 2.79644137e+00] [ 5.06316365e-03 -3.73065718e-05 9.99987181e-01 4.20315229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:85.75, Y:2.80, Z:0.42 [[ 9.99982151e-01 3.17231471e-03 -5.06295205e-03 8.57462110e+01] [-3.17205437e-03 9.99994967e-01 5.94508304e-05 2.79551326e+00] [ 5.06311516e-03 -4.33898102e-05 9.99987181e-01 4.21724981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.77, Y:2.79, Z:0.42 [[ 9.99985149e-01 2.01720595e-03 -5.06295676e-03 8.57737444e+01] [-2.01693285e-03 9.99997964e-01 5.90462071e-05 2.79389853e+00] [ 5.06306557e-03 -4.88336864e-05 9.99987181e-01 4.21524588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:85.80, Y:2.79, Z:0.42 [[ 9.99986486e-01 1.18072142e-03 -5.06296256e-03 8.58021649e+01] [-1.18044014e-03 9.99999302e-01 5.85449748e-05 2.79081593e+00] [ 5.06302815e-03 -5.25676594e-05 9.99987181e-01 4.20044804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:85.83, Y:2.78, Z:0.42 [[ 9.99987133e-01 -3.15074147e-04 -5.06296701e-03 8.58311785e+01] [ 3.15372641e-04 9.99999949e-01 5.81580263e-05 2.78206177e+00] [ 5.06294842e-03 -5.97539993e-05 9.99987181e-01 4.16425061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:85.86, Y:2.78, Z:0.42 [[ 9.99984553e-01 -2.29328591e-03 -5.06297149e-03 8.58592768e+01] [ 2.29360776e-03 9.99997368e-01 5.77645825e-05 2.77939247e+00] [ 5.06282570e-03 -6.93761610e-05 9.99987181e-01 4.16404712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:85.89, Y:2.78, Z:0.42 [[ 9.99960872e-01 -7.25400788e-03 -5.06297701e-03 8.58879463e+01] [ 7.25439083e-03 9.99973685e-01 5.72766349e-05 2.77932771e+00] [ 5.06242830e-03 -9.40032078e-05 9.99987181e-01 4.21706772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:85.92, Y:2.78, Z:0.42 [[ 9.99938164e-01 -9.90122340e-03 -5.06298160e-03 8.59185918e+01] [ 9.90163820e-03 9.99950976e-01 5.68682695e-05 2.77971989e+00] [ 5.06217033e-03 -1.06996565e-04 9.99987181e-01 4.24024071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:85.95, Y:2.78, Z:0.43 [[ 9.99913508e-01 -1.21384964e-02 -5.06298160e-03 8.59485517e+01] [ 1.21389398e-02 9.99926319e-01 5.68682695e-05 2.77860673e+00] [ 5.06191826e-03 -1.18322580e-04 9.99987181e-01 4.25072071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65439141799999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:85.98, Y:2.77, Z:0.42 [[ 9.99858693e-01 -1.60299620e-02 -5.06298045e-03 8.59805826e+01] [ 1.60304558e-02 9.99871502e-01 5.69701887e-05 2.77058614e+00] [ 5.06141664e-03 -1.38124023e-04 9.99987181e-01 4.23656166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:86.01, Y:2.76, Z:0.42 [[ 9.99843453e-01 -1.69539531e-02 -5.06297580e-03 8.60130309e+01] [ 1.69544609e-02 9.99856261e-01 5.73812372e-05 2.76470687e+00] [ 5.06127521e-03 -1.43212280e-04 9.99987181e-01 4.22585711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71439141799999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:86.04, Y:2.76, Z:0.42 [[ 9.99821523e-01 -1.82013142e-02 -5.06297109e-03 8.60447109e+01] [ 1.82018400e-02 9.99834331e-01 5.77931199e-05 2.75924048e+00] [ 5.06108041e-03 -1.49938195e-04 9.99987181e-01 4.21971150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:86.08, Y:2.76, Z:0.42 [[ 9.99828582e-01 -1.78093706e-02 -5.06296634e-03 8.60755165e+01] [ 1.78098935e-02 9.99841390e-01 5.82069312e-05 2.75871469e+00] [ 5.06112667e-03 -1.48367845e-04 9.99987181e-01 4.20814642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:86.11, Y:2.76, Z:0.42 [[ 9.99815958e-01 -1.85044823e-02 -5.06296277e-03 8.61073028e+01] [ 1.85050156e-02 9.99828766e-01 5.85152417e-05 2.75861707e+00] [ 5.06101303e-03 -1.52194678e-04 9.99987181e-01 4.23379760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:86.14, Y:2.76, Z:0.42 [[ 9.99815753e-01 -1.85155721e-02 -5.06295795e-03 8.61391043e+01] [ 1.85161077e-02 9.99828560e-01 5.89294488e-05 2.75670621e+00] [ 5.06099885e-03 -1.52664866e-04 9.99987181e-01 4.23820519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:86.17, Y:2.75, Z:0.42 [[ 9.99801563e-01 -1.92665997e-02 -5.06295314e-03 8.61707605e+01] [ 1.92671470e-02 9.99814370e-01 5.93398591e-05 2.74974351e+00] [ 5.06087003e-03 -1.56876746e-04 9.99987181e-01 4.23816356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:86.20, Y:2.75, Z:0.42 [[ 9.99801989e-01 -1.92444417e-02 -5.06294834e-03 8.62021849e+01] [ 1.92449907e-02 9.99814796e-01 5.97469245e-05 2.74646679e+00] [ 5.06086087e-03 -1.57171488e-04 9.99987181e-01 4.23691078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:86.23, Y:2.74, Z:0.42 [[ 9.99813389e-01 -1.86428087e-02 -5.06294474e-03 8.62344211e+01] [ 1.86433516e-02 9.99826196e-01 6.00504880e-05 2.74429551e+00] [ 5.06094527e-03 -1.54429541e-04 9.99987181e-01 4.23685528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:86.27, Y:2.74, Z:0.42 [[ 9.99821371e-01 -1.82096824e-02 -5.06293998e-03 8.62667154e+01] [ 1.82102217e-02 9.99834178e-01 6.04493535e-05 2.74393279e+00] [ 5.06099967e-03 -1.52635815e-04 9.99987181e-01 4.22795407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:86.30, Y:2.74, Z:0.42 [[ 9.99826813e-01 -1.79084128e-02 -5.06293518e-03 8.62987638e+01] [ 1.79089503e-02 9.99839620e-01 6.08480347e-05 2.74235775e+00] [ 5.06103350e-03 -1.51509351e-04 9.99987181e-01 4.21265072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:86.33, Y:2.74, Z:0.42 [[ 9.99807984e-01 -1.89304373e-02 -5.06293030e-03 8.63302938e+01] [ 1.89309899e-02 9.99820791e-01 6.12521367e-05 2.73602074e+00] [ 5.06086344e-03 -1.57086658e-04 9.99987181e-01 4.15563304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01439141799999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:86.36, Y:2.73, Z:0.41 [[ 9.99805869e-01 -1.90418196e-02 -5.06292664e-03 8.63626148e+01] [ 1.90423752e-02 9.99818676e-01 6.15529434e-05 2.73231995e+00] [ 5.06083653e-03 -1.57951143e-04 9.99987181e-01 4.14642502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:86.39, Y:2.73, Z:0.42 [[ 9.99820045e-01 -1.82823480e-02 -5.06292188e-03 8.63949430e+01] [ 1.82828959e-02 9.99832852e-01 6.19415094e-05 2.73018682e+00] [ 5.06094319e-03 -1.54495236e-04 9.99987181e-01 4.17264538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07439141799999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:86.43, Y:2.73, Z:0.42 [[ 9.99846447e-01 -1.67764236e-02 -5.06291683e-03 8.64269359e+01] [ 1.67769543e-02 9.99859255e-01 6.23519168e-05 2.73017506e+00] [ 5.06115821e-03 -1.47282667e-04 9.99987181e-01 4.20664522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:86.46, Y:2.73, Z:0.43 [[ 9.99909209e-01 -1.24875894e-02 -5.06291178e-03 8.64589978e+01] [ 1.24880672e-02 9.99922019e-01 6.27593631e-05 2.73404163e+00] [ 5.06173326e-03 -1.25979647e-04 9.99987181e-01 4.27893107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13439141799999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:86.49, Y:2.73, Z:0.43 [[ 9.99928971e-01 -1.07897888e-02 -5.06290672e-03 8.64903944e+01] [ 1.07902468e-02 9.99941782e-01 6.31647487e-05 2.73466389e+00] [ 5.06193043e-03 -1.17790275e-04 9.99987181e-01 4.28426119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:86.52, Y:2.73, Z:0.43 [[ 9.99943795e-01 -9.31523672e-03 -5.06290294e-03 8.65213758e+01] [ 9.31567741e-03 9.99956606e-01 6.34663269e-05 2.73321250e+00] [ 5.06209204e-03 -1.10627130e-04 9.99987181e-01 4.27572244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:86.55, Y:2.73, Z:0.42 [[ 9.99944812e-01 -9.20539579e-03 -5.06290429e-03 8.65517697e+01] [ 9.20583452e-03 9.99957623e-01 6.33588896e-05 2.72642629e+00] [ 5.06210649e-03 -1.09963652e-04 9.99987181e-01 4.20608929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:86.58, Y:2.72, Z:0.42 [[ 9.99942523e-01 -9.45079702e-03 -5.06290303e-03 8.65824532e+01] [ 9.45123941e-03 9.99955334e-01 6.34592748e-05 2.72265770e+00] [ 5.06207715e-03 -1.11306336e-04 9.99987181e-01 4.18123147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:86.61, Y:2.72, Z:0.42 [[ 9.99929448e-01 -1.07455147e-02 -5.06290303e-03 8.66126686e+01] [ 1.07459737e-02 9.99942258e-01 6.34592748e-05 2.72091269e+00] [ 5.06192878e-03 -1.17860620e-04 9.99987181e-01 4.19559319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:86.64, Y:2.72, Z:0.42 [[ 9.99930747e-01 -1.06239600e-02 -5.06290180e-03 8.66444072e+01] [ 1.06244179e-02 9.99943557e-01 6.35568959e-05 2.71996767e+00] [ 5.06194081e-03 -1.17342879e-04 9.99987181e-01 4.20573530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:86.68, Y:2.72, Z:0.43 [[ 9.99952014e-01 -8.38670347e-03 -5.06289935e-03 8.66755726e+01] [ 8.38713371e-03 9.99964825e-01 6.37516851e-05 2.72178065e+00] [ 5.06218660e-03 -1.06211840e-04 9.99987181e-01 4.26390500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:86.71, Y:2.72, Z:0.43 [[ 9.99972921e-01 -5.34086306e-03 -5.06289676e-03 8.67056696e+01] [ 5.34125530e-03 9.99985733e-01 6.39568410e-05 2.72199846e+00] [ 5.06248294e-03 -9.09973332e-05 9.99987181e-01 4.25608251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37439141799999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:86.74, Y:2.72, Z:0.42 [[ 9.99984531e-01 -2.30319234e-03 -5.06289547e-03 8.67354691e+01] [ 2.30354618e-03 9.99997345e-01 6.40585537e-05 2.72188018e+00] [ 5.06273449e-03 -7.57201763e-05 9.99987181e-01 4.24314398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:86.76, Y:2.72, Z:0.42 [[ 9.99979561e-01 3.90436545e-03 -5.06289797e-03 8.67645075e+01] [-3.90409217e-03 9.99992377e-01 6.38605778e-05 2.71895456e+00] [ 5.06310871e-03 -4.40932523e-05 9.99987181e-01 4.21277085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43439141799999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:86.79, Y:2.72, Z:0.42 [[ 9.99966712e-01 6.39852086e-03 -5.06290167e-03 8.67926813e+01] [-6.39828103e-03 9.99979529e-01 6.35659225e-05 2.71694176e+00] [ 5.06320475e-03 -3.11699388e-05 9.99987181e-01 4.21919259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:86.82, Y:2.72, Z:0.42 [[ 9.99948422e-01 8.80458339e-03 -5.06292148e-03 8.68210707e+01] [-8.80438260e-03 9.99961239e-01 6.19465220e-05 2.71545121e+00] [ 5.06327065e-03 -1.73674291e-05 9.99987181e-01 4.22504966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49439141799999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:86.85, Y:2.71, Z:0.42 [[ 9.99928812e-01 1.08045498e-02 -5.06292647e-03 8.68494601e+01] [-1.08043767e-02 9.99941629e-01 6.15364140e-05 2.71470216e+00] [ 5.06329581e-03 -6.83026837e-06 9.99987181e-01 4.23361550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:86.88, Y:2.71, Z:0.43 [[ 9.99905631e-01 1.27708673e-02 -5.06293143e-03 8.68770864e+01] [-1.27707215e-02 9.99918449e-01 6.11250326e-05 2.71457623e+00] [ 5.06329917e-03 3.53802282e-06 9.99987181e-01 4.26278285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:86.91, Y:2.71, Z:0.43 [[ 9.99907212e-01 1.26464879e-02 -5.06293754e-03 8.69053459e+01] [-1.26463430e-02 9.99920030e-01 6.06152633e-05 2.71447853e+00] [ 5.06329922e-03 3.41800599e-06 9.99987181e-01 4.28222919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:86.93, Y:2.71, Z:0.43 [[ 9.99914342e-01 1.20695852e-02 -5.06294476e-03 8.69346124e+01] [-1.20694361e-02 9.99927160e-01 6.00054389e-05 2.71379595e+00] [ 5.06330022e-03 1.10658952e-06 9.99987181e-01 4.28634059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:86.96, Y:2.71, Z:0.43 [[ 9.99943960e-01 9.29745645e-03 -5.06294962e-03 8.69621773e+01] [-9.29727390e-03 9.99956778e-01 5.95926245e-05 2.70909019e+00] [ 5.06328485e-03 -1.25176555e-05 9.99987181e-01 4.25085050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:86.99, Y:2.71, Z:0.42 [[ 9.99960764e-01 7.26894939e-03 -5.06295559e-03 8.69902233e+01] [-7.26874342e-03 9.99973581e-01 5.90807923e-05 2.70515129e+00] [ 5.06325129e-03 -2.22771490e-05 9.99987181e-01 4.22940320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:87.02, Y:2.70, Z:0.42 [[ 9.99973776e-01 5.17818383e-03 -5.06296144e-03 8.70192769e+01] [-5.17795362e-03 9.99986593e-01 5.85754453e-05 2.70155809e+00] [ 5.06319687e-03 -3.23581297e-05 9.99987181e-01 4.23018471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:87.05, Y:2.70, Z:0.42 [[ 9.99987167e-01 1.78545583e-04 -5.06296611e-03 8.70478265e+01] [-1.78253358e-04 9.99999982e-01 5.81691520e-05 2.69692193e+00] [ 5.06297641e-03 -5.72659149e-05 9.99987181e-01 4.24146366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73439141799999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:87.08, Y:2.70, Z:0.42 [[ 9.99984071e-01 -2.49462936e-03 -5.06297077e-03 8.70760976e+01] [ 2.49495378e-03 9.99996886e-01 5.77609816e-05 2.69509775e+00] [ 5.06281091e-03 -7.03919396e-05 9.99987181e-01 4.23974581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:87.10, Y:2.69, Z:0.42 [[ 9.99974152e-01 -5.10508118e-03 -5.06297649e-03 8.71045414e+01] [ 5.10543648e-03 9.99986966e-01 5.72543836e-05 2.69349821e+00] [ 5.06261821e-03 -8.31016086e-05 9.99987181e-01 4.23046922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79439141799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:87.13, Y:2.69, Z:0.42 [[ 9.99948516e-01 -8.79380809e-03 -5.06297988e-03 8.71345273e+01] [ 8.79420914e-03 9.99961329e-01 5.69536207e-05 2.69013295e+00] [ 5.06228325e-03 -1.01475592e-04 9.99987181e-01 4.22433484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:87.16, Y:2.69, Z:0.42 [[ 9.99926397e-01 -1.10257217e-02 -5.06298219e-03 8.71642484e+01] [ 1.10261503e-02 9.99939209e-01 5.67474203e-05 2.68813389e+00] [ 5.06204872e-03 -1.12568446e-04 9.99987181e-01 4.23808862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85439141799999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:87.19, Y:2.68, Z:0.43 [[ 9.99880895e-01 -1.45794927e-02 -5.06298333e-03 8.71945806e+01] [ 1.45799663e-02 9.99893705e-01 5.66451543e-05 2.68419233e+00] [ 5.06161931e-03 -1.30456534e-04 9.99987181e-01 4.27882843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:87.23, Y:2.68, Z:0.43 [[ 9.99857560e-01 -1.61005221e-02 -5.06298333e-03 8.72258325e+01] [ 1.61010152e-02 9.99870369e-01 5.66451543e-05 2.68327003e+00] [ 5.06141500e-03 -1.38156257e-04 9.99987181e-01 4.29346008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:87.26, Y:2.68, Z:0.43 [[ 9.99858851e-01 -1.60201326e-02 -5.06298106e-03 8.72585206e+01] [ 1.60206257e-02 9.99871660e-01 5.68479956e-05 2.68282601e+00] [ 5.06142056e-03 -1.37952096e-04 9.99987181e-01 4.29511483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:87.29, Y:2.68, Z:0.43 [[ 9.99839392e-01 -1.71917832e-02 -5.06297645e-03 8.72911340e+01] [ 1.71922934e-02 9.99852200e-01 5.72550633e-05 2.68182430e+00] [ 5.06124383e-03 -1.44290044e-04 9.99987181e-01 4.30701749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:87.32, Y:2.68, Z:0.43 [[ 9.99815718e-01 -1.85174565e-02 -5.06297169e-03 8.73219783e+01] [ 1.85179858e-02 9.99828526e-01 5.76732444e-05 2.68032178e+00] [ 5.06103556e-03 -1.51418654e-04 9.99987181e-01 4.29925487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:87.35, Y:2.67, Z:0.43 [[ 9.99777250e-01 -2.04894201e-02 -5.06296812e-03 8.73529438e+01] [ 2.04899762e-02 9.99790057e-01 5.79850884e-05 2.67442946e+00] [ 5.06071710e-03 -1.61712268e-04 9.99987181e-01 4.26041121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:87.38, Y:2.67, Z:0.42 [[ 9.99770573e-01 -2.08127005e-02 -5.06296457e-03 8.73848642e+01] [ 2.08132623e-02 9.99783379e-01 5.82932136e-05 2.67118996e+00] [ 5.06065459e-03 -1.63656649e-04 9.99987181e-01 4.24429821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:87.42, Y:2.67, Z:0.42 [[ 9.99773911e-01 -2.06516983e-02 -5.06295986e-03 8.74174654e+01] [ 2.06522601e-02 9.99786718e-01 5.86991746e-05 2.66956618e+00] [ 5.06066779e-03 -1.63247467e-04 9.99987181e-01 4.24662180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:87.45, Y:2.67, Z:0.43 [[ 9.99790560e-01 -1.98293608e-02 -5.06295509e-03 8.74498030e+01] [ 1.98299141e-02 9.99803366e-01 5.91076877e-05 2.66927159e+00] [ 5.06078748e-03 -1.59493273e-04 9.99987181e-01 4.26440755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:87.48, Y:2.67, Z:0.43 [[ 9.99847362e-01 -1.67218104e-02 -5.06295033e-03 8.74808200e+01] [ 1.67223259e-02 9.99860170e-01 5.95132670e-05 2.66961979e+00] [ 5.06124721e-03 -1.44168488e-04 9.99987181e-01 4.28021754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:87.51, Y:2.67, Z:0.43 [[ 9.99874480e-01 -1.50130112e-02 -5.06294676e-03 8.75126258e+01] [ 1.50135064e-02 9.99887289e-01 5.98153059e-05 2.66862860e+00] [ 5.06147810e-03 -1.35820381e-04 9.99987181e-01 4.27586514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:87.54, Y:2.67, Z:0.43 [[ 9.99901303e-01 -1.31053576e-02 -5.06294436e-03 8.75432106e+01] [ 1.31058294e-02 9.99914113e-01 6.00175497e-05 2.66706150e+00] [ 5.06172297e-03 -1.26365711e-04 9.99987181e-01 4.26426939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:87.57, Y:2.67, Z:0.43 [[ 9.99941161e-01 -9.59377864e-03 -5.06294317e-03 8.75736841e+01] [ 9.59420595e-03 9.99953973e-01 6.01178775e-05 2.66596009e+00] [ 5.06213338e-03 -1.08689260e-04 9.99987181e-01 4.28248875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:87.60, Y:2.67, Z:0.43 [[ 9.99951240e-01 -8.47841077e-03 -5.06294199e-03 8.76029958e+01] [ 8.47882429e-03 9.99964052e-01 6.02170047e-05 2.66635141e+00] [ 5.06224944e-03 -1.03141864e-04 9.99987181e-01 4.30126861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:87.63, Y:2.67, Z:0.43 [[ 9.99953754e-01 -8.17662641e-03 -5.06294186e-03 8.76329369e+01] [ 8.17703613e-03 9.99966566e-01 6.02282616e-05 2.66525406e+00] [ 5.06228012e-03 -1.01625335e-04 9.99987181e-01 4.30858098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:87.66, Y:2.66, Z:0.43 [[ 9.99945890e-01 -9.08753048e-03 -5.06294301e-03 8.76638287e+01] [ 9.08795137e-03 9.99958702e-01 6.01309519e-05 2.66218543e+00] [ 5.06218748e-03 -1.06139478e-04 9.99987181e-01 4.28362977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:87.69, Y:2.66, Z:0.43 [[ 9.99931568e-01 -1.05463502e-02 -5.06294301e-03 8.76929121e+01] [ 1.05467897e-02 9.99944379e-01 6.01309519e-05 2.65843436e+00] [ 5.06202725e-03 -1.13524632e-04 9.99987181e-01 4.25188888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:87.72, Y:2.65, Z:0.42 [[ 9.99904897e-01 -1.28282653e-02 -5.06294275e-03 8.77233261e+01] [ 1.28287342e-02 9.99917707e-01 6.01528047e-05 2.65452369e+00] [ 5.06175445e-03 -1.25098231e-04 9.99987181e-01 4.23300586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:87.75, Y:2.66, Z:0.42 [[ 9.99895088e-01 -1.35713004e-02 -5.06294275e-03 8.77548385e+01] [ 1.35717788e-02 9.99907897e-01 6.01528047e-05 2.65607376e+00] [ 5.06166009e-03 -1.28859633e-04 9.99987181e-01 4.24088308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:87.79, Y:2.66, Z:0.42 [[ 9.99892970e-01 -1.37264726e-02 -5.06294050e-03 8.77860527e+01] [ 1.37269540e-02 9.99905779e-01 6.03414117e-05 2.65844924e+00] [ 5.06163520e-03 -1.29833705e-04 9.99987181e-01 4.24870783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:87.82, Y:2.66, Z:0.43 [[ 9.99897084e-01 -1.34233790e-02 -5.06293827e-03 8.78178092e+01] [ 1.34238575e-02 9.99909894e-01 6.05287056e-05 2.66024822e+00] [ 5.06166957e-03 -1.28486638e-04 9.99987181e-01 4.26830440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:87.85, Y:2.66, Z:0.43 [[ 9.99902319e-01 -1.30276494e-02 -5.06293603e-03 8.78494262e+01] [ 1.30281238e-02 9.99915129e-01 6.07148467e-05 2.65849248e+00] [ 5.06171536e-03 -1.26669473e-04 9.99987181e-01 4.32354218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51439141799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:87.88, Y:2.66, Z:0.43 [[ 9.99905769e-01 -1.27600762e-02 -5.06293355e-03 8.78796016e+01] [ 1.27605481e-02 9.99918579e-01 6.09208624e-05 2.65511233e+00] [ 5.06174397e-03 -1.25520929e-04 9.99987181e-01 4.31085336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:87.91, Y:2.65, Z:0.43 [[ 9.99898375e-01 -1.33268855e-02 -5.06293232e-03 8.79107407e+01] [ 1.33273652e-02 9.99911185e-01 6.10229978e-05 2.65212201e+00] [ 5.06166941e-03 -1.28492344e-04 9.99987181e-01 4.31873339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57439141799999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:87.94, Y:2.65, Z:0.43 [[ 9.99870812e-01 -1.52553714e-02 -5.06292979e-03 8.79407822e+01] [ 1.52558769e-02 9.99883620e-01 6.12323681e-05 2.64996781e+00] [ 5.06140645e-03 -1.38463891e-04 9.99987181e-01 4.29895407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:87.97, Y:2.65, Z:0.43 [[ 9.99853299e-01 -1.63629990e-02 -5.06292854e-03 8.79717691e+01] [ 1.63635192e-02 9.99866107e-01 6.13359900e-05 2.65108743e+00] [ 5.06124700e-03 -1.44174320e-04 9.99987181e-01 4.29421639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63439141799999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:88.00, Y:2.65, Z:0.43 [[ 9.99853433e-01 -1.63547811e-02 -5.06292480e-03 8.80023979e+01] [ 1.63553028e-02 9.99866241e-01 6.16430157e-05 2.65233514e+00] [ 5.06123943e-03 -1.44439649e-04 9.99987181e-01 4.29760667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:88.03, Y:2.65, Z:0.43 [[ 9.99826797e-01 -1.79092291e-02 -5.06310288e-03 8.80343216e+01] [ 1.79096961e-02 9.99839607e-01 4.69125445e-05 2.65241054e+00] [ 5.06145063e-03 -1.37583053e-04 9.99987181e-01 4.31660965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:88.07, Y:2.65, Z:0.43 [[ 9.99831482e-01 -1.76457776e-02 -5.06292958e-03 8.80652210e+01] [ 1.76463138e-02 9.99844290e-01 6.12400196e-05 2.64987500e+00] [ 5.06106060e-03 -1.50571743e-04 9.99987181e-01 4.31653750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:88.10, Y:2.65, Z:0.43 [[ 9.99844104e-01 -1.69155233e-02 -5.06292164e-03 8.80955248e+01] [ 1.69160534e-02 9.99856911e-01 6.18892261e-05 2.64705473e+00] [ 5.06115030e-03 -1.47524230e-04 9.99987181e-01 4.32152962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:88.13, Y:2.65, Z:0.43 [[ 9.99873232e-01 -1.50959150e-02 -5.06292042e-03 8.81264907e+01] [ 1.50964223e-02 9.99886041e-01 6.19891463e-05 2.64563896e+00] [ 5.06140767e-03 -1.38413273e-04 9.99987181e-01 4.33372943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:88.16, Y:2.65, Z:0.43 [[ 9.99886295e-01 -1.42043796e-02 -5.06291799e-03 8.81576114e+01] [ 1.42048765e-02 9.99899104e-01 6.21865472e-05 2.64630145e+00] [ 5.06152384e-03 -1.34097601e-04 9.99987181e-01 4.33103869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:88.19, Y:2.65, Z:0.43 [[ 9.99900726e-01 -1.31493399e-02 -5.06291548e-03 8.81880117e+01] [ 1.31498243e-02 9.99913535e-01 6.23905615e-05 2.64727059e+00] [ 5.06165732e-03 -1.28960817e-04 9.99987181e-01 4.29995622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:88.22, Y:2.65, Z:0.43 [[ 9.99906491e-01 -1.27033899e-02 -5.06291423e-03 8.82192575e+01] [ 1.27038691e-02 9.99919301e-01 6.24920228e-05 2.64879830e+00] [ 5.06171179e-03 -1.26804779e-04 9.99987181e-01 4.29950927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:88.25, Y:2.65, Z:0.43 [[ 9.99914244e-01 -1.20777290e-02 -5.06291167e-03 8.82494745e+01] [ 1.20782012e-02 9.99927054e-01 6.26983344e-05 2.64938579e+00] [ 5.06178510e-03 -1.23843823e-04 9.99987181e-01 4.29459460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:88.28, Y:2.65, Z:0.43 [[ 9.99913614e-01 -1.21298127e-02 -5.06291040e-03 8.82796170e+01] [ 1.21302861e-02 9.99926423e-01 6.28005666e-05 2.64711301e+00] [ 5.06177613e-03 -1.24209693e-04 9.99987181e-01 4.31255559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:88.31, Y:2.64, Z:0.43 [[ 9.99897035e-01 -1.34270875e-02 -5.06291040e-03 8.83100629e+01] [ 1.34275775e-02 9.99909844e-01 6.28005666e-05 2.64256477e+00] [ 5.06161072e-03 -1.30776722e-04 9.99987181e-01 4.33041957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:88.34, Y:2.64, Z:0.43 [[ 9.99886505e-01 -1.41895530e-02 -5.06290911e-03 8.83403253e+01] [ 1.41900533e-02 9.99899314e-01 6.29042501e-05 2.64260555e+00] [ 5.06150677e-03 -1.34740061e-04 9.99987181e-01 4.33098022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99439141799999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:88.37, Y:2.64, Z:0.43 [[ 9.99884596e-01 -1.43234898e-02 -5.06290785e-03 8.83703257e+01] [ 1.43239923e-02 9.99897404e-01 6.30060229e-05 2.64404045e+00] [ 5.06148595e-03 -1.35519805e-04 9.99987181e-01 4.32066721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:88.40, Y:2.65, Z:0.43 [[ 9.99883386e-01 -1.44076704e-02 -5.06290659e-03 8.84021336e+01] [ 1.44081745e-02 9.99896195e-01 6.31067132e-05 2.64614832e+00] [ 5.06147182e-03 -1.36046596e-04 9.99987181e-01 4.32862331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:88.43, Y:2.65, Z:0.43 [[ 9.99894418e-01 -1.36205840e-02 -5.06290402e-03 8.84334864e+01] [ 1.36210790e-02 9.99907227e-01 6.33128265e-05 2.64841666e+00] [ 5.06157196e-03 -1.32268358e-04 9.99987181e-01 4.32181099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:88.46, Y:2.65, Z:0.43 [[ 9.99910724e-01 -1.23657588e-02 -5.06290143e-03 8.84634348e+01] [ 1.23662388e-02 9.99923533e-01 6.35185212e-05 2.64732347e+00] [ 5.06172884e-03 -1.26121899e-04 9.99987181e-01 4.30738633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:88.49, Y:2.65, Z:0.43 [[ 9.99916514e-01 -1.18883247e-02 -5.06290015e-03 8.84935894e+01] [ 1.18887991e-02 9.99929324e-01 6.36204387e-05 2.64543558e+00] [ 5.06178599e-03 -1.23806930e-04 9.99987181e-01 4.32244749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:88.52, Y:2.64, Z:0.43 [[ 9.99923085e-01 -1.13221151e-02 -5.06290015e-03 8.85242485e+01] [ 1.13225822e-02 9.99935895e-01 6.36204387e-05 2.64305655e+00] [ 5.06185528e-03 -1.20940649e-04 9.99987181e-01 4.33587118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:88.55, Y:2.64, Z:0.44 [[ 9.99943382e-01 -9.35947607e-03 -5.06290015e-03 8.85540826e+01] [ 9.35991810e-03 9.99956193e-01 6.36204387e-05 2.64184032e+00] [ 5.06208291e-03 -1.11005167e-04 9.99987181e-01 4.36875055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:88.58, Y:2.64, Z:0.44 [[ 9.99950709e-01 -8.54085103e-03 -5.06294754e-03 8.85842976e+01] [ 8.54126366e-03 9.99963521e-01 5.98814887e-05 2.64361781e+00] [ 5.06225141e-03 -1.03122507e-04 9.99987181e-01 4.38418202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:88.61, Y:2.65, Z:0.44 [[ 9.99968914e-01 -6.04465790e-03 -5.06289851e-03 8.86148905e+01] [ 6.04505824e-03 9.99981726e-01 6.37739742e-05 2.64649174e+00] [ 5.06242050e-03 -9.43775080e-05 9.99987181e-01 4.38043061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:88.64, Y:2.64, Z:0.43 [[ 9.99974802e-01 -4.97614958e-03 -5.06289851e-03 8.86440518e+01] [ 4.97653623e-03 9.99987615e-01 6.37739742e-05 2.64494829e+00] [ 5.06251845e-03 -8.89680650e-05 9.99987181e-01 4.34995778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29439141799999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:88.67, Y:2.64, Z:0.43 [[ 9.99979004e-01 -4.04448815e-03 -5.06290108e-03 8.86737672e+01] [ 4.04486182e-03 9.99991817e-01 6.35688331e-05 2.64197254e+00] [ 5.06260255e-03 -8.40462337e-05 9.99987181e-01 4.33403665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:88.70, Y:2.64, Z:0.43 [[ 9.99983306e-01 -2.78487295e-03 -5.06290370e-03 8.87027703e+01] [ 2.78522942e-03 9.99996119e-01 6.33597078e-05 2.63889904e+00] [ 5.06270760e-03 -7.74599984e-05 9.99987181e-01 4.30720904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35439141799999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:88.73, Y:2.64, Z:0.44 [[ 9.99987011e-01 5.87211204e-04 -5.06290755e-03 8.87318850e+01] [-5.86899508e-04 9.99999826e-01 6.30500485e-05 2.63913725e+00] [ 5.06294370e-03 -6.00778116e-05 9.99987181e-01 4.35735863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:88.76, Y:2.64, Z:0.44 [[ 9.99982356e-01 3.10718684e-03 -5.06292485e-03 8.87595541e+01] [-3.10691463e-03 9.99995172e-01 6.16293373e-05 2.64204611e+00] [ 5.06309190e-03 -4.58981746e-05 9.99987181e-01 4.39221456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:88.79, Y:2.64, Z:0.44 [[ 9.99968516e-01 6.11004532e-03 -5.06294404e-03 8.87870675e+01] [-6.10981980e-03 9.99981333e-01 6.00103826e-05 2.64473712e+00] [ 5.06321619e-03 -2.90748176e-05 9.99987181e-01 4.41074160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:88.82, Y:2.65, Z:0.44 [[ 9.99948677e-01 8.77546790e-03 -5.06296272e-03 8.88155208e+01] [-8.77528474e-03 9.99961495e-01 5.83903079e-05 2.64562103e+00] [ 5.06328017e-03 -1.39583717e-05 9.99987181e-01 4.40811000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:88.84, Y:2.64, Z:0.44 [[ 9.99929109e-01 1.07770091e-02 -5.06296742e-03 8.88434070e+01] [-1.07768537e-02 9.99941926e-01 5.79800477e-05 2.64050732e+00] [ 5.06329825e-03 -3.41307838e-06 9.99987181e-01 4.35159073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:88.87, Y:2.64, Z:0.44 [[ 9.99946785e-01 8.98855693e-03 -5.06297319e-03 8.88717402e+01] [-8.98838115e-03 9.99959602e-01 5.74721366e-05 2.63748147e+00] [ 5.06328524e-03 -1.19611454e-05 9.99987181e-01 4.35852701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:88.90, Y:2.63, Z:0.44 [[ 9.99970824e-01 5.71996534e-03 -5.06297788e-03 8.88973045e+01] [-5.71974978e-03 9.99983640e-01 5.70555797e-05 2.63367540e+00] [ 5.06322141e-03 -2.80949484e-05 9.99987181e-01 4.38100693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:88.93, Y:2.63, Z:0.44 [[ 9.99987033e-01 -5.42999291e-04 -5.06341342e-03 8.89272106e+01] [ 5.43089512e-04 9.99999852e-01 1.64433038e-05 2.63393300e+00] [ 5.06340375e-03 -1.91929773e-05 9.99987181e-01 4.38490076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:88.96, Y:2.63, Z:0.44 [[ 9.99976414e-01 -4.64086622e-03 -5.06299561e-03 8.89552022e+01] [ 4.64120388e-03 9.99989228e-01 5.49441402e-05 2.63308732e+00] [ 5.06268608e-03 -7.84412392e-05 9.99987181e-01 4.39229424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:88.98, Y:2.63, Z:0.44 [[ 9.99908197e-01 -1.25683581e-02 -5.06300127e-03 8.89845167e+01] [ 1.25687946e-02 9.99921008e-01 5.44176237e-05 2.63007566e+00] [ 5.06191739e-03 -1.18048451e-04 9.99987181e-01 4.41327948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65439141799999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:89.01, Y:2.63, Z:0.44 [[ 9.99856257e-01 -1.61812223e-02 -5.06300342e-03 8.90147903e+01] [ 1.61817041e-02 9.99869066e-01 5.42172493e-05 2.62785599e+00] [ 5.06146320e-03 -1.36137479e-04 9.99987181e-01 4.40808327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:89.05, Y:2.62, Z:0.44 [[ 9.99693648e-01 -2.42275809e-02 -5.06300235e-03 8.90458186e+01] [ 2.42281663e-02 9.99706453e-01 5.43165831e-05 2.62272976e+00] [ 5.06020016e-03 -1.76967206e-04 9.99987181e-01 4.40032989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:89.08, Y:2.62, Z:0.44 [[ 9.99578922e-01 -2.85717323e-02 -5.06300017e-03 8.90780122e+01] [ 2.85723744e-02 9.99591725e-01 5.45191152e-05 2.62001289e+00] [ 5.05937537e-03 -1.99158095e-04 9.99987181e-01 4.38922180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:89.11, Y:2.62, Z:0.44 [[ 9.99456057e-01 -3.25876650e-02 -5.06299575e-03 8.91080988e+01] [ 3.25883606e-02 9.99468857e-01 5.49268105e-05 2.61853336e+00] [ 5.05851663e-03 -2.19891664e-04 9.99987181e-01 4.38870207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:89.14, Y:2.61, Z:0.44 [[ 9.99151188e-01 -4.08811163e-02 -5.06344168e-03 8.91410770e+01] [ 4.08817086e-02 9.99163993e-01 1.34857472e-05 2.61359370e+00] [ 5.05865730e-03 -2.20476448e-04 9.99987181e-01 4.39102584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:89.17, Y:2.61, Z:0.44 [[ 9.99154475e-01 -4.08007410e-02 -5.06297435e-03 8.91737611e+01] [ 4.08015464e-02 9.99167269e-01 5.58507814e-05 2.61313377e+00] [ 5.05647950e-03 -2.62380741e-04 9.99987182e-01 4.39259079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:89.21, Y:2.61, Z:0.44 [[ 9.99157746e-01 -4.07205776e-02 -5.06296983e-03 8.92064453e+01] [ 4.07213841e-02 9.99170539e-01 5.62569838e-05 2.61269123e+00] [ 5.05647948e-03 -2.62380740e-04 9.99987182e-01 4.39424499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:89.24, Y:2.61, Z:0.44 [[ 9.98920189e-01 -4.61824909e-02 -5.06296529e-03 8.92372047e+01] [ 4.61833693e-02 9.98932977e-01 5.66631857e-05 2.61179524e+00] [ 5.05494614e-03 -2.90426796e-04 9.99987182e-01 4.41317902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:89.27, Y:2.61, Z:0.44 [[ 9.98856550e-01 -4.75390168e-02 -5.06296188e-03 8.92679541e+01] [ 4.75399142e-02 9.98869337e-01 5.69655444e-05 2.61314971e+00] [ 5.05452930e-03 -2.97593181e-04 9.99987182e-01 4.41932131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:89.30, Y:2.62, Z:0.44 [[ 9.98806078e-01 -4.85879067e-02 -5.06295850e-03 8.92997377e+01] [ 4.85888190e-02 9.98818864e-01 5.72648558e-05 2.61535251e+00] [ 5.05419608e-03 -3.03199660e-04 9.99987182e-01 4.42730820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:89.33, Y:2.62, Z:0.44 [[ 9.98790265e-01 -4.89118837e-02 -5.06295383e-03 8.93317036e+01] [ 4.89128022e-02 9.98803051e-01 5.76745811e-05 2.61745980e+00] [ 5.05407276e-03 -3.05248069e-04 9.99987182e-01 4.42755881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:89.36, Y:2.62, Z:0.44 [[ 9.98759905e-01 -4.95279664e-02 -5.06294914e-03 8.93643288e+01] [ 4.95288948e-02 9.98772689e-01 5.80837242e-05 2.61886928e+00] [ 5.05385856e-03 -3.08773970e-04 9.99987182e-01 4.42523291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01439141799999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:89.40, Y:2.62, Z:0.44 [[ 9.98716395e-01 -5.03976988e-02 -5.06294432e-03 8.93951369e+01] [ 5.03986405e-02 9.98729179e-01 5.85005352e-05 2.61818148e+00] [ 5.05356194e-03 -3.13590954e-04 9.99987182e-01 4.42917961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:89.43, Y:2.62, Z:0.44 [[ 9.98622720e-01 -5.22209683e-02 -5.06294072e-03 8.94270073e+01] [ 5.22219348e-02 9.98635502e-01 5.88102458e-05 2.61687314e+00] [ 5.05296122e-03 -3.23125808e-04 9.99987182e-01 4.42344008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07439141799999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:89.46, Y:2.62, Z:0.44 [[ 9.98592881e-01 -5.27884977e-02 -5.06293597e-03 8.94589643e+01] [ 5.27894736e-02 9.98605662e-01 5.92164454e-05 2.61739392e+00] [ 5.05275058e-03 -3.26402846e-04 9.99987182e-01 4.41358620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:89.49, Y:2.62, Z:0.44 [[ 9.98590519e-01 -5.28331443e-02 -5.06293116e-03 8.94907259e+01] [ 5.28341228e-02 9.98603301e-01 5.96255365e-05 2.61918640e+00] [ 5.05270956e-03 -3.27037022e-04 9.99987182e-01 4.40352595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13439141799999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:89.52, Y:2.62, Z:0.44 [[ 9.98646909e-01 -5.17563354e-02 -5.06292635e-03 8.95237662e+01] [ 5.17573022e-02 9.98659691e-01 6.00308741e-05 2.62177991e+00] [ 5.05303349e-03 -3.21993056e-04 9.99987182e-01 4.40020171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:89.56, Y:2.63, Z:0.44 [[ 9.98825295e-01 -4.81912578e-02 -5.06291906e-03 8.95558963e+01] [ 4.81921821e-02 9.98838080e-01 6.06396422e-05 2.62784484e+00] [ 5.05411405e-03 -3.04561526e-04 9.99987182e-01 4.42402334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:89.59, Y:2.63, Z:0.44 [[ 9.98931696e-01 -4.59329298e-02 -5.06290727e-03 8.95876212e+01] [ 4.59338300e-02 9.98944483e-01 6.16082466e-05 2.62955626e+00] [ 5.05473344e-03 -2.94101152e-04 9.99987182e-01 4.43690902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:89.62, Y:2.63, Z:0.45 [[ 9.99042627e-01 -4.34533876e-02 -5.06290236e-03 8.96184908e+01] [ 4.34542581e-02 9.99055416e-01 6.20093381e-05 2.63214936e+00] [ 5.05542551e-03 -2.81954638e-04 9.99987182e-01 4.46075005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:89.65, Y:2.63, Z:0.45 [[ 9.99093310e-01 -4.22720242e-02 -5.06289869e-03 8.96510665e+01] [ 4.22728811e-02 9.99106100e-01 6.23078847e-05 2.63280520e+00] [ 5.05573908e-03 -2.76274705e-04 9.99987182e-01 4.45252156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:89.68, Y:2.63, Z:0.44 [[ 9.99152000e-01 -4.08613295e-02 -5.06289386e-03 8.96818627e+01] [ 4.08621703e-02 9.99164791e-01 6.26975455e-05 2.63402376e+00] [ 5.05610338e-03 -2.69525209e-04 9.99987182e-01 4.43643338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:89.71, Y:2.64, Z:0.44 [[ 9.99286915e-01 -3.74169676e-02 -5.06289025e-03 8.97144560e+01] [ 3.74177657e-02 9.99299708e-01 6.29875508e-05 2.63990911e+00] [ 5.05698795e-03 -2.52384677e-04 9.99987182e-01 4.40729346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:89.75, Y:2.65, Z:0.44 [[ 9.99338759e-01 -3.60057284e-02 -5.06288542e-03 8.97454824e+01] [ 3.60065105e-02 9.99351553e-01 6.33736317e-05 2.64526235e+00] [ 5.05732059e-03 -2.45628563e-04 9.99987182e-01 4.41732939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37439141799999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:89.78, Y:2.65, Z:0.44 [[ 9.99474933e-01 -3.20034952e-02 -5.06315800e-03 8.97782018e+01] [ 3.20041165e-02 9.99487736e-01 4.17068702e-05 2.64653750e+00] [ 5.05922957e-03 -2.03726870e-04 9.99987181e-01 4.41930254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:89.81, Y:2.65, Z:0.44 [[ 9.99566093e-01 -2.90171021e-02 -5.06286680e-03 8.98100544e+01] [ 2.90178006e-02 9.99578893e-01 6.45477949e-05 2.64867273e+00] [ 5.05886180e-03 -2.11433047e-04 9.99987182e-01 4.43777687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:89.84, Y:2.66, Z:0.45 [[ 9.99651723e-01 -2.58998008e-02 -5.06286174e-03 8.98404498e+01] [ 2.59004614e-02 9.99664525e-01 6.49422699e-05 2.65707571e+00] [ 5.05948128e-03 -1.96050107e-04 9.99987182e-01 4.49612179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:89.87, Y:2.66, Z:0.45 [[ 9.99777456e-01 -2.04792889e-02 -5.06333196e-03 8.98734437e+01] [ 2.04796927e-02 9.99790269e-01 2.79039214e-05 2.65776687e+00] [ 5.06169857e-03 -1.31593194e-04 9.99987181e-01 4.49600447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49439141799999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:89.91, Y:2.66, Z:0.45 [[ 9.99832394e-01 -1.75940724e-02 -5.06283607e-03 8.99053751e+01] [ 1.75946318e-02 9.99845200e-01 6.59641885e-05 2.66073636e+00] [ 5.06089177e-03 -1.55031869e-04 9.99987182e-01 4.49971464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:89.94, Y:2.66, Z:0.45 [[ 9.99907050e-01 -1.26593288e-02 -5.06283088e-03 8.99371914e+01] [ 1.26598270e-02 9.99919859e-01 6.63604301e-05 2.66388436e+00] [ 5.06158506e-03 -1.30448825e-04 9.99987182e-01 4.47459131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:89.97, Y:2.66, Z:0.45 [[ 9.99929829e-01 -1.07100755e-02 -5.06282820e-03 8.99682726e+01] [ 1.07105497e-02 9.99942638e-01 6.65644177e-05 2.66384936e+00] [ 5.06182488e-03 -1.20785420e-04 9.99987182e-01 4.46451056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:90.00, Y:2.66, Z:0.45 [[ 9.99946400e-01 -9.03134291e-03 -5.06282418e-03 8.99985485e+01] [ 9.03179717e-03 9.99959210e-01 6.68686186e-05 2.66381615e+00] [ 5.06201376e-03 -1.12591436e-04 9.99987182e-01 4.45794113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614391418 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:90.03, Y:2.66, Z:0.44 [[ 9.99970605e-01 -5.75813286e-03 -5.06282287e-03 9.00288121e+01] [ 5.75854569e-03 9.99983417e-01 6.69678461e-05 2.66491558e+00] [ 5.06235330e-03 -9.61203744e-05 9.99987182e-01 4.43946120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:90.06, Y:2.67, Z:0.44 [[ 9.99979629e-01 -3.88715307e-03 -5.06282161e-03 9.00580460e+01] [ 3.88754240e-03 9.99992441e-01 6.70626200e-05 2.66609481e+00] [ 5.06252266e-03 -8.67431876e-05 9.99987182e-01 4.43297313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:90.09, Y:2.67, Z:0.44 [[ 9.99985343e-01 -1.91861959e-03 -5.06282410e-03 9.00874804e+01] [ 1.91898275e-03 9.99998157e-01 6.68744828e-05 2.66741592e+00] [ 5.06268646e-03 -7.65889748e-05 9.99987182e-01 4.44224404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:90.12, Y:2.67, Z:0.45 [[ 9.99986692e-01 9.92168659e-04 -5.06282681e-03 9.01157168e+01] [-9.91843837e-04 9.99999506e-01 6.66687315e-05 2.67090181e+00] [ 5.06289045e-03 -6.16463107e-05 9.99987182e-01 4.48366026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73439141799999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:90.14, Y:2.67, Z:0.45 [[ 9.99983658e-01 2.65544848e-03 -5.06283191e-03 9.01431257e+01] [-2.65514694e-03 9.99996473e-01 6.62792479e-05 2.67202649e+00] [ 5.06299005e-03 -5.28356021e-05 9.99987182e-01 4.49154514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:90.17, Y:2.67, Z:0.45 [[ 9.99981632e-01 3.33207153e-03 -5.06283844e-03 9.01722537e+01] [-3.33178121e-03 9.99994447e-01 6.57765070e-05 2.67257448e+00] [ 5.06302950e-03 -4.89070288e-05 9.99987182e-01 4.49953726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79439141799999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:90.20, Y:2.67, Z:0.45 [[ 9.99983191e-01 2.82567031e-03 -5.06284374e-03 9.01998708e+01] [-2.82537558e-03 9.99996006e-01 6.53660135e-05 2.67260503e+00] [ 5.06300822e-03 -5.10604797e-05 9.99987182e-01 4.50170374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:90.23, Y:2.67, Z:0.45 [[ 9.99987180e-01 9.15715148e-05 -5.06285025e-03 9.02286316e+01] [-9.12443183e-05 9.99999994e-01 6.48578744e-05 2.67024507e+00] [ 5.06285615e-03 -6.43950866e-05 9.99987182e-01 4.51111868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85439141799999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:90.26, Y:2.67, Z:0.45 [[ 9.99985071e-01 -2.05568752e-03 -5.06285555e-03 9.02565334e+01] [ 2.05604012e-03 9.99997884e-01 6.44409231e-05 2.66783204e+00] [ 5.06271237e-03 -7.48493952e-05 9.99987182e-01 4.51226876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:90.29, Y:2.66, Z:0.45 [[ 9.99972956e-01 -5.33436564e-03 -5.06286208e-03 9.02852492e+01] [ 5.33475764e-03 9.99985768e-01 6.39240039e-05 2.66379293e+00] [ 5.06244903e-03 -9.09314173e-05 9.99987182e-01 4.49101770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:90.32, Y:2.66, Z:0.45 [[ 9.99966963e-01 -6.35927244e-03 -5.06286718e-03 9.03150140e+01] [ 6.35967551e-03 9.99979775e-01 6.35177186e-05 2.66313373e+00] [ 5.06236086e-03 -9.57138126e-05 9.99987182e-01 4.47211728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:90.34, Y:2.66, Z:0.44 [[ 9.99961452e-01 -7.17373706e-03 -5.06286972e-03 9.03449054e+01] [ 7.17414954e-03 9.99974263e-01 6.33142506e-05 2.66339905e+00] [ 5.06228522e-03 -9.96335945e-05 9.99987182e-01 4.44958885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:90.37, Y:2.66, Z:0.45 [[ 9.99962135e-01 -7.07790702e-03 -5.06287224e-03 9.03741958e+01] [ 7.07831725e-03 9.99974946e-01 6.31120472e-05 2.66298677e+00] [ 5.06229870e-03 -9.89462734e-05 9.99987182e-01 4.45258487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:90.40, Y:2.66, Z:0.45 [[ 9.99930365e-01 -1.06598890e-02 -5.06284992e-03 9.04031632e+01] [ 1.06603542e-02 9.99943175e-01 6.49133742e-05 2.66182720e+00] [ 5.06187025e-03 -1.18880627e-04 9.99987182e-01 4.46627325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:90.43, Y:2.66, Z:0.45 [[ 9.99913523e-01 -1.21372826e-02 -5.06287884e-03 9.04340024e+01] [ 1.21377549e-02 9.99926333e-01 6.25737063e-05 2.65870568e+00] [ 5.06174639e-03 -1.24020278e-04 9.99987182e-01 4.50431074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:90.46, Y:2.65, Z:0.45 [[ 9.99887274e-01 -1.41353101e-02 -5.06287884e-03 9.04649823e+01] [ 1.41358081e-02 9.99900083e-01 6.25737063e-05 2.65288992e+00] [ 5.06148847e-03 -1.34134536e-04 9.99987182e-01 4.54892794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:90.50, Y:2.65, Z:0.45 [[ 9.99885878e-01 -1.42337166e-02 -5.06287643e-03 9.04962137e+01] [ 1.42342168e-02 9.99898686e-01 6.27680327e-05 2.65189531e+00] [ 5.06147007e-03 -1.34826950e-04 9.99987182e-01 4.53834240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:90.53, Y:2.65, Z:0.45 [[ 9.99894271e-01 -1.36313506e-02 -5.06287396e-03 9.05277443e+01] [ 1.36318441e-02 9.99907080e-01 6.29666150e-05 2.65235779e+00] [ 5.06154520e-03 -1.31976266e-04 9.99987182e-01 4.51591644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15439141799999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:90.56, Y:2.65, Z:0.45 [[ 9.99912697e-01 -1.22051219e-02 -5.06287144e-03 9.05579462e+01] [ 1.22055981e-02 9.99925507e-01 6.31685248e-05 2.65385157e+00] [ 5.06172331e-03 -1.24958384e-04 9.99987182e-01 4.48712988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:90.59, Y:2.65, Z:0.45 [[ 9.99931588e-01 -1.05445153e-02 -5.06282758e-03 9.05895302e+01] [ 1.05449881e-02 9.99944398e-01 6.66901742e-05 2.64906611e+00] [ 5.06184286e-03 -1.20073068e-04 9.99987182e-01 4.45819706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21439141799999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:90.62, Y:2.65, Z:0.45 [[ 9.99945365e-01 -9.14513669e-03 -5.06287874e-03 9.06196204e+01] [ 9.14557056e-03 9.99958176e-01 6.25494863e-05 2.64551818e+00] [ 5.06209497e-03 -1.08848984e-04 9.99987182e-01 4.45947584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:90.65, Y:2.64, Z:0.45 [[ 9.99962748e-01 -6.99073328e-03 -5.06287752e-03 9.06497520e+01] [ 6.99114004e-03 9.99975560e-01 6.26478314e-05 2.64354900e+00] [ 5.06231583e-03 -9.80407833e-05 9.99987182e-01 4.46713408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:90.68, Y:2.64, Z:0.45 [[ 9.99977891e-01 -4.31111982e-03 -5.06287752e-03 9.06789635e+01] [ 4.31149224e-03 9.99990704e-01 6.26478314e-05 2.64428699e+00] [ 5.06256037e-03 -8.44750034e-05 9.99987182e-01 4.47977049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:90.71, Y:2.65, Z:0.45 [[ 9.99986401e-01 -1.25094787e-03 -5.06287872e-03 9.07082586e+01] [ 1.25128059e-03 9.99999215e-01 6.25509497e-05 2.64698299e+00] [ 5.06279650e-03 -6.88851809e-05 9.99987182e-01 4.49485072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:90.74, Y:2.65, Z:0.45 [[ 9.99986017e-01 1.52747460e-03 -5.06288105e-03 9.07367086e+01] [-1.52717844e-03 9.99998832e-01 6.23612780e-05 2.65038073e+00] [ 5.06297040e-03 -5.46284833e-05 9.99987182e-01 4.51182280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:90.76, Y:2.65, Z:0.45 [[ 9.99959524e-01 7.43755630e-03 -5.06289830e-03 9.07643657e+01] [-7.43734314e-03 9.99972341e-01 6.09279557e-05 2.65185746e+00] [ 5.06321142e-03 -2.32709777e-05 9.99987182e-01 4.52857455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:90.79, Y:2.65, Z:0.45 [[ 9.99938617e-01 9.85537084e-03 -5.06291747e-03 9.07923579e+01] [-9.85519696e-03 9.99951435e-01 5.92910567e-05 2.64917057e+00] [ 5.06325593e-03 -9.39136839e-06 9.99987182e-01 4.51292348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424391418 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:90.82, Y:2.65, Z:0.45 [[ 9.99918535e-01 1.17170867e-02 -5.06292463e-03 9.08205025e+01] [-1.17169398e-02 9.99931353e-01 5.86735706e-05 2.64561214e+00] [ 5.06326456e-03 6.53192186e-07 9.99987182e-01 4.50026532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:90.85, Y:2.64, Z:0.45 [[ 9.99897163e-01 1.34175175e-02 -5.06293171e-03 9.08479168e+01] [-1.34173956e-02 9.99909981e-01 5.80558766e-05 2.64202703e+00] [ 5.06325492e-03 9.88145123e-06 9.99987182e-01 4.48243636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:90.87, Y:2.64, Z:0.45 [[ 9.99828589e-01 1.78089842e-02 -5.06293815e-03 9.08734191e+01] [-1.78089214e-02 9.99841407e-01 5.74892132e-05 2.63988369e+00] [ 5.06315902e-03 3.26861085e-05 9.99987182e-01 4.45195384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51439141799999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:90.90, Y:2.64, Z:0.45 [[ 9.99832782e-01 1.75718799e-02 -5.06328718e-03 9.09031005e+01] [-1.75719758e-02 9.99845601e-01 2.55393450e-05 2.64184968e+00] [ 5.06295419e-03 6.34368855e-05 9.99987181e-01 4.48271710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:90.93, Y:2.64, Z:0.45 [[ 9.99806109e-01 1.90291941e-02 -5.06295634e-03 9.09308445e+01] [-1.90291563e-02 9.99818928e-01 5.56430049e-05 2.64343714e+00] [ 5.06309842e-03 4.07115712e-05 9.99987182e-01 4.51448026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:90.96, Y:2.64, Z:0.45 [[ 9.99811975e-01 1.87184826e-02 -5.06296276e-03 9.09600641e+01] [-1.87184438e-02 9.99824793e-01 5.50522065e-05 2.64148165e+00] [ 5.06310619e-03 3.97289284e-05 9.99987182e-01 4.52518709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:90.99, Y:2.64, Z:0.45 [[ 9.99820942e-01 1.82332290e-02 -5.06296715e-03 9.09867836e+01] [-1.82331860e-02 9.99833760e-01 5.46459131e-05 2.63768134e+00] [ 5.06312185e-03 3.76778934e-05 9.99987182e-01 4.53407340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63439141799999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:91.02, Y:2.63, Z:0.45 [[ 9.99871276e-01 1.52248461e-02 -5.06317848e-03 9.10167195e+01] [-1.52248650e-02 9.99884094e-01 3.48199101e-05 2.63264565e+00] [ 5.06312176e-03 4.22707809e-05 9.99987181e-01 4.51607484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:91.04, Y:2.62, Z:0.45 [[ 9.99942865e-01 9.41456266e-03 -5.06297314e-03 9.10449871e+01] [-9.41440965e-03 9.99955682e-01 5.40535045e-05 2.62401719e+00] [ 5.06325765e-03 -6.38551293e-06 9.99987182e-01 4.49478766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694391418 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:91.07, Y:2.62, Z:0.45 [[ 9.99960613e-01 7.28961380e-03 -5.06297747e-03 9.10727569e+01] [-7.28943562e-03 9.99973430e-01 5.36445094e-05 2.62158953e+00] [ 5.06323400e-03 -1.67361482e-05 9.99987182e-01 4.46197140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724391418 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:91.10, Y:2.62, Z:0.45 [[ 9.99961194e-01 7.20945228e-03 -5.06298280e-03 9.11020645e+01] [-7.20927564e-03 9.99974011e-01 5.31371351e-05 2.62135792e+00] [ 5.06323431e-03 -1.66346345e-05 9.99987182e-01 4.46345663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:91.13, Y:2.62, Z:0.45 [[ 9.99979387e-01 3.94857956e-03 -5.06298703e-03 9.11300041e+01] [-3.94836319e-03 9.99992204e-01 5.27312703e-05 2.62170252e+00] [ 5.06315577e-03 -3.27396718e-05 9.99987182e-01 4.48038403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:91.16, Y:2.62, Z:0.45 [[ 9.99985630e-01 1.76221734e-03 -5.06299221e-03 9.11592821e+01] [-1.76197549e-03 9.99998446e-01 5.22285141e-05 2.62168194e+00] [ 5.06307638e-03 -4.33068954e-05 9.99987182e-01 4.49061283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:91.19, Y:2.62, Z:0.45 [[ 9.99984841e-01 -2.16432470e-03 -5.06299631e-03 9.11875819e+01] [ 2.16461485e-03 9.99997656e-01 5.18279336e-05 2.61756577e+00] [ 5.06287227e-03 -6.27865850e-05 9.99987182e-01 4.51362449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:91.22, Y:2.61, Z:0.45 [[ 9.99978864e-01 -4.07898356e-03 -5.06300035e-03 9.12157511e+01] [ 4.07929623e-03 9.99991678e-01 5.14299443e-05 2.61314578e+00] [ 5.06274844e-03 -7.20823355e-05 9.99987182e-01 4.52127656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87439141799999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:91.25, Y:2.61, Z:0.45 [[ 9.99948329e-01 -8.81506569e-03 -5.06300335e-03 9.12453663e+01] [ 8.81543755e-03 9.99961142e-01 5.11333893e-05 2.60631826e+00] [ 5.06235587e-03 -9.57633370e-05 9.99987182e-01 4.53371392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:91.27, Y:2.60, Z:0.45 [[ 9.99920861e-01 -1.15168768e-02 -5.06300536e-03 9.12746188e+01] [ 1.15172823e-02 9.99933673e-01 5.09339194e-05 2.60495738e+00] [ 5.06208294e-03 -1.09241950e-04 9.99987182e-01 4.53549269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93439141799999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:91.30, Y:2.60, Z:0.45 [[ 9.99895043e-01 -1.35745375e-02 -5.06300635e-03 9.13046671e+01] [ 1.35749688e-02 9.99907855e-01 5.08349197e-05 2.60406508e+00] [ 5.06184976e-03 -1.19559738e-04 9.99987182e-01 4.52105378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:91.33, Y:2.60, Z:0.45 [[ 9.99818229e-01 -1.83813771e-02 -5.06300635e-03 9.13348636e+01] [ 1.83818701e-02 9.99831038e-01 5.08349197e-05 2.60199874e+00] [ 5.06121648e-03 -1.43893204e-04 9.99987182e-01 4.52959008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99439141799999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:91.37, Y:2.60, Z:0.45 [[ 9.99796884e-01 -1.95078404e-02 -5.06300537e-03 9.13670711e+01] [ 1.95083482e-02 9.99809693e-01 5.09323992e-05 2.59834076e+00] [ 5.06104826e-03 -1.49692926e-04 9.99987182e-01 4.52245301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024391418 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:91.40, Y:2.59, Z:0.45 [[ 9.99784591e-01 -2.01280443e-02 -5.06300144e-03 9.13971828e+01] [ 2.01285620e-02 9.99797399e-01 5.13204026e-05 2.59374777e+00] [ 5.06094269e-03 -1.53220286e-04 9.99987182e-01 4.51023589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:91.43, Y:2.59, Z:0.45 [[ 9.99794116e-01 -1.96492097e-02 -5.06300046e-03 9.14280278e+01] [ 1.96497218e-02 9.99806924e-01 5.14163727e-05 2.58620417e+00] [ 5.06101263e-03 -1.50892337e-04 9.99987182e-01 4.51131876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:91.46, Y:2.58, Z:0.45 [[ 9.99824877e-01 -1.80161678e-02 -5.06299845e-03 9.14595480e+01] [ 1.80166600e-02 9.99837685e-01 5.16138894e-05 2.58465404e+00] [ 5.06124677e-03 -1.42823172e-04 9.99987182e-01 4.50836489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:91.49, Y:2.58, Z:0.45 [[ 9.99867259e-01 -1.54864453e-02 -5.06299639e-03 9.14912224e+01] [ 1.54869061e-02 9.99880069e-01 5.18155199e-05 2.58495262e+00] [ 5.06158674e-03 -1.30218791e-04 9.99987182e-01 4.50994759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:91.52, Y:2.59, Z:0.45 [[ 9.99946903e-01 -8.97535693e-03 -5.06299433e-03 9.15219576e+01] [ 8.97573531e-03 9.99959716e-01 5.20156058e-05 2.58824857e+00] [ 5.06232351e-03 -9.74569409e-05 9.99987182e-01 4.52423968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:91.55, Y:2.59, Z:0.45 [[ 9.99970626e-01 -5.75444646e-03 -5.06299331e-03 9.15518248e+01] [ 5.75478407e-03 9.99983440e-01 5.21146425e-05 2.58898491e+00] [ 5.06260957e-03 -8.12495449e-05 9.99987182e-01 4.53593573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:91.58, Y:2.59, Z:0.45 [[ 9.99982950e-01 -2.90968597e-03 -5.06299431e-03 9.15815068e+01] [ 2.90998662e-03 9.99995765e-01 5.20171445e-05 2.58800668e+00] [ 5.06282151e-03 -6.67495033e-05 9.99987182e-01 4.54952772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23439141799999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:91.61, Y:2.59, Z:0.45 [[ 9.99986972e-01 -6.48839169e-04 -5.06299636e-03 9.16104551e+01] [ 6.49109836e-04 9.99999788e-01 5.18167703e-05 2.58541001e+00] [ 5.06296167e-03 -5.51025360e-05 9.99987182e-01 4.54499068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:91.64, Y:2.58, Z:0.45 [[ 9.99986546e-01 1.12905168e-03 -5.06300022e-03 9.16382915e+01] [-1.12880573e-03 9.99999362e-01 5.14370446e-05 2.58079545e+00] [ 5.06305506e-03 -4.57212089e-05 9.99987182e-01 4.52935153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29439141799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:91.67, Y:2.58, Z:0.45 [[ 9.99986853e-01 8.11876451e-04 -5.06301589e-03 9.16658964e+01] [-8.11634485e-04 9.99999669e-01 4.98453266e-05 2.58043752e+00] [ 5.06305469e-03 -4.57353530e-05 9.99987182e-01 4.51067252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:91.69, Y:2.58, Z:0.45 [[ 9.99986576e-01 1.10197880e-03 -5.06302105e-03 9.16934300e+01] [-1.10174324e-03 9.99999392e-01 4.93160045e-05 2.58104369e+00] [ 5.06307231e-03 -4.37371933e-05 9.99987182e-01 4.51124340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:91.72, Y:2.58, Z:0.45 [[ 9.99983783e-01 -2.60720209e-03 -5.06316421e-03 9.17237276e+01] [ 2.60741069e-03 9.99996600e-01 3.45977406e-05 2.58363408e+00] [ 5.06305680e-03 -4.77989280e-05 9.99987182e-01 4.52830598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:91.75, Y:2.58, Z:0.45 [[ 9.99973858e-01 -5.16227503e-03 -5.06301373e-03 9.17527803e+01] [ 5.16259370e-03 9.99986672e-01 4.98740952e-05 2.58280178e+00] [ 5.06268879e-03 -7.60110742e-05 9.99987182e-01 4.53282315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:91.78, Y:2.58, Z:0.45 [[ 9.99953502e-01 -8.20732882e-03 -5.06301663e-03 9.17825635e+01] [ 8.20768502e-03 9.99966315e-01 4.95781172e-05 2.57995011e+00] [ 5.06243918e-03 -9.11314576e-05 9.99987182e-01 4.53829874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:91.81, Y:2.57, Z:0.45 [[ 9.99888936e-01 -1.40172030e-02 -5.06301852e-03 9.18121838e+01] [ 1.40176326e-02 9.99901747e-01 4.93842794e-05 2.57247160e+00] [ 5.06182883e-03 -1.20350328e-04 9.99987182e-01 4.53136841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:91.84, Y:2.57, Z:0.45 [[ 9.99843538e-01 -1.69488871e-02 -5.06306201e-03 9.18423878e+01] [ 1.69493319e-02 9.99856349e-01 4.49683788e-05 2.57085647e+00] [ 5.06157253e-03 -1.30776862e-04 9.99987182e-01 4.51296204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:91.87, Y:2.57, Z:0.45 [[ 9.99811865e-01 -1.87243459e-02 -5.06301859e-03 9.18728881e+01] [ 1.87248361e-02 9.99824674e-01 4.94175871e-05 2.57128303e+00] [ 5.06120559e-03 -1.44212483e-04 9.99987182e-01 4.49230347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:91.90, Y:2.58, Z:0.45 [[ 9.99690586e-01 -2.43535891e-02 -5.06312840e-03 9.19039041e+01] [ 2.43540944e-02 9.99703394e-01 3.81559313e-05 2.57617674e+00] [ 5.06069741e-03 -1.61452032e-04 9.99987182e-01 4.53592073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:91.93, Y:2.58, Z:0.45 [[ 9.99608083e-01 -2.75326561e-02 -5.06301495e-03 9.19348024e+01] [ 2.75332606e-02 9.99620887e-01 4.97103583e-05 2.57663609e+00] [ 5.05972684e-03 -1.89092186e-04 9.99987182e-01 4.54692276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:91.97, Y:2.57, Z:0.46 [[ 9.99519652e-01 -3.05750013e-02 -5.06301305e-03 9.19667643e+01] [ 3.05756457e-02 9.99532454e-01 4.99031682e-05 2.57439908e+00] [ 5.05912007e-03 -2.04684090e-04 9.99987182e-01 4.55448777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:92.00, Y:2.57, Z:0.46 [[ 9.99250981e-01 -3.83645957e-02 -5.06300910e-03 9.19976466e+01] [ 3.83653419e-02 9.99263778e-01 5.03014399e-05 2.56795586e+00] [ 5.05735180e-03 -2.44507838e-04 9.99987182e-01 4.56820843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65439141799999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:92.03, Y:2.57, Z:0.46 [[ 9.99082909e-01 -4.25171372e-02 -5.06300263e-03 9.20298530e+01] [ 4.25179398e-02 9.99095702e-01 5.09439666e-05 2.56617231e+00] [ 5.05625818e-03 -2.66165687e-04 9.99987182e-01 4.58178970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:92.06, Y:2.57, Z:0.46 [[ 9.98900354e-01 -4.66095261e-02 -5.06299864e-03 9.20620800e+01] [ 4.66103830e-02 9.98913144e-01 5.13371493e-05 2.56657762e+00] [ 5.05510309e-03 -2.87269003e-04 9.99987182e-01 4.58755149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:92.09, Y:2.57, Z:0.46 [[ 9.98704707e-01 -5.06287799e-02 -5.06299464e-03 9.20938444e+01] [ 5.06296904e-02 9.98717493e-01 5.17293004e-05 2.56893058e+00] [ 5.05388232e-03 -3.08000147e-04 9.99987182e-01 4.58328681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:92.13, Y:2.57, Z:0.45 [[ 9.98321254e-01 -5.76978306e-02 -5.06299060e-03 9.21266472e+01] [ 5.76988335e-02 9.98334033e-01 5.21212733e-05 2.57397437e+00] [ 5.05154854e-03 -3.44162427e-04 9.99987182e-01 4.54260044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:92.16, Y:2.57, Z:0.45 [[ 9.98184473e-01 -6.00177055e-02 -5.06298555e-03 9.21576988e+01] [ 6.00187405e-02 9.98197249e-01 5.26079062e-05 2.57390152e+00] [ 5.05070084e-03 -3.56386411e-04 9.99987182e-01 4.51832748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:92.19, Y:2.57, Z:0.45 [[ 9.98095031e-01 -6.14871996e-02 -5.06298252e-03 9.21893386e+01] [ 6.14882549e-02 9.98107806e-01 5.28979169e-05 2.57279186e+00] [ 5.05014982e-03 -3.64111107e-04 9.99987182e-01 4.49842507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:92.22, Y:2.57, Z:0.45 [[ 9.98086364e-01 -6.16277182e-02 -5.06297952e-03 9.22215189e+01] [ 6.16287768e-02 9.98099139e-01 5.31834730e-05 2.57186884e+00] [ 5.05007792e-03 -3.65106934e-04 9.99987182e-01 4.47891200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:92.25, Y:2.57, Z:0.45 [[ 9.98234329e-01 -5.91826864e-02 -5.06297553e-03 9.22533080e+01] [ 5.91837155e-02 9.98247106e-01 5.35600680e-05 2.57495813e+00] [ 5.05093084e-03 -3.53111202e-04 9.99987182e-01 4.54464332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:92.28, Y:2.58, Z:0.46 [[ 9.98349764e-01 -5.72024127e-02 -5.06297101e-03 9.22839940e+01] [ 5.72034187e-02 9.98362542e-01 5.39844800e-05 2.57946688e+00] [ 5.05159256e-03 -3.43514643e-04 9.99987182e-01 4.57390054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:92.32, Y:2.59, Z:0.46 [[ 9.98640448e-01 -5.18808423e-02 -5.06296874e-03 9.23166060e+01] [ 5.18817812e-02 9.98653232e-01 5.41958603e-05 2.58971579e+00] [ 5.05333837e-03 -3.16798015e-04 9.99987182e-01 4.59419481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954391418 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:92.35, Y:2.59, Z:0.46 [[ 9.98760987e-01 -4.95061429e-02 -5.06296336e-03 9.23491261e+01] [ 4.95070539e-02 9.98773772e-01 5.46944078e-05 2.59285899e+00] [ 5.05404730e-03 -3.05279041e-04 9.99987182e-01 4.60764913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:92.38, Y:2.59, Z:0.46 [[ 9.98879130e-01 -4.70621841e-02 -5.06295882e-03 9.23807251e+01] [ 4.70630659e-02 9.98891918e-01 5.51110716e-05 2.59377714e+00] [ 5.05475500e-03 -2.93327664e-04 9.99987182e-01 4.58672134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01439141799999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:92.41, Y:2.59, Z:0.46 [[ 9.98956804e-01 -4.53835930e-02 -5.06295543e-03 9.24125109e+01] [ 4.53844549e-02 9.98969593e-01 5.54207831e-05 2.59343239e+00] [ 5.05522333e-03 -2.85142441e-04 9.99987182e-01 4.56612330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:92.44, Y:2.59, Z:0.45 [[ 9.99007487e-01 -4.42538908e-02 -5.06295087e-03 9.24432516e+01] [ 4.42547404e-02 9.99020277e-01 5.58343951e-05 2.59305204e+00] [ 5.05551970e-03 -2.79838555e-04 9.99987182e-01 4.54669806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:92.47, Y:2.60, Z:0.46 [[ 9.99073756e-01 -4.27316855e-02 -5.06294746e-03 9.24749709e+01] [ 4.27325171e-02 9.99086547e-01 5.61421882e-05 2.59728782e+00] [ 5.05592364e-03 -2.72442676e-04 9.99987182e-01 4.55078603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:92.51, Y:2.60, Z:0.46 [[ 9.99132501e-01 -4.13353604e-02 -5.06293977e-03 9.25069613e+01] [ 4.13361776e-02 9.99145293e-01 5.68273648e-05 2.60199544e+00] [ 5.05626346e-03 -2.66060645e-04 9.99987182e-01 4.57612923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:92.54, Y:2.61, Z:0.46 [[ 9.99228897e-01 -3.89355761e-02 -5.06293511e-03 9.25384100e+01] [ 3.89363647e-02 9.99241691e-01 5.72396888e-05 2.60734593e+00] [ 5.05686717e-03 -2.54327839e-04 9.99987182e-01 4.58944188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:92.57, Y:2.62, Z:0.46 [[ 9.99477075e-01 -3.19365625e-02 -5.06293162e-03 9.25702105e+01] [ 3.19372630e-02 9.99489874e-01 5.75462414e-05 2.61700904e+00] [ 5.05851106e-03 -2.19212328e-04 9.99987182e-01 4.61449570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:92.60, Y:2.62, Z:0.46 [[ 9.99590128e-01 -2.81770052e-02 -5.06292696e-03 9.26018682e+01] [ 2.81776596e-02 9.99602929e-01 5.79536890e-05 2.61969307e+00] [ 5.05928366e-03 -2.00591368e-04 9.99987182e-01 4.60896310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:92.63, Y:2.62, Z:0.46 [[ 9.99682096e-01 -2.46996519e-02 -5.06292347e-03 9.26342662e+01] [ 2.47002633e-02 9.99694900e-01 5.82565059e-05 2.62117774e+00] [ 5.05993986e-03 -1.83293529e-04 9.99987182e-01 4.60379541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:92.67, Y:2.63, Z:0.46 [[ 9.99801011e-01 -1.92952127e-02 -5.06291884e-03 9.26655831e+01] [ 1.92957569e-02 9.99813818e-01 5.86565737e-05 2.62519297e+00] [ 5.06084442e-03 -1.56337753e-04 9.99987182e-01 4.61004625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:92.70, Y:2.63, Z:0.46 [[ 9.99833381e-01 -1.75378725e-02 -5.06291538e-03 9.26976580e+01] [ 1.75383957e-02 9.99846189e-01 5.89538187e-05 2.62855361e+00] [ 5.06110272e-03 -1.47739409e-04 9.99987182e-01 4.62274637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:92.73, Y:2.63, Z:0.46 [[ 9.99861887e-01 -1.58295448e-02 -5.06291077e-03 9.27289348e+01] [ 1.58300481e-02 9.99874695e-01 5.93465443e-05 2.63174525e+00] [ 5.06133694e-03 -1.39484469e-04 9.99987182e-01 4.63188761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:92.76, Y:2.63, Z:0.46 [[ 9.99893498e-01 -1.36879341e-02 -5.06290848e-03 9.27593664e+01] [ 1.36884109e-02 9.99906308e-01 5.95419080e-05 2.63453749e+00] [ 5.06161911e-03 -1.28838738e-04 9.99987182e-01 4.62070910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37439141799999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:92.79, Y:2.63, Z:0.46 [[ 9.99905875e-01 -1.27517743e-02 -5.06290458e-03 9.27906759e+01] [ 1.27522408e-02 9.99918685e-01 5.98711721e-05 2.63462326e+00] [ 5.06172943e-03 -1.24428915e-04 9.99987182e-01 4.62657554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:92.82, Y:2.64, Z:0.46 [[ 9.99920235e-01 -1.15711486e-02 -5.06290219e-03 9.28222398e+01] [ 1.15716010e-02 9.99933045e-01 6.00726815e-05 2.63523955e+00] [ 5.06186810e-03 -1.18653774e-04 9.99987182e-01 4.63384266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43439141799999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:92.85, Y:2.64, Z:0.47 [[ 9.99948960e-01 -8.74320322e-03 -5.06289978e-03 9.28529766e+01] [ 8.74362042e-03 9.99961772e-01 6.02751141e-05 2.63921318e+00] [ 5.06217924e-03 -1.04540112e-04 9.99987182e-01 4.65859339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:92.88, Y:2.64, Z:0.47 [[ 9.99955984e-01 -7.89916851e-03 -5.06289130e-03 9.28831110e+01] [ 7.89957846e-03 9.99968796e-01 6.09789943e-05 2.64094250e+00] [ 5.06225164e-03 -1.00971017e-04 9.99987182e-01 4.67068302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49439141799999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:92.91, Y:2.64, Z:0.47 [[ 9.99961483e-01 -7.16934112e-03 -5.06289130e-03 9.29129080e+01] [ 7.16974172e-03 9.99974295e-01 6.09789943e-05 2.64151546e+00] [ 5.06232398e-03 -9.72762686e-05 9.99987182e-01 4.65019169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:92.94, Y:2.64, Z:0.46 [[ 9.99949488e-01 -8.68267329e-03 -5.06289253e-03 9.29420713e+01] [ 8.68309276e-03 9.99962299e-01 6.08766326e-05 2.63871407e+00] [ 5.06217309e-03 -1.04835123e-04 9.99987182e-01 4.62229214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:92.97, Y:2.64, Z:0.46 [[ 9.99924007e-01 -1.12404103e-02 -5.06289229e-03 9.29706455e+01] [ 1.12408626e-02 9.99936818e-01 6.08966821e-05 2.63849395e+00] [ 5.06188790e-03 -1.17803331e-04 9.99987182e-01 4.62040098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:93.00, Y:2.63, Z:0.46 [[ 9.99917206e-01 -1.18296713e-02 -5.06368613e-03 9.30018614e+01] [ 1.18297858e-02 9.99930026e-01 -7.33637787e-06 2.63368517e+00] [ 5.06341859e-03 -5.25665520e-05 9.99987179e-01 4.62081872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:93.03, Y:2.64, Z:0.46 [[ 9.99883712e-01 -1.43850444e-02 -5.06288292e-03 9.30300853e+01] [ 1.43855335e-02 9.99896521e-01 6.02072900e-05 2.63666806e+00] [ 5.06149294e-03 -1.33032561e-04 9.99987182e-01 4.62941641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:93.06, Y:2.64, Z:0.46 [[ 9.99889619e-01 -1.39681414e-02 -5.06364919e-03 9.30618703e+01] [ 1.39682941e-02 9.99902439e-01 -5.20061239e-06 2.63603757e+00] [ 5.06322781e-03 -6.55305028e-05 9.99987180e-01 4.63121055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:93.09, Y:2.64, Z:0.47 [[ 9.99856987e-01 -1.61358129e-02 -5.06365133e-03 9.30934764e+01] [ 1.61359925e-02 9.99869806e-01 -5.38026074e-06 2.63873212e+00] [ 5.06307889e-03 -7.63275486e-05 9.99987180e-01 4.67030121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:93.12, Y:2.64, Z:0.47 [[ 9.99843788e-01 -1.69341835e-02 -5.06282867e-03 9.31243937e+01] [ 1.69347138e-02 9.99856596e-01 6.19030522e-05 2.63972712e+00] [ 5.06105436e-03 -1.47630937e-04 9.99987182e-01 4.68034497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73439141799999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:93.16, Y:2.64, Z:0.47 [[ 9.99834200e-01 -1.74911445e-02 -5.06282499e-03 9.31555625e+01] [ 1.74916835e-02 9.99847007e-01 6.22028070e-05 2.63843135e+00] [ 5.06096241e-03 -1.50749826e-04 9.99987182e-01 4.67761970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:93.18, Y:2.64, Z:0.47 [[ 9.99791775e-01 -1.97680261e-02 -5.06281696e-03 9.31837643e+01] [ 1.97685975e-02 9.99804580e-01 6.28496372e-05 2.63595125e+00] [ 5.06058517e-03 -1.62921341e-04 9.99987182e-01 4.65639861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79439141799999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:93.22, Y:2.63, Z:0.46 [[ 9.99798591e-01 -1.94200268e-02 -5.06357542e-03 9.32160977e+01] [ 1.94202796e-02 9.99811409e-01 7.51300108e-07 2.63071327e+00] [ 5.06260588e-03 -9.90871993e-05 9.99987180e-01 4.63025603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:93.25, Y:2.63, Z:0.46 [[ 9.99791036e-01 -1.98053434e-02 -5.06279514e-03 9.32469931e+01] [ 1.98059173e-02 9.99803842e-01 6.32295193e-05 2.62892449e+00] [ 5.06054975e-03 -1.63489608e-04 9.99987182e-01 4.61508187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85439141799999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:93.28, Y:2.63, Z:0.46 [[ 9.99784455e-01 -2.01348626e-02 -5.06279134e-03 9.32786900e+01] [ 2.01354422e-02 9.99797259e-01 6.35318677e-05 2.62919371e+00] [ 5.06048570e-03 -1.65459716e-04 9.99987182e-01 4.63242491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:93.31, Y:2.63, Z:0.47 [[ 9.99818020e-01 -1.83927781e-02 -5.06278755e-03 9.33089100e+01] [ 1.83933369e-02 9.99830826e-01 6.38327034e-05 2.62980837e+00] [ 5.06075700e-03 -1.56942644e-04 9.99987182e-01 4.65652748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:93.34, Y:2.63, Z:0.47 [[ 9.99804232e-01 -1.91275029e-02 -5.06314571e-03 9.33415861e+01] [ 1.91279268e-02 9.99817044e-01 3.53141043e-05 2.63024820e+00] [ 5.06154391e-03 -1.32154672e-04 9.99987182e-01 4.66927096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:93.37, Y:2.63, Z:0.47 [[ 9.99826503e-01 -1.79257299e-02 -5.06277428e-03 9.33738283e+01] [ 1.79262859e-02 9.99839309e-01 6.44789003e-05 2.62963608e+00] [ 5.06080490e-03 -1.55224453e-04 9.99987182e-01 4.67364210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:93.41, Y:2.63, Z:0.47 [[ 9.99874813e-01 -1.49908540e-02 -5.06276927e-03 9.34058267e+01] [ 1.49913745e-02 9.99887621e-01 6.48693014e-05 2.62612870e+00] [ 5.06122788e-03 -1.40759051e-04 9.99987182e-01 4.65022534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:93.44, Y:2.62, Z:0.46 [[ 9.99880226e-01 -1.46254204e-02 -5.06276404e-03 9.34373243e+01] [ 1.46259383e-02 9.99893033e-01 6.52751057e-05 2.62446694e+00] [ 5.06126782e-03 -1.39314962e-04 9.99987182e-01 4.63589993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:93.47, Y:2.62, Z:0.46 [[ 9.99898884e-01 -1.32887013e-02 -5.06276013e-03 9.34691390e+01] [ 1.32892036e-02 9.99911692e-01 6.55768529e-05 2.62205953e+00] [ 5.06144162e-03 -1.32850272e-04 9.99987182e-01 4.62556580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:93.50, Y:2.62, Z:0.46 [[ 9.99911510e-01 -1.23020330e-02 -5.06275473e-03 9.34999058e+01] [ 1.23025248e-02 9.99924319e-01 6.59916915e-05 2.62151622e+00] [ 5.06155974e-03 -1.28270517e-04 9.99987182e-01 4.62169614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:93.53, Y:2.62, Z:0.47 [[ 9.99945702e-01 -9.10833801e-03 -5.06275068e-03 9.35315360e+01] [ 9.10879037e-03 9.99958512e-01 6.63004680e-05 2.62192879e+00] [ 5.06193675e-03 -1.12412403e-04 9.99987182e-01 4.66735046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:93.56, Y:2.62, Z:0.47 [[ 9.99945702e-01 -9.10833697e-03 -5.06274797e-03 9.35625320e+01] [ 9.10879037e-03 9.99958512e-01 6.65065750e-05 2.62152152e+00] [ 5.06193217e-03 -1.12618474e-04 9.99987182e-01 4.66891943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15439141799999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:93.59, Y:2.62, Z:0.47 [[ 9.99977229e-01 -4.46213006e-03 -5.06274797e-03 9.35928233e+01] [ 4.46252395e-03 9.99990041e-01 6.65065750e-05 2.62180768e+00] [ 5.06240079e-03 -8.90976946e-05 9.99987182e-01 4.68526886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:93.62, Y:2.62, Z:0.47 [[ 9.99983336e-01 -2.77352716e-03 -5.06305557e-03 9.36223038e+01] [ 2.77377952e-03 9.99996152e-01 4.28206072e-05 2.62072485e+00] [ 5.06291732e-03 -5.68636934e-05 9.99987182e-01 4.67604460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21439141799999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:93.65, Y:2.62, Z:0.47 [[ 9.99986686e-01 -9.97915356e-04 -5.06276057e-03 9.36506960e+01] [ 9.98260218e-04 9.99999500e-01 6.55908850e-05 2.61988805e+00] [ 5.06269258e-03 -7.06439642e-05 9.99987182e-01 4.66463144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:93.68, Y:2.62, Z:0.46 [[ 9.99985925e-01 1.58713827e-03 -5.06277912e-03 9.36782232e+01] [-1.58683395e-03 9.99998739e-01 6.41261117e-05 2.61808996e+00] [ 5.06287451e-03 -5.60914193e-05 9.99987182e-01 4.63981090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:93.71, Y:2.62, Z:0.46 [[ 9.99984566e-01 2.28823246e-03 -5.06278561e-03 9.37070457e+01] [-2.28793974e-03 9.99997381e-01 6.36092004e-05 2.61671571e+00] [ 5.06291791e-03 -5.20248702e-05 9.99987182e-01 4.64297876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304391418 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:93.73, Y:2.62, Z:0.47 [[ 9.99983711e-01 2.63560399e-03 -5.06279070e-03 9.37344147e+01] [-2.63531778e-03 9.99996526e-01 6.32018652e-05 2.61534392e+00] [ 5.06293968e-03 -4.98587733e-05 9.99987182e-01 4.65222535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:93.76, Y:2.61, Z:0.47 [[ 9.99983050e-01 2.87538806e-03 -5.06279695e-03 9.37633726e+01] [-2.87510748e-03 9.99995865e-01 6.26970669e-05 2.61420917e+00] [ 5.06295629e-03 -4.81399188e-05 9.99987182e-01 4.69139345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:93.79, Y:2.61, Z:0.47 [[ 9.99983222e-01 2.81481824e-03 -5.06280204e-03 9.37916207e+01] [-2.81453898e-03 9.99996037e-01 6.22833736e-05 2.61414645e+00] [ 5.06295729e-03 -4.80328749e-05 9.99987182e-01 4.69957483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:93.82, Y:2.61, Z:0.47 [[ 9.99983305e-01 2.78531613e-03 -5.06280830e-03 9.38208549e+01] [-2.78503909e-03 9.99996120e-01 6.17705197e-05 2.61362449e+00] [ 5.06296070e-03 -4.76693695e-05 9.99987182e-01 4.70197490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:93.85, Y:2.61, Z:0.47 [[ 9.99987055e-01 5.07277786e-04 -5.06281324e-03 9.38486102e+01] [-5.06973613e-04 9.99999870e-01 6.13629431e-05 2.61216460e+00] [ 5.06284370e-03 -5.87954361e-05 9.99987182e-01 4.67928479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:93.88, Y:2.61, Z:0.47 [[ 9.99985471e-01 -1.85062520e-03 -5.06281929e-03 9.38777116e+01] [ 1.85095704e-03 9.99998285e-01 6.08593834e-05 2.61064275e+00] [ 5.06269798e-03 -7.02295602e-05 9.99987182e-01 4.67252358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:93.91, Y:2.61, Z:0.47 [[ 9.99957606e-01 -7.69120648e-03 -5.06282406e-03 9.39068718e+01] [ 7.69161113e-03 9.99970417e-01 6.04596072e-05 2.60667464e+00] [ 5.06220928e-03 -9.93983180e-05 9.99987182e-01 4.68527764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51439141799999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:93.94, Y:2.60, Z:0.47 [[ 9.99932833e-01 -1.04257607e-02 -5.06282896e-03 9.39378252e+01] [ 1.04261983e-02 9.99945644e-01 6.00467549e-05 2.60485221e+00] [ 5.06192773e-03 -1.12828781e-04 9.99987182e-01 4.69707409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:93.97, Y:2.60, Z:0.47 [[ 9.99913526e-01 -1.21370295e-02 -5.06282896e-03 9.39683139e+01] [ 1.21374890e-02 9.99926336e-01 6.00467549e-05 2.60338602e+00] [ 5.06172722e-03 -1.21491593e-04 9.99987182e-01 4.70470673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57439141799999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:94.00, Y:2.60, Z:0.47 [[ 9.99864401e-01 -1.56699625e-02 -5.06282896e-03 9.39985776e+01] [ 1.56704673e-02 9.99877209e-01 6.00467549e-05 2.60345317e+00] [ 5.06126636e-03 -1.39375508e-04 9.99987182e-01 4.74129297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:94.03, Y:2.60, Z:0.47 [[ 9.99844587e-01 -1.68869945e-02 -5.06282775e-03 9.40308640e+01] [ 1.68875154e-02 9.99857394e-01 6.01485145e-05 2.60374292e+00] [ 5.06109003e-03 -1.45637748e-04 9.99987182e-01 4.74512398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63439141799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:94.06, Y:2.60, Z:0.47 [[ 9.99835517e-01 -1.74156829e-02 -5.06282301e-03 9.40634398e+01] [ 1.74162125e-02 9.99848324e-01 6.05453961e-05 2.60378222e+00] [ 5.06100066e-03 -1.48710639e-04 9.99987182e-01 4.72952029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:94.09, Y:2.60, Z:0.47 [[ 9.99838822e-01 -1.72249121e-02 -5.06281825e-03 9.40948460e+01] [ 1.72254413e-02 9.99851629e-01 6.09406834e-05 2.60302039e+00] [ 5.06101738e-03 -1.48140140e-04 9.99987182e-01 4.70430457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:94.13, Y:2.60, Z:0.47 [[ 9.99860790e-01 -1.58986718e-02 -5.06281589e-03 9.41266181e+01] [ 1.58991850e-02 9.99873598e-01 6.11361538e-05 2.59921424e+00] [ 5.06120395e-03 -1.41622290e-04 9.99987182e-01 4.68061553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:94.16, Y:2.60, Z:0.47 [[ 9.99880332e-01 -1.46181275e-02 -5.06281345e-03 9.41583018e+01] [ 1.46186254e-02 9.99893140e-01 6.13370713e-05 2.59682502e+00] [ 5.06137581e-03 -1.35341104e-04 9.99987182e-01 4.69525957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:94.19, Y:2.60, Z:0.47 [[ 9.99908815e-01 -1.25191817e-02 -5.06280843e-03 9.41892651e+01] [ 1.25196547e-02 9.99921624e-01 6.17491884e-05 2.59538344e+00] [ 5.06163858e-03 -1.25128171e-04 9.99987182e-01 4.71475497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:94.22, Y:2.60, Z:0.47 [[ 9.99968176e-01 -6.16566127e-03 -5.06280589e-03 9.42197368e+01] [ 6.16605395e-03 9.99980988e-01 6.19566880e-05 2.59765602e+00] [ 5.06232763e-03 -9.31722505e-05 9.99987182e-01 4.74851829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:94.25, Y:2.60, Z:0.48 [[ 9.99983462e-01 -2.72846147e-03 -5.06280463e-03 9.42490620e+01] [ 2.72881063e-03 9.99996275e-01 6.20593443e-05 2.60001249e+00] [ 5.06261644e-03 -7.58737530e-05 9.99987182e-01 4.76409504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:94.28, Y:2.60, Z:0.48 [[ 9.99986577e-01 1.10147341e-03 -5.06280712e-03 9.42782055e+01] [-1.10117436e-03 9.99999392e-01 6.18553724e-05 2.60159995e+00] [ 5.06287217e-03 -5.62795087e-05 9.99987182e-01 4.76272054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87439141799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:94.31, Y:2.60, Z:0.48 [[ 9.99975829e-01 4.76547458e-03 -5.06282397e-03 9.43059887e+01] [-4.76522963e-03 9.99988644e-01 6.04440637e-05 2.60192723e+00] [ 5.06305452e-03 -3.63170838e-05 9.99987182e-01 4.75037138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:94.33, Y:2.60, Z:0.47 [[ 9.99934134e-01 1.03002965e-02 -5.06284263e-03 9.43341329e+01] [-1.03001307e-02 9.99946951e-01 5.88387440e-05 2.59755144e+00] [ 5.06318010e-03 -6.68692794e-06 9.99987182e-01 4.68707992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93439141799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:94.36, Y:2.59, Z:0.47 [[ 9.99916888e-01 1.18567983e-02 -5.06286084e-03 9.43614712e+01] [-1.18566605e-02 9.99929706e-01 5.72271825e-05 2.59416683e+00] [ 5.06318348e-03 2.80619588e-06 9.99987182e-01 4.66179921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:94.39, Y:2.59, Z:0.47 [[ 9.99888908e-01 1.40192494e-02 -5.06286641e-03 9.43902563e+01] [-1.40191419e-02 9.99901725e-01 5.67304128e-05 2.59178522e+00] [ 5.06316418e-03 1.42529319e-05 9.99987182e-01 4.67798557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99439141799999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:94.42, Y:2.59, Z:0.47 [[ 9.99871523e-01 1.52086809e-02 -5.06287079e-03 9.44176693e+01] [-1.52085906e-02 9.99884341e-01 5.63366161e-05 2.59334130e+00] [ 5.06314203e-03 2.06697511e-05 9.99987182e-01 4.70661867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:94.45, Y:2.60, Z:0.47 [[ 9.99853762e-01 1.63347080e-02 -5.06287703e-03 9.44452281e+01] [-1.63346350e-02 9.99866579e-01 5.57701754e-05 2.59568865e+00] [ 5.06311253e-03 2.69382287e-05 9.99987182e-01 4.73502370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:94.47, Y:2.60, Z:0.48 [[ 9.99808263e-01 1.89157370e-02 -5.06288335e-03 9.44736603e+01] [-1.89157001e-02 9.99821081e-01 5.51906442e-05 2.59561887e+00] [ 5.06302147e-03 4.05879207e-05 9.99987182e-01 4.75405677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:94.50, Y:2.59, Z:0.47 [[ 9.99796157e-01 1.95450964e-02 -5.06288967e-03 9.45020700e+01] [-1.95450705e-02 9.99808975e-01 5.46048084e-05 2.59258918e+00] [ 5.06298979e-03 4.43608577e-05 9.99987182e-01 4.74361880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:94.53, Y:2.59, Z:0.47 [[ 9.99787472e-01 1.99844528e-02 -5.06290050e-03 9.45292123e+01] [-1.99844376e-02 9.99800290e-01 5.35815818e-05 2.58879884e+00] [ 5.06296018e-03 4.76090251e-05 9.99987182e-01 4.72285472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:94.56, Y:2.59, Z:0.47 [[ 9.99795575e-01 1.95748756e-02 -5.06290791e-03 9.45572815e+01] [-1.95748588e-02 9.99808393e-01 5.28715726e-05 2.58587405e+00] [ 5.06297277e-03 4.62449432e-05 9.99987182e-01 4.71272530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:94.59, Y:2.58, Z:0.47 [[ 9.99838298e-01 1.72552911e-02 -5.06291423e-03 9.45857905e+01] [-1.72552477e-02 9.99851116e-01 5.22589331e-05 2.58235419e+00] [ 5.06306219e-03 3.51113566e-05 9.99987182e-01 4.70798061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:94.61, Y:2.58, Z:0.47 [[ 9.99884884e-01 1.43033244e-02 -5.06291842e-03 9.46140361e+01] [-1.43032452e-02 9.99897702e-01 5.18501374e-05 2.58136784e+00] [ 5.06314212e-03 2.05719948e-05 9.99987182e-01 4.73881998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23439141799999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:94.64, Y:2.58, Z:0.48 [[ 9.99917255e-01 1.18258423e-02 -5.06292357e-03 9.46432680e+01] [-1.18257339e-02 9.99930072e-01 5.13427114e-05 2.57979476e+00] [ 5.06317670e-03 8.53432390e-06 9.99987182e-01 4.75720453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:94.67, Y:2.58, Z:0.48 [[ 9.99960021e-01 7.37041543e-03 -5.06292766e-03 9.46711500e+01] [-7.37025201e-03 9.99972838e-01 5.09355584e-05 2.57532036e+00] [ 5.06316556e-03 -1.36184693e-05 9.99987182e-01 4.76970837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29439141799999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:94.70, Y:2.57, Z:0.48 [[ 9.99972882e-01 5.34801729e-03 -5.06293270e-03 9.47002837e+01] [-5.34783050e-03 9.99985699e-01 5.04297382e-05 2.57226010e+00] [ 5.06312999e-03 -2.33526647e-05 9.99987182e-01 4.76327729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:94.73, Y:2.57, Z:0.48 [[ 9.99982081e-01 3.19444656e-03 -5.06293676e-03 9.47295356e+01] [-3.19423425e-03 9.99994897e-01 5.00189938e-05 2.56901119e+00] [ 5.06307071e-03 -3.38458915e-05 9.99987182e-01 4.75386700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35439141799999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:94.76, Y:2.56, Z:0.47 [[ 9.99986179e-01 -1.41729479e-03 -5.06294079e-03 9.47587617e+01] [ 1.41756412e-03 9.99998994e-01 4.96080526e-05 2.56353742e+00] [ 5.06286538e-03 -5.67844101e-05 9.99987182e-01 4.73134439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:94.79, Y:2.56, Z:0.47 [[ 9.99979511e-01 -3.91705316e-03 -5.06294787e-03 9.47862026e+01] [ 3.91735081e-03 9.99992326e-01 4.88745185e-05 2.56173946e+00] [ 5.06271757e-03 -6.87068601e-05 9.99987182e-01 4.73428480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:94.81, Y:2.56, Z:0.47 [[ 9.99967877e-01 -6.21384831e-03 -5.06295354e-03 9.48149562e+01] [ 6.21417238e-03 9.99980691e-01 4.82793855e-05 2.56011450e+00] [ 5.06255578e-03 -7.97399006e-05 9.99987182e-01 4.73601859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:94.84, Y:2.56, Z:0.47 [[ 9.99937963e-01 -9.92152123e-03 -5.06295643e-03 9.48436521e+01] [ 9.92189127e-03 9.99950776e-01 4.79743280e-05 2.55654375e+00] [ 5.06223123e-03 -9.82054550e-05 9.99987182e-01 4.73415132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:94.87, Y:2.55, Z:0.47 [[ 9.99924768e-01 -1.11725109e-02 -5.06295927e-03 9.48744840e+01] [ 1.11728954e-02 9.99937580e-01 4.76726535e-05 2.55373659e+00] [ 5.06211062e-03 -1.04236981e-04 9.99987182e-01 4.73158634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:94.90, Y:2.55, Z:0.47 [[ 9.99908239e-01 -1.25650009e-02 -5.06295927e-03 9.49038602e+01] [ 1.25654033e-02 9.99921051e-01 4.76726535e-05 2.55124228e+00] [ 5.06196055e-03 -1.11286404e-04 9.99987182e-01 4.72761295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:94.93, Y:2.55, Z:0.47 [[ 9.99908239e-01 -1.25650009e-02 -5.06295924e-03 9.49348580e+01] [ 1.25654033e-02 9.99921051e-01 4.76757614e-05 2.55095039e+00] [ 5.06196048e-03 -1.11289511e-04 9.99987182e-01 4.72918251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:94.97, Y:2.55, Z:0.47 [[ 9.99889461e-01 -1.39797088e-02 -5.06295924e-03 9.49657307e+01] [ 1.39801293e-02 9.99902272e-01 4.76757614e-05 2.54907551e+00] [ 5.06179796e-03 -1.18451316e-04 9.99987182e-01 4.72972358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:95.00, Y:2.55, Z:0.47 [[ 9.99841938e-01 -1.70430322e-02 -5.06295924e-03 9.49957415e+01] [ 1.70434919e-02 9.99854748e-01 4.76757614e-05 2.54797095e+00] [ 5.06141130e-03 -1.33958731e-04 9.99987182e-01 4.72975322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:95.03, Y:2.55, Z:0.47 [[ 9.99815017e-01 -1.85552721e-02 -5.06295830e-03 9.50274299e+01] [ 1.85557518e-02 9.99827826e-01 4.77760427e-05 2.54786509e+00] [ 5.06120009e-03 -1.41714202e-04 9.99987182e-01 4.72444354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65439141799999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:95.06, Y:2.55, Z:0.47 [[ 9.99741935e-01 -2.21456431e-02 -5.06301334e-03 9.50590650e+01] [ 2.21461396e-02 9.99754743e-01 4.20166923e-05 2.54649214e+00] [ 5.06084112e-03 -1.54132049e-04 9.99987182e-01 4.72500351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:95.09, Y:2.54, Z:0.47 [[ 9.99721933e-01 -2.30308972e-02 -5.06295625e-03 9.50900018e+01] [ 2.30314355e-02 9.99734740e-01 4.80345737e-05 2.54432499e+00] [ 5.06050697e-03 -1.64628367e-04 9.99987182e-01 4.72161093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:95.12, Y:2.54, Z:0.47 [[ 9.99713559e-01 -2.33915813e-02 -5.06295332e-03 9.51211398e+01] [ 2.33921258e-02 9.99726366e-01 4.83409831e-05 2.54155466e+00] [ 5.06043715e-03 -1.66760377e-04 9.99987182e-01 4.72051887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:95.15, Y:2.54, Z:0.47 [[ 9.99728259e-01 -2.27546626e-02 -5.06295137e-03 9.51525867e+01] [ 2.27552000e-02 9.99741066e-01 4.85444691e-05 2.53893308e+00] [ 5.06053579e-03 -1.63739748e-04 9.99987182e-01 4.71640894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:95.18, Y:2.54, Z:0.47 [[ 9.99800594e-01 -1.93167870e-02 -5.06294938e-03 9.51840690e+01] [ 1.93172813e-02 9.99813403e-01 4.87513508e-05 2.53886691e+00] [ 5.06106293e-03 -1.46544047e-04 9.99987182e-01 4.72232803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:95.22, Y:2.54, Z:0.47 [[ 9.99859869e-01 -1.59565009e-02 -5.06294638e-03 9.52151969e+01] [ 1.59569538e-02 9.99872679e-01 4.90604330e-05 2.54101545e+00] [ 5.06151893e-03 -1.29842760e-04 9.99987182e-01 4.73794158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:95.25, Y:2.55, Z:0.48 [[ 9.99959695e-01 -7.41451358e-03 -5.06294442e-03 9.52459551e+01] [ 7.41485801e-03 9.99972508e-01 4.92625815e-05 2.54507754e+00] [ 5.06243997e-03 -8.68016100e-05 9.99987182e-01 4.75572171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:95.28, Y:2.54, Z:0.47 [[ 9.99981237e-01 -3.44846765e-03 -5.06294344e-03 9.52757044e+01] [ 3.44876177e-03 9.99994052e-01 4.93627110e-05 2.54498981e+00] [ 5.06274310e-03 -6.68226705e-05 9.99987182e-01 4.73823839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:95.30, Y:2.54, Z:0.47 [[ 9.99986703e-01 9.79980826e-04 -5.06286125e-03 9.53046337e+01] [-9.79699956e-04 9.99999518e-01 5.79563748e-05 2.54374833e+00] [ 5.06291561e-03 -5.29955192e-05 9.99987182e-01 4.74583989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:95.33, Y:2.54, Z:0.47 [[ 9.99977587e-01 4.38080437e-03 -5.06295665e-03 9.53329449e+01] [-4.38061817e-03 9.99990404e-01 4.78653244e-05 2.54265687e+00] [ 5.06311775e-03 -2.56853717e-05 9.99987182e-01 4.74338119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:95.36, Y:2.54, Z:0.48 [[ 9.99952161e-01 8.36909656e-03 -5.06297192e-03 9.53609658e+01] [-8.36896996e-03 9.99964978e-01 4.61910580e-05 2.54454737e+00] [ 5.06318119e-03 -3.81698825e-06 9.99987182e-01 4.75762679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:95.39, Y:2.55, Z:0.48 [[ 9.99944117e-01 9.28056329e-03 -5.06298666e-03 9.53901898e+01] [-9.28045686e-03 9.99956935e-01 4.45153325e-05 2.54586835e+00] [ 5.06318175e-03 2.47398436e-06 9.99987182e-01 4.75895231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01439141799999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:95.42, Y:2.55, Z:0.48 [[ 9.99953116e-01 8.25424585e-03 -5.06299047e-03 9.54182135e+01] [-8.25412848e-03 9.99965933e-01 4.40774966e-05 2.54692266e+00] [ 5.06318182e-03 -2.28485625e-06 9.99987182e-01 4.77180458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:95.45, Y:2.54, Z:0.48 [[ 9.99977431e-01 4.41634440e-03 -5.06299552e-03 9.54471276e+01] [-4.41618082e-03 9.99990248e-01 4.34891023e-05 2.54419789e+00] [ 5.06313821e-03 -2.11290170e-05 9.99987182e-01 4.76998623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07439141799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:95.48, Y:2.54, Z:0.48 [[ 9.99985626e-01 1.76445723e-03 -5.06299921e-03 9.54763471e+01] [-1.76426185e-03 9.99998443e-01 4.30562700e-05 2.54133557e+00] [ 5.06306729e-03 -3.41231947e-05 9.99987182e-01 4.76413439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:95.50, Y:2.54, Z:0.48 [[ 9.99979864e-01 -3.82603598e-03 -5.06300287e-03 9.55036704e+01] [ 3.82630081e-03 9.99992679e-01 4.26213067e-05 2.53839071e+00] [ 5.06280273e-03 -6.19930204e-05 9.99987182e-01 4.75719994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13439141799999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:95.53, Y:2.54, Z:0.48 [[ 9.99961562e-01 -7.15826797e-03 -5.06300733e-03 9.55329014e+01] [ 7.15857279e-03 9.99974376e-01 4.20848660e-05 2.53957208e+00] [ 5.06257634e-03 -7.83271548e-05 9.99987182e-01 4.77267836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:95.56, Y:2.54, Z:0.48 [[ 9.99937420e-01 -9.97602930e-03 -5.06301090e-03 9.55628985e+01] [ 9.97636802e-03 9.99950234e-01 4.16498493e-05 2.54070160e+00] [ 5.06234344e-03 -9.21577029e-05 9.99987182e-01 4.77789159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:95.59, Y:2.54, Z:0.48 [[ 9.99896284e-01 -1.34828654e-02 -5.06305409e-03 9.55922160e+01] [ 1.34832220e-02 9.99909097e-01 3.62880475e-05 2.54093873e+00] [ 5.06210457e-03 -1.04550566e-04 9.99987182e-01 4.77197573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:95.62, Y:2.54, Z:0.47 [[ 9.99781900e-01 -2.02612414e-02 -5.06302250e-03 9.56228748e+01] [ 2.02617049e-02 9.99794710e-01 4.02601283e-05 2.53628321e+00] [ 5.06116739e-03 -1.42836815e-04 9.99987182e-01 4.74353707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:95.66, Y:2.53, Z:0.48 [[ 9.99699744e-01 -2.39747187e-02 -5.06302171e-03 9.56550126e+01] [ 2.39752303e-02 9.99712552e-01 4.03591546e-05 2.53361503e+00] [ 5.06059876e-03 -1.61734148e-04 9.99987182e-01 4.75066264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:95.69, Y:2.53, Z:0.48 [[ 9.99605094e-01 -2.76409308e-02 -5.06301847e-03 9.56858318e+01] [ 2.76414914e-02 9.99617900e-01 4.07625093e-05 2.53272702e+00] [ 5.05995717e-03 -1.80695793e-04 9.99987182e-01 4.75857332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:95.72, Y:2.54, Z:0.48 [[ 9.99431048e-01 -3.33458581e-02 -5.06301603e-03 9.57175227e+01] [ 3.33464933e-02 9.99443850e-01 4.10631821e-05 2.53581834e+00] [ 5.05883094e-03 -2.09873649e-04 9.99987182e-01 4.80802323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:95.75, Y:2.54, Z:0.48 [[ 9.99362787e-01 -3.53324982e-02 -5.06301357e-03 9.57495583e+01] [ 3.53331603e-02 9.99375588e-01 4.13637156e-05 2.53710527e+00] [ 5.05839068e-03 -2.20229628e-04 9.99987182e-01 4.82306478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:95.78, Y:2.54, Z:0.48 [[ 9.99266602e-01 -3.79555448e-02 -5.06301029e-03 9.57812633e+01] [ 3.79562425e-02 9.99279401e-01 4.17619875e-05 2.53645640e+00] [ 5.05777679e-03 -2.33904206e-04 9.99987182e-01 4.81473052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:95.81, Y:2.54, Z:0.48 [[ 9.99240400e-01 -3.86392031e-02 -5.06300686e-03 9.58137091e+01] [ 3.86399116e-02 9.99253199e-01 4.21738731e-05 2.53561875e+00] [ 5.05759623e-03 -2.37775975e-04 9.99987182e-01 4.80196354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:95.85, Y:2.54, Z:0.48 [[ 9.99230814e-01 -3.88863154e-02 -5.06300334e-03 9.58452700e+01] [ 3.88870292e-02 9.99243613e-01 4.25920568e-05 2.53557924e+00] [ 5.05751750e-03 -2.39444454e-04 9.99987182e-01 4.79131544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:95.88, Y:2.54, Z:0.48 [[ 9.99231403e-01 -3.88711953e-02 -5.06300069e-03 9.58770056e+01] [ 3.88719105e-02 9.99244201e-01 4.29042023e-05 2.53835123e+00] [ 5.05750634e-03 -2.39679736e-04 9.99987182e-01 4.78482318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:95.91, Y:2.54, Z:0.48 [[ 9.99262204e-01 -3.80711794e-02 -5.06299713e-03 9.59079037e+01] [ 3.80718865e-02 9.99275002e-01 4.33210177e-05 2.53974584e+00] [ 5.05767718e-03 -2.36046907e-04 9.99987182e-01 4.78240216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:95.94, Y:2.54, Z:0.48 [[ 9.99358778e-01 -3.54457096e-02 -5.06299445e-03 9.59405669e+01] [ 3.54463847e-02 9.99371579e-01 4.36315511e-05 2.54312850e+00] [ 5.05826620e-03 -2.23068423e-04 9.99987182e-01 4.81209468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:95.97, Y:2.54, Z:0.48 [[ 9.99361692e-01 -3.53634751e-02 -5.06299083e-03 9.59732528e+01] [ 3.53641512e-02 9.99374492e-01 4.40475114e-05 2.54276716e+00] [ 5.05826622e-03 -2.23067769e-04 9.99987182e-01 4.81374883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:96.00, Y:2.55, Z:0.48 [[ 9.99518330e-01 -3.06181927e-02 -5.06298717e-03 9.60041561e+01] [ 3.06188101e-02 9.99531133e-01 4.44641252e-05 2.54582070e+00] [ 5.05925190e-03 -1.99465351e-04 9.99987182e-01 4.83015086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:96.04, Y:2.55, Z:0.48 [[ 9.99597560e-01 -2.79120951e-02 -5.06298443e-03 9.60367138e+01] [ 2.79126795e-02 9.99610364e-01 4.47741737e-05 2.54756001e+00] [ 5.05976197e-03 -1.86077616e-04 9.99987182e-01 4.82441183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:96.07, Y:2.55, Z:0.48 [[ 9.99667871e-01 -2.52688405e-02 -5.06298078e-03 9.60692014e+01] [ 2.52693930e-02 9.99680677e-01 4.51833194e-05 2.54948208e+00] [ 5.06022232e-03 -1.73106764e-04 9.99987182e-01 4.81391956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:96.10, Y:2.55, Z:0.48 [[ 9.99772903e-01 -2.07004359e-02 -5.06297711e-03 9.61000199e+01] [ 2.07009320e-02 9.99785712e-01 4.55909631e-05 2.55346094e+00] [ 5.06094842e-03 -1.50388954e-04 9.99987182e-01 4.78453173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:96.13, Y:2.56, Z:0.48 [[ 9.99784934e-01 -2.01109894e-02 -5.06297437e-03 9.61308160e+01] [ 2.01114794e-02 9.99797743e-01 4.58931818e-05 2.55538353e+00] [ 5.06102739e-03 -1.47707217e-04 9.99987182e-01 4.78803621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:96.16, Y:2.56, Z:0.48 [[ 9.99802337e-01 -1.92263484e-02 -5.06297165e-03 9.61619565e+01] [ 1.92268286e-02 9.99815146e-01 4.61914585e-05 2.55644284e+00] [ 5.06114765e-03 -1.43527216e-04 9.99987182e-01 4.79385349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:96.19, Y:2.56, Z:0.48 [[ 9.99821986e-01 -1.81758660e-02 -5.06296983e-03 9.61934394e+01] [ 1.81763338e-02 9.99834796e-01 4.63903425e-05 2.55870099e+00] [ 5.06129022e-03 -1.38408314e-04 9.99987182e-01 4.81059738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:96.23, Y:2.56, Z:0.48 [[ 9.99830623e-01 -1.76943828e-02 -5.06296795e-03 9.62259618e+01] [ 1.76948454e-02 9.99843433e-01 4.65945530e-05 2.56242805e+00] [ 5.06135079e-03 -1.36175096e-04 9.99987182e-01 4.83975039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:96.26, Y:2.56, Z:0.48 [[ 9.99838330e-01 -1.72534199e-02 -5.06296415e-03 9.62558936e+01] [ 1.72538790e-02 9.99851140e-01 4.70032600e-05 2.56450456e+00] [ 5.06139951e-03 -1.34351432e-04 9.99987182e-01 4.84584064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85439141799999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:96.29, Y:2.57, Z:0.48 [[ 9.99844107e-01 -1.69153065e-02 -5.06296322e-03 9.62876348e+01] [ 1.69157618e-02 9.99856917e-01 4.71038929e-05 2.56657955e+00] [ 5.06144202e-03 -1.32740429e-04 9.99987182e-01 4.84594055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:96.32, Y:2.57, Z:0.48 [[ 9.99823641e-01 -1.80846106e-02 -5.06296137e-03 9.63170873e+01] [ 1.80850818e-02 9.99836450e-01 4.73010237e-05 2.57057076e+00] [ 5.06127791e-03 -1.38856752e-04 9.99987182e-01 4.82276614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:96.35, Y:2.57, Z:0.48 [[ 9.99831240e-01 -1.76593830e-02 -5.06333054e-03 9.63491228e+01] [ 1.76596453e-02 9.99844056e-01 7.08607244e-06 2.57081659e+00] [ 5.06241581e-03 -9.65014978e-05 9.99987181e-01 4.83789052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:96.38, Y:2.57, Z:0.48 [[ 9.99823751e-01 -1.80785262e-02 -5.06294045e-03 9.63817017e+01] [ 1.80790015e-02 9.99836560e-01 4.81252135e-05 2.57082882e+00] [ 5.06124294e-03 -1.39649639e-04 9.99987182e-01 4.83386249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:96.41, Y:2.57, Z:0.48 [[ 9.99806244e-01 -1.90221379e-02 -5.06293651e-03 9.64140320e+01] [ 1.90226274e-02 9.99819052e-01 4.85364545e-05 2.57065110e+00] [ 5.06109712e-03 -1.44837405e-04 9.99987182e-01 4.84630044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:96.45, Y:2.57, Z:0.48 [[ 9.99795516e-01 -1.95778738e-02 -5.06293254e-03 9.64458986e+01] [ 1.95783724e-02 9.99808324e-01 4.89473041e-05 2.57002747e+00] [ 5.06100381e-03 -1.48061274e-04 9.99987182e-01 4.84597311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:96.48, Y:2.57, Z:0.48 [[ 9.99799598e-01 -1.93683111e-02 -5.06292854e-03 9.64767697e+01] [ 1.93688092e-02 9.99812406e-01 4.93579074e-05 2.57137131e+00] [ 5.06102278e-03 -1.47410913e-04 9.99987182e-01 4.84587293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:96.51, Y:2.57, Z:0.49 [[ 9.99823281e-01 -1.81045102e-02 -5.06292552e-03 9.65085940e+01] [ 1.81049936e-02 9.99836090e-01 4.96649330e-05 2.57405214e+00] [ 5.06119650e-03 -1.41320391e-04 9.99987182e-01 4.85781697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:96.54, Y:2.58, Z:0.49 [[ 9.99865774e-01 -1.55820375e-02 -5.06292927e-03 9.65402385e+01] [ 1.55824867e-02 9.99878584e-01 4.92866567e-05 2.58110669e+00] [ 5.06154656e-03 -1.28173069e-04 9.99987182e-01 4.87356803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:96.57, Y:2.58, Z:0.49 [[ 9.99888911e-01 -1.40189734e-02 -5.06292022e-03 9.65715881e+01] [ 1.40194072e-02 9.99901722e-01 5.01993801e-05 2.58235048e+00] [ 5.06171890e-03 -1.21172944e-04 9.99987182e-01 4.87515406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:96.60, Y:2.58, Z:0.49 [[ 9.99905829e-01 -1.27553586e-02 -5.06291827e-03 9.66024485e+01] [ 1.27557772e-02 9.99918640e-01 5.03951432e-05 2.58193603e+00] [ 5.06186354e-03 -1.14971855e-04 9.99987182e-01 4.87644388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:96.63, Y:2.58, Z:0.49 [[ 9.99935312e-01 -1.01852546e-02 -5.06291624e-03 9.66324007e+01] [ 1.01856413e-02 9.99948124e-01 5.05982928e-05 2.57997484e+00] [ 5.06213824e-03 -1.02164068e-04 9.99987182e-01 4.86023797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21439141799999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:96.66, Y:2.58, Z:0.48 [[ 9.99950007e-01 -8.62264203e-03 -5.06291277e-03 9.66629909e+01] [ 8.62301045e-03 9.99962820e-01 5.09424552e-05 2.58020322e+00] [ 5.06228528e-03 -9.45974582e-05 9.99987182e-01 4.84985218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:96.69, Y:2.58, Z:0.48 [[ 9.99962360e-01 -7.04597496e-03 -5.06291277e-03 9.66937965e+01] [ 7.04632317e-03 9.99975173e-01 5.09424552e-05 2.58193176e+00] [ 5.06242814e-03 -8.66154573e-05 9.99987182e-01 4.84396701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:96.72, Y:2.59, Z:0.48 [[ 9.99981480e-01 -3.37744836e-03 -5.06291277e-03 9.67239645e+01] [ 3.37774956e-03 9.99994294e-01 5.09424552e-05 2.58649664e+00] [ 5.06271183e-03 -6.80427631e-05 9.99987182e-01 4.83639918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:96.75, Y:2.59, Z:0.48 [[ 9.99986497e-01 -1.17174003e-03 -5.06291277e-03 9.67539247e+01] [ 1.17201297e-03 9.99999312e-01 5.09424552e-05 2.58790730e+00] [ 5.06284960e-03 -5.68755668e-05 9.99987182e-01 4.84480392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:96.78, Y:2.59, Z:0.48 [[ 9.99987171e-01 1.58336172e-04 -5.06291485e-03 9.67816987e+01] [-1.58081328e-04 9.99999986e-01 5.07355144e-05 2.58899670e+00] [ 5.06292281e-03 -4.99345112e-05 9.99987182e-01 4.84044565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:96.81, Y:2.59, Z:0.49 [[ 9.99985000e-01 2.08981201e-03 -5.06292223e-03 9.68103522e+01] [-2.08958571e-03 9.99997816e-01 4.99882156e-05 2.58907239e+00] [ 5.06301563e-03 -3.94080559e-05 9.99987182e-01 4.86649111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:96.84, Y:2.59, Z:0.49 [[ 9.99984652e-01 2.24986614e-03 -5.06293595e-03 9.68386999e+01] [-2.24964913e-03 9.99997468e-01 4.85576505e-05 2.58823472e+00] [ 5.06303238e-03 -3.71670758e-05 9.99987182e-01 4.87344384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:96.87, Y:2.59, Z:0.49 [[ 9.99985701e-01 1.72183031e-03 -5.06293981e-03 9.68667082e+01] [-1.72160858e-03 9.99998517e-01 4.81513133e-05 2.58772899e+00] [ 5.06301521e-03 -3.94342242e-05 9.99987182e-01 4.87641285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:96.90, Y:2.59, Z:0.49 [[ 9.99985833e-01 1.64303113e-03 -5.06294455e-03 9.68960142e+01] [-1.64281095e-03 9.99998649e-01 4.76477411e-05 2.58753085e+00] [ 5.06301600e-03 -3.93296053e-05 9.99987182e-01 4.87789809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:96.92, Y:2.59, Z:0.49 [[ 9.99987066e-01 -4.84069768e-04 -5.06294827e-03 9.69248389e+01] [ 4.84315193e-04 9.99999882e-01 4.72487871e-05 2.58769646e+00] [ 5.06292480e-03 -4.97002387e-05 9.99987182e-01 4.88077465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51439141799999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:96.95, Y:2.59, Z:0.49 [[ 9.99984027e-01 -2.51228617e-03 -5.06295198e-03 9.69526379e+01] [ 2.51255556e-03 9.99996842e-01 4.68478362e-05 2.58809631e+00] [ 5.06281830e-03 -5.95680361e-05 9.99987182e-01 4.86358155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:96.98, Y:2.59, Z:0.49 [[ 9.99977217e-01 -4.46452474e-03 -5.06295653e-03 9.69817090e+01] [ 4.46481663e-03 9.99990032e-01 4.63508277e-05 2.58827299e+00] [ 5.06269913e-03 -6.89549442e-05 9.99987182e-01 4.85541300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57439141799999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:97.01, Y:2.59, Z:0.49 [[ 9.99948583e-01 -8.78622099e-03 -5.06295982e-03 9.70111785e+01] [ 8.78656643e-03 9.99961396e-01 4.59892168e-05 2.58772565e+00] [ 5.06236030e-03 -9.04728850e-05 9.99987182e-01 4.87006830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:97.04, Y:2.59, Z:0.48 [[ 9.99925747e-01 -1.10844927e-02 -5.06296166e-03 9.70405308e+01] [ 1.10848666e-02 9.99938560e-01 4.57856487e-05 2.58594382e+00] [ 5.06214308e-03 -1.01904503e-04 9.99987182e-01 4.84894183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63439141799999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:97.07, Y:2.58, Z:0.49 [[ 9.99894521e-01 -1.36129527e-02 -5.06296257e-03 9.70720109e+01] [ 1.36133584e-02 9.99907333e-01 4.56846417e-05 2.58364891e+00] [ 5.06187150e-03 -1.14603747e-04 9.99987182e-01 4.86131602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:97.10, Y:2.58, Z:0.49 [[ 9.99858589e-01 -1.60364471e-02 -5.06296083e-03 9.71034240e+01] [ 1.60368849e-02 9.99871400e-01 4.58771040e-05 2.58173147e+00] [ 5.06157402e-03 -1.27064736e-04 9.99987182e-01 4.87369723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:97.13, Y:2.58, Z:0.49 [[ 9.99772200e-01 -2.07343613e-02 -5.06295892e-03 9.71341618e+01] [ 2.07348603e-02 9.99785009e-01 4.60865776e-05 2.58247136e+00] [ 5.06091485e-03 -1.51055825e-04 9.99987182e-01 4.88550873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:97.17, Y:2.58, Z:0.49 [[ 9.99732423e-01 -2.25709823e-02 -5.06295605e-03 9.71656495e+01] [ 2.25715064e-02 9.99745230e-01 4.63997441e-05 2.58427272e+00] [ 5.06061887e-03 -1.60665874e-04 9.99987182e-01 4.88813621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:97.20, Y:2.59, Z:0.49 [[ 9.99697938e-01 -2.40499495e-02 -5.06295319e-03 9.71977519e+01] [ 2.40504941e-02 9.99710744e-01 4.67091606e-05 2.58544845e+00] [ 5.06036535e-03 -1.68461578e-04 9.99987182e-01 4.90384144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:97.23, Y:2.59, Z:0.49 [[ 9.99622569e-01 -2.70015825e-02 -5.06294928e-03 9.72288249e+01] [ 2.70021671e-02 9.99635374e-01 4.71295326e-05 2.58559775e+00] [ 5.05983063e-03 -1.83822347e-04 9.99987182e-01 4.90088248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:97.26, Y:2.58, Z:0.49 [[ 9.99575629e-01 -2.86867447e-02 -5.06294635e-03 9.72610994e+01] [ 2.86873524e-02 9.99588432e-01 4.74425072e-05 2.58427496e+00] [ 5.05950163e-03 -1.92664900e-04 9.99987182e-01 4.89269464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:97.29, Y:2.58, Z:0.49 [[ 9.99453293e-01 -3.26723510e-02 -5.06294248e-03 9.72919488e+01] [ 3.26730119e-02 9.99466093e-01 4.78516498e-05 2.58270639e+00] [ 5.05867592e-03 -2.13247069e-04 9.99987182e-01 4.87634384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87439141799999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:97.32, Y:2.58, Z:0.49 [[ 9.99379793e-01 -3.48481831e-02 -5.06293627e-03 9.73243194e+01] [ 3.48488751e-02 9.99392592e-01 4.85000324e-05 2.58327531e+00] [ 5.05817087e-03 -2.24907586e-04 9.99987182e-01 4.88131933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:97.36, Y:2.58, Z:0.49 [[ 9.99299600e-01 -3.70766371e-02 -5.06293230e-03 9.73564645e+01] [ 3.70773597e-02 9.99312397e-01 4.89115197e-05 2.58480746e+00] [ 5.05763753e-03 -2.36597424e-04 9.99987182e-01 4.88206877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93439141799999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:97.39, Y:2.59, Z:0.49 [[ 9.99167428e-01 -4.04823060e-02 -5.06292729e-03 9.73895239e+01] [ 4.04830748e-02 9.99180223e-01 4.94244919e-05 2.58800245e+00] [ 5.05677600e-03 -2.54346207e-04 9.99987182e-01 4.89663575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:97.42, Y:2.59, Z:0.49 [[ 9.99110875e-01 -4.18548294e-02 -5.06292132e-03 9.74230118e+01] [ 4.18556188e-02 9.99123668e-01 5.00289157e-05 2.58864776e+00] [ 5.05639057e-03 -2.61896139e-04 9.99987182e-01 4.90232214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99439141799999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:97.45, Y:2.59, Z:0.49 [[ 9.98982301e-01 -4.48188436e-02 -5.06291526e-03 9.74528581e+01] [ 4.48196741e-02 9.98995092e-01 5.06343376e-05 2.59171476e+00] [ 5.05555813e-03 -2.77501019e-04 9.99987182e-01 4.90498604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:97.49, Y:2.59, Z:0.49 [[ 9.98950414e-01 -4.55239939e-02 -5.06332369e-03 9.74858673e+01] [ 4.55246283e-02 9.98963217e-01 1.00459736e-05 2.59274180e+00] [ 5.05761678e-03 -2.40541358e-04 9.99987181e-01 4.91195272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:97.52, Y:2.59, Z:0.49 [[ 9.99046180e-01 -4.33715795e-02 -5.06325690e-03 9.75200827e+01] [ 4.33722189e-02 9.99058982e-01 1.64949553e-05 2.59122847e+00] [ 5.05777688e-03 -2.36083909e-04 9.99987181e-01 4.89789613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:97.55, Y:2.59, Z:0.49 [[ 9.99069253e-01 -4.28368500e-02 -5.06284831e-03 9.75531569e+01] [ 4.28376744e-02 9.99082044e-01 5.44717034e-05 2.59243712e+00] [ 5.05586744e-03 -2.71301652e-04 9.99987182e-01 4.89790823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:97.59, Y:2.59, Z:0.49 [[ 9.99109667e-01 -4.18836501e-02 -5.06284170e-03 9.75853936e+01] [ 4.18844654e-02 9.99122459e-01 5.50792486e-05 2.59357959e+00] [ 5.05609193e-03 -2.67084628e-04 9.99987182e-01 4.89105139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:97.62, Y:2.60, Z:0.49 [[ 9.99239616e-01 -3.86595074e-02 -5.06283617e-03 9.76164387e+01] [ 3.86602840e-02 9.99252410e-01 5.55825569e-05 2.59661956e+00] [ 5.05690246e-03 -2.51270977e-04 9.99987182e-01 4.89261708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:97.65, Y:2.60, Z:0.49 [[ 9.99323163e-01 -3.64360174e-02 -5.06282828e-03 9.76486509e+01] [ 3.64367691e-02 9.99335959e-01 5.62921905e-05 2.59841191e+00] [ 5.05741530e-03 -2.40727195e-04 9.99987182e-01 4.91362013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:97.68, Y:2.60, Z:0.49 [[ 9.99418080e-01 -3.37323287e-02 -5.06282368e-03 9.76794178e+01] [ 3.37330479e-02 9.99430877e-01 5.67030313e-05 2.60055847e+00] [ 5.05802959e-03 -2.27454508e-04 9.99987182e-01 4.92887832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23439141799999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:97.71, Y:2.61, Z:0.50 [[ 9.99596472e-01 -2.79510369e-02 -5.06281627e-03 9.77115745e+01] [ 2.79516853e-02 9.99609274e-01 5.73575408e-05 2.60663961e+00] [ 5.05923489e-03 -1.98848643e-04 9.99987182e-01 4.95979359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:97.74, Y:2.61, Z:0.50 [[ 9.99678462e-01 -2.48463213e-02 -5.06281157e-03 9.77440678e+01] [ 2.48469321e-02 9.99691266e-01 5.77694105e-05 2.60970980e+00] [ 5.05981315e-03 -1.83546171e-04 9.99987182e-01 4.97071067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29439141799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:97.78, Y:2.62, Z:0.50 [[ 9.99801920e-01 -1.92480645e-02 -5.06280687e-03 9.77756357e+01] [ 1.92486057e-02 9.99814727e-01 5.81781048e-05 2.61522306e+00] [ 5.06074905e-03 -1.55618554e-04 9.99987182e-01 4.96291037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:97.81, Y:2.62, Z:0.49 [[ 9.99855443e-01 -1.62314578e-02 -5.06280336e-03 9.78076042e+01] [ 1.62319618e-02 9.99868251e-01 5.84819818e-05 2.61652779e+00] [ 5.06118710e-03 -1.40652759e-04 9.99987182e-01 4.94400273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35439141799999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:97.84, Y:2.62, Z:0.49 [[ 9.99882652e-01 -1.44585590e-02 -5.06279868e-03 9.78390268e+01] [ 1.44590424e-02 9.99895461e-01 5.88844699e-05 2.61784309e+00] [ 5.06141804e-03 -1.32080781e-04 9.99987182e-01 4.94804526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:97.87, Y:2.62, Z:0.49 [[ 9.99911156e-01 -1.23307779e-02 -5.06279518e-03 9.78705846e+01] [ 1.23312356e-02 9.99923966e-01 5.91840847e-05 2.61809602e+00] [ 5.06168045e-03 -1.21609346e-04 9.99987182e-01 4.93070791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:97.90, Y:2.62, Z:0.49 [[ 9.99940508e-01 -9.66175623e-03 -5.06279286e-03 9.79010232e+01] [ 9.66218066e-03 9.99953318e-01 5.93817970e-05 2.61913789e+00] [ 5.06198279e-03 -1.08295884e-04 9.99987182e-01 4.93334267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:97.93, Y:2.62, Z:0.49 [[ 9.99954040e-01 -8.14163431e-03 -5.06279171e-03 9.79327892e+01] [ 8.14203977e-03 9.99966851e-01 5.94797491e-05 2.62010901e+00] [ 5.06213962e-03 -1.00698467e-04 9.99987182e-01 4.93336953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:97.96, Y:2.63, Z:0.50 [[ 9.99979586e-01 -3.89825702e-03 -5.06278943e-03 9.79637868e+01] [ 3.89860908e-03 9.99992399e-01 5.96729391e-05 2.62528218e+00] [ 5.06251833e-03 -7.94095578e-05 9.99987182e-01 4.95766490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:97.99, Y:2.63, Z:0.50 [[ 9.99986767e-01 -9.13629252e-04 -5.06278943e-03 9.79928644e+01] [ 9.13943075e-04 9.99999581e-01 5.96729391e-05 2.62769222e+00] [ 5.06273279e-03 -6.42992508e-05 9.99987182e-01 4.95295029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:98.02, Y:2.63, Z:0.50 [[ 9.99986889e-01 7.68549157e-04 -5.06279295e-03 9.80219928e+01] [-7.68258411e-04 9.99999703e-01 5.93725015e-05 2.62954678e+00] [ 5.06283708e-03 -5.54821898e-05 9.99987182e-01 4.96583213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:98.05, Y:2.63, Z:0.50 [[ 9.99984052e-01 2.50285425e-03 -5.06280978e-03 9.80502104e+01] [-2.50259317e-03 9.99996867e-01 5.79015212e-05 2.62966199e+00] [ 5.06293883e-03 -4.52304446e-05 9.99987182e-01 4.95418308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:98.08, Y:2.63, Z:0.49 [[ 9.99981034e-01 3.50705925e-03 -5.06281861e-03 9.80791353e+01] [-3.50681501e-03 9.99993849e-01 5.71184043e-05 2.62761199e+00] [ 5.06298779e-03 -3.93629527e-05 9.99987182e-01 4.93791889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:98.11, Y:2.63, Z:0.49 [[ 9.99982500e-01 3.06066214e-03 -5.06282323e-03 9.81074732e+01] [-3.06041426e-03 9.99995315e-01 5.67057985e-05 2.62647662e+00] [ 5.06297307e-03 -4.12104697e-05 9.99987182e-01 4.94007972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65439141799999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:98.14, Y:2.63, Z:0.50 [[ 9.99987151e-01 2.56590612e-04 -5.06282786e-03 9.81357060e+01] [-2.56308912e-04 9.99999966e-01 5.62895042e-05 2.62800237e+00] [ 5.06284213e-03 -5.49911331e-05 9.99987182e-01 4.96232250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:98.16, Y:2.63, Z:0.50 [[ 9.99985816e-01 -1.65401515e-03 -5.06283355e-03 9.81646360e+01] [ 1.65431872e-03 9.99998630e-01 5.57734528e-05 2.62939247e+00] [ 5.06273436e-03 -6.41482020e-05 9.99987182e-01 4.97564960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71439141799999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:98.20, Y:2.63, Z:0.50 [[ 9.99986207e-01 -1.39803003e-03 -5.06283793e-03 9.81964098e+01] [ 1.39832829e-03 9.99999021e-01 5.53726532e-05 2.62724903e+00] [ 5.06275556e-03 -6.24513989e-05 9.99987182e-01 4.96445955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:98.22, Y:2.63, Z:0.50 [[ 9.99949953e-01 -8.62933008e-03 -5.06220079e-03 9.82233426e+01] [ 8.63001754e-03 9.99962754e-01 1.13974313e-04 2.62760512e+00] [ 5.06102872e-03 -1.57655490e-04 9.99987180e-01 4.96326861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:98.25, Y:2.62, Z:0.50 [[ 9.99921478e-01 -1.14631947e-02 -5.06283978e-03 9.82536827e+01] [ 1.14636122e-02 9.99934289e-01 5.34557958e-05 2.62493284e+00] [ 5.06189432e-03 -1.11490030e-04 9.99987182e-01 4.95007061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:98.28, Y:2.62, Z:0.49 [[ 9.99881523e-01 -1.45363980e-02 -5.06283978e-03 9.82847596e+01] [ 1.45368549e-02 9.99894333e-01 5.34557958e-05 2.62274064e+00] [ 5.06152775e-03 -1.27047230e-04 9.99987182e-01 4.94382658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:98.32, Y:2.62, Z:0.49 [[ 9.99835382e-01 -1.74234361e-02 -5.06283759e-03 9.83173601e+01] [ 1.74239310e-02 9.99848190e-01 5.36623505e-05 2.62153019e+00] [ 5.06113402e-03 -1.41868050e-04 9.99987182e-01 4.94519393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:98.35, Y:2.62, Z:0.50 [[ 9.99759911e-01 -2.13187067e-02 -5.06283315e-03 9.83497883e+01] [ 2.13192536e-02 9.99772717e-01 5.40778458e-05 2.62158898e+00] [ 5.06052959e-03 -1.62000686e-04 9.99987182e-01 4.95307962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:98.38, Y:2.62, Z:0.50 [[ 9.99716045e-01 -2.32851261e-02 -5.06282871e-03 9.83817298e+01] [ 2.32857003e-02 9.99728850e-01 5.44905549e-05 2.62167180e+00] [ 5.06018711e-03 -1.72366594e-04 9.99987182e-01 4.97969671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:98.41, Y:2.62, Z:0.50 [[ 9.99696183e-01 -2.41228041e-02 -5.06282423e-03 9.84129325e+01] [ 2.41233912e-02 9.99708987e-01 5.49037095e-05 2.62007884e+00] [ 5.06002645e-03 -1.77019518e-04 9.99987182e-01 4.97575572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:98.45, Y:2.62, Z:0.50 [[ 9.99679072e-01 -2.48217691e-02 -5.06281706e-03 9.84453824e+01] [ 2.48223684e-02 9.99691876e-01 5.55573838e-05 2.61546814e+00] [ 5.05987805e-03 -1.81210664e-04 9.99987182e-01 4.95678570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:98.48, Y:2.61, Z:0.50 [[ 9.99673446e-01 -2.50473491e-02 -5.06281256e-03 9.84774725e+01] [ 2.50479533e-02 9.99686249e-01 5.59641969e-05 2.61445654e+00] [ 5.05982235e-03 -1.82759014e-04 9.99987182e-01 4.95333498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01439141799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:98.51, Y:2.61, Z:0.50 [[ 9.99664261e-01 -2.54112899e-02 -5.06280796e-03 9.85093196e+01] [ 2.54119009e-02 9.99677064e-01 5.63777455e-05 2.61467305e+00] [ 5.05974036e-03 -1.85014391e-04 9.99987182e-01 4.95017557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:98.54, Y:2.62, Z:0.50 [[ 9.99629518e-01 -2.67431349e-02 -5.06280331e-03 9.85405127e+01] [ 2.67437650e-02 9.99642320e-01 5.67917415e-05 2.61736260e+00] [ 5.05947366e-03 -1.92169123e-04 9.99987182e-01 4.96388360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07439141799999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:98.57, Y:2.62, Z:0.50 [[ 9.99604223e-01 -2.76724695e-02 -5.06279984e-03 9.85715821e+01] [ 2.76731130e-02 9.99617024e-01 5.71000029e-05 2.61611189e+00] [ 5.05928081e-03 -1.97180836e-04 9.99987182e-01 4.97269824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:98.60, Y:2.61, Z:0.50 [[ 9.99589273e-01 -2.82073440e-02 -5.06279229e-03 9.86033436e+01] [ 2.82079978e-02 9.99602074e-01 5.77614742e-05 2.61360406e+00] [ 5.05914837e-03 -2.00548984e-04 9.99987182e-01 4.97202303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:98.64, Y:2.61, Z:0.50 [[ 9.99582282e-01 -2.84540038e-02 -5.06278761e-03 9.86355270e+01] [ 2.84546628e-02 9.99595082e-01 5.81685267e-05 2.61124743e+00] [ 5.05908247e-03 -2.02204143e-04 9.99987182e-01 4.96357820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:98.67, Y:2.61, Z:0.50 [[ 9.99584686e-01 -2.83694263e-02 -5.06278294e-03 9.86673074e+01] [ 2.83700862e-02 9.99597486e-01 5.85724773e-05 2.61052313e+00] [ 5.05908343e-03 -2.02179740e-04 9.99987182e-01 4.96062020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:98.70, Y:2.61, Z:0.50 [[ 9.99589684e-01 -2.81927614e-02 -5.06277815e-03 9.86993074e+01] [ 2.81934212e-02 9.99602485e-01 5.89837054e-05 2.61181620e+00] [ 5.05910270e-03 -2.01696540e-04 9.99987182e-01 4.96143701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:98.73, Y:2.62, Z:0.50 [[ 9.99641057e-01 -2.63082721e-02 -5.06277213e-03 9.87303457e+01] [ 2.63089103e-02 9.99653859e-01 5.94961098e-05 2.61684744e+00] [ 5.05945445e-03 -1.92670772e-04 9.99987182e-01 4.95727277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:98.76, Y:2.62, Z:0.50 [[ 9.99670128e-01 -2.51794124e-02 -5.06276861e-03 9.87621848e+01] [ 2.51800377e-02 9.99682931e-01 5.97937547e-05 2.61782872e+00] [ 5.05965779e-03 -1.87254735e-04 9.99987182e-01 4.95713318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:98.79, Y:2.62, Z:0.49 [[ 9.99707127e-01 -2.36649064e-02 -5.06276385e-03 9.87939751e+01] [ 2.36655143e-02 9.99719931e-01 6.01941810e-05 2.61692490e+00] [ 5.05992144e-03 -1.79989462e-04 9.99987182e-01 4.94898025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:98.83, Y:2.61, Z:0.49 [[ 9.99748064e-01 -2.18672566e-02 -5.06275910e-03 9.88261786e+01] [ 2.18678435e-02 9.99760868e-01 6.05910101e-05 2.61484384e+00] [ 5.06022348e-03 -1.71287369e-04 9.99987182e-01 4.94332087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:98.86, Y:2.61, Z:0.49 [[ 9.99749798e-01 -2.17878230e-02 -5.06275426e-03 9.88588706e+01] [ 2.17884110e-02 9.99762603e-01 6.09932585e-05 2.61437159e+00] [ 5.06022346e-03 -1.71287368e-04 9.99987182e-01 4.94497499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37439141799999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:98.89, Y:2.61, Z:0.49 [[ 9.99806340e-01 -1.90171187e-02 -5.06274938e-03 9.88902598e+01] [ 1.90176732e-02 9.99819146e-01 6.13955066e-05 2.61198296e+00] [ 5.06066619e-03 -1.57665330e-04 9.99987182e-01 4.93868357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:98.92, Y:2.61, Z:0.49 [[ 9.99830558e-01 -1.76981168e-02 -5.06274573e-03 9.89225178e+01] [ 1.76986559e-02 9.99843365e-01 6.16949434e-05 2.61253701e+00] [ 5.06086084e-03 -1.51288284e-04 9.99987182e-01 4.94812731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43439141799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:98.95, Y:2.61, Z:0.50 [[ 9.99856770e-01 -1.61495826e-02 -5.06274099e-03 9.89549526e+01] [ 1.61501038e-02 9.99869577e-01 6.20811858e-05 2.61465797e+00] [ 5.06107811e-03 -1.43836086e-04 9.99987182e-01 4.97699308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:98.99, Y:2.62, Z:0.50 [[ 9.99925799e-01 -1.10799147e-02 -5.06273587e-03 9.89880800e+01] [ 1.10803731e-02 9.99938609e-01 6.24958758e-05 2.61804868e+00] [ 5.06173262e-03 -1.18588241e-04 9.99987182e-01 5.01729877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49439141799999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:99.02, Y:2.62, Z:0.50 [[ 9.99926625e-01 -1.10053752e-02 -5.06222103e-03 9.90172636e+01] [ 1.10060396e-02 9.99939426e-01 1.03415532e-04 2.62042985e+00] [ 5.06077627e-03 -1.59122949e-04 9.99987182e-01 5.04512513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:99.05, Y:2.62, Z:0.50 [[ 9.99944742e-01 -9.21309599e-03 -5.06272446e-03 9.90484443e+01] [ 9.21353242e-03 9.99957553e-01 6.28878576e-05 2.61895088e+00] [ 5.06193017e-03 -1.09529958e-04 9.99987182e-01 5.04009297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:99.08, Y:2.61, Z:0.50 [[ 9.99964895e-01 -6.67661810e-03 -5.06272068e-03 9.90800896e+01] [ 6.67702357e-03 9.99977706e-01 6.31904835e-05 2.61443616e+00] [ 5.06218592e-03 -9.69921705e-05 9.99987182e-01 5.00177552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:99.11, Y:2.61, Z:0.50 [[ 9.99970673e-01 -5.74642075e-03 -5.06271815e-03 9.91098764e+01] [ 5.74681533e-03 9.99983485e-01 6.33929088e-05 2.61344222e+00] [ 5.06227025e-03 -9.24855560e-05 9.99987182e-01 4.97573800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:99.14, Y:2.61, Z:0.50 [[ 9.99969938e-01 -5.87303866e-03 -5.06271940e-03 9.91396607e+01] [ 5.87343435e-03 9.99982749e-01 6.32926593e-05 2.61471966e+00] [ 5.06226034e-03 -9.30263066e-05 9.99987182e-01 4.98810117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:99.17, Y:2.62, Z:0.50 [[ 9.99969038e-01 -6.02420168e-03 -5.06272194e-03 9.91689192e+01] [ 6.02459827e-03 9.99981850e-01 6.30892204e-05 2.61632829e+00] [ 5.06224999e-03 -9.35881329e-05 9.99987182e-01 4.98659711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:99.20, Y:2.62, Z:0.50 [[ 9.99961544e-01 -7.16098500e-03 -5.06272163e-03 9.91986222e+01] [ 7.16139629e-03 9.99974355e-01 6.31140024e-05 2.61789858e+00] [ 5.06213983e-03 -9.93677311e-05 9.99987182e-01 4.98715435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:99.23, Y:2.62, Z:0.50 [[ 9.99961544e-01 -7.16098549e-03 -5.06272284e-03 9.92296192e+01] [ 7.16139629e-03 9.99974355e-01 6.30165538e-05 2.61751280e+00] [ 5.06214175e-03 -9.92702949e-05 9.99987182e-01 4.98872423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73439141799999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:99.26, Y:2.62, Z:0.50 [[ 9.99959820e-01 -7.39781097e-03 -5.06272284e-03 9.92600953e+01] [ 7.39822480e-03 9.99972631e-01 6.30165538e-05 2.61572050e+00] [ 5.06211809e-03 -1.00469183e-04 9.99987182e-01 5.00189801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:99.29, Y:2.61, Z:0.50 [[ 9.99965202e-01 -6.63047317e-03 -5.06272284e-03 9.92906935e+01] [ 6.63087716e-03 9.99978014e-01 6.30165538e-05 2.61486226e+00] [ 5.06219370e-03 -9.65846542e-05 9.99987182e-01 5.01125569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:99.32, Y:2.62, Z:0.50 [[ 9.99981082e-01 -3.49354117e-03 -5.06272284e-03 9.93210175e+01] [ 3.49390497e-03 9.99993894e-01 6.30165538e-05 2.61631963e+00] [ 5.06247178e-03 -8.07040341e-05 9.99987182e-01 5.02042352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799999 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:99.35, Y:2.62, Z:0.50 [[ 9.99986480e-01 -1.18712628e-03 -5.06272284e-03 9.93508170e+01] [ 1.18746053e-03 9.99999293e-01 6.30165538e-05 2.61735502e+00] [ 5.06264445e-03 -6.90274853e-05 9.99987182e-01 5.01950456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85439141799999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:99.38, Y:2.62, Z:0.50 [[ 9.99986550e-01 1.12661813e-03 -5.06272537e-03 9.93797014e+01] [-1.12631456e-03 9.99999364e-01 6.28123913e-05 2.61782927e+00] [ 5.06279292e-03 -5.71093251e-05 9.99987182e-01 5.01478131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:99.41, Y:2.62, Z:0.50 [[ 9.99972341e-01 5.44840965e-03 -5.06272912e-03 9.94078169e+01] [-5.44816299e-03 9.99985157e-01 6.25090656e-05 2.61589854e+00] [ 5.06299455e-03 -3.49247632e-05 9.99987182e-01 5.00953010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:99.44, Y:2.61, Z:0.50 [[ 9.99963205e-01 6.92518418e-03 -5.06274846e-03 9.94355519e+01] [-6.92496460e-03 9.99976020e-01 6.09008949e-05 2.61418529e+00] [ 5.06304881e-03 -2.58393001e-05 9.99987182e-01 5.00831692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:99.46, Y:2.61, Z:0.50 [[ 9.99954597e-01 8.07298302e-03 -5.06275573e-03 9.94637637e+01] [-8.07278124e-03 9.99967413e-01 6.02904461e-05 2.61267035e+00] [ 5.06307748e-03 -1.94171892e-05 9.99987182e-01 5.00945957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:99.49, Y:2.61, Z:0.50 [[ 9.99942664e-01 9.43598160e-03 -5.06276301e-03 9.94914598e+01] [-9.43580042e-03 9.99955480e-01 5.96734353e-05 2.61129836e+00] [ 5.06310069e-03 -1.18987926e-05 9.99987182e-01 5.00667017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:99.52, Y:2.61, Z:0.50 [[ 9.99943693e-01 9.32624390e-03 -5.06277021e-03 9.95200883e+01] [-9.32606443e-03 9.99956510e-01 5.90557610e-05 2.61149597e+00] [ 5.06310080e-03 -1.18367145e-05 9.99987182e-01 5.03628178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:99.55, Y:2.61, Z:0.50 [[ 9.99949438e-01 8.68854097e-03 -5.06277498e-03 9.95488015e+01] [-8.68835542e-03 9.99962254e-01 5.86437529e-05 2.61100954e+00] [ 5.06309341e-03 -1.46535993e-05 9.99987182e-01 5.03994777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:99.58, Y:2.61, Z:0.50 [[ 9.99960137e-01 7.35482051e-03 -5.06277972e-03 9.95776379e+01] [-7.35461994e-03 9.99972953e-01 5.82322341e-05 2.60995179e+00] [ 5.06307107e-03 -2.09950921e-05 9.99987182e-01 5.03662770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:99.61, Y:2.61, Z:0.50 [[ 9.99981157e-01 3.47201153e-03 -5.06278441e-03 9.96051191e+01] [-3.47176328e-03 9.99993972e-01 5.78209119e-05 2.60626615e+00] [ 5.06295465e-03 -4.02430333e-05 9.99987182e-01 5.01562613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:99.63, Y:2.60, Z:0.50 [[ 9.99986705e-01 9.78409326e-04 -5.06279018e-03 9.96337388e+01] [-9.78131703e-04 9.99999520e-01 5.73116989e-05 2.60382911e+00] [ 5.06284382e-03 -5.23588614e-05 9.99987182e-01 5.00596173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15439141799999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:99.66, Y:2.60, Z:0.50 [[ 9.99986495e-01 -1.17369508e-03 -5.06279470e-03 9.96625459e+01] [ 1.17399825e-03 9.99999309e-01 5.69096870e-05 2.60117842e+00] [ 5.06272441e-03 -6.28526306e-05 9.99987182e-01 4.99952083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:99.69, Y:2.60, Z:0.50 [[ 9.99972184e-01 -5.47711369e-03 -5.06279917e-03 9.96899539e+01] [ 5.47746997e-03 9.99984997e-01 5.65088905e-05 2.59763178e+00] [ 5.06241371e-03 -8.42386491e-05 9.99987182e-01 4.99881548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21439141799999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:99.72, Y:2.60, Z:0.50 [[ 9.99965151e-01 -6.63818055e-03 -5.06280467e-03 9.97195053e+01] [ 6.63854919e-03 9.99977963e-01 5.60118969e-05 2.59639664e+00] [ 5.06232128e-03 -8.96196227e-05 9.99987182e-01 4.98816300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:99.75, Y:2.60, Z:0.50 [[ 9.99954377e-01 -8.10009727e-03 -5.06280683e-03 9.97496262e+01] [ 8.10048365e-03 9.99967189e-01 5.58156616e-05 2.59669012e+00] [ 5.06218860e-03 -9.68242991e-05 9.99987182e-01 5.00512346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:99.78, Y:2.60, Z:0.50 [[ 9.99943303e-01 -9.36796752e-03 -5.06280683e-03 9.97798090e+01] [ 9.36837014e-03 9.99956114e-01 5.58156616e-05 2.59651667e+00] [ 5.06206177e-03 -1.03242745e-04 9.99987182e-01 5.00409495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:99.81, Y:2.60, Z:0.50 [[ 9.99941887e-01 -9.51790152e-03 -5.06280575e-03 9.98109581e+01] [ 9.51830656e-03 9.99954698e-01 5.59141062e-05 2.59531672e+00] [ 5.06204421e-03 -1.04100194e-04 9.99987182e-01 5.00522220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:99.84, Y:2.59, Z:0.50 [[ 9.99940301e-01 -9.68306261e-03 -5.06280358e-03 9.98417615e+01] [ 9.68347076e-03 9.99953113e-01 5.61091110e-05 2.59369059e+00] [ 5.06202289e-03 -1.05131272e-04 9.99987182e-01 5.00433280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:99.87, Y:2.59, Z:0.50 [[ 9.99937898e-01 -9.92815260e-03 -5.06280251e-03 9.98718121e+01] [ 9.92856438e-03 9.99950709e-01 5.62058314e-05 2.59055265e+00] [ 5.06199494e-03 -1.06468702e-04 9.99987182e-01 5.00099911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:99.90, Y:2.59, Z:0.50 [[ 9.99935271e-01 -1.01892564e-02 -5.06280144e-03 9.99034503e+01] [ 1.01896720e-02 9.99948082e-01 5.63016590e-05 2.58883195e+00] [ 5.06196492e-03 -1.07886301e-04 9.99987182e-01 5.00468614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:99.93, Y:2.59, Z:0.50 [[ 9.99930106e-01 -1.06841325e-02 -5.06279933e-03 9.99344770e+01] [ 1.06845554e-02 9.99942917e-01 5.64909858e-05 2.58713988e+00] [ 5.06190677e-03 -1.10580798e-04 9.99987182e-01 5.01113172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:99.97, Y:2.58, Z:0.50 [[ 9.99906098e-01 -1.27343411e-02 -5.06279708e-03 9.99654539e+01] [ 1.27347913e-02 9.99918908e-01 5.66918801e-05 2.58499883e+00] [ 5.06166459e-03 -1.21160221e-04 9.99987182e-01 5.01117689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:100.00, Y:2.58, Z:0.50 [[ 9.99889742e-01 -1.39596227e-02 -5.06279473e-03 9.99966820e+01] [ 1.39600897e-02 9.99902552e-01 5.69010409e-05 2.58448580e+00] [ 5.06150705e-03 -1.27571836e-04 9.99987182e-01 5.00963751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51439141799999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:100.03, Y:2.58, Z:0.50 [[ 9.99864246e-01 -1.56798492e-02 -5.06279120e-03 1.00029176e+02] [ 1.56803398e-02 9.99877054e-01 5.72138553e-05 2.58419128e+00] [ 5.06127164e-03 -1.36592375e-04 9.99987182e-01 5.01212246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:100.06, Y:2.58, Z:0.50 [[ 9.99786696e-01 -2.00232768e-02 -5.06278651e-03 1.00059977e+02] [ 2.00238251e-02 9.99799501e-01 5.76259705e-05 2.58339838e+00] [ 5.06061756e-03 -1.58990030e-04 9.99987182e-01 5.00461610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:100.09, Y:2.58, Z:0.50 [[ 9.99736916e-01 -2.23711203e-02 -5.06278299e-03 1.00092324e+02] [ 2.23717002e-02 9.99749721e-01 5.79328036e-05 2.58252818e+00] [ 5.06021986e-03 -1.71180626e-04 9.99987182e-01 5.00161273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:100.12, Y:2.58, Z:0.50 [[ 9.99676628e-01 -2.49200169e-02 -5.06277832e-03 1.00124262e+02] [ 2.49206315e-02 9.99689431e-01 5.83387998e-05 2.58192881e+00] [ 5.05975217e-03 -1.84487568e-04 9.99987182e-01 5.00283612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63439141799999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:100.16, Y:2.58, Z:0.50 [[ 9.99610524e-01 -2.74439206e-02 -5.06277359e-03 1.00155493e+02] [ 2.74445696e-02 9.99623325e-01 5.87458013e-05 2.58129619e+00] [ 5.05925436e-03 -1.97668564e-04 9.99987182e-01 5.00053685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:100.19, Y:2.58, Z:0.50 [[ 9.99444582e-01 -3.29377447e-02 -5.06277006e-03 1.00188054e+02] [ 3.29384655e-02 9.99457380e-01 5.90484301e-05 2.58056716e+00] [ 5.05807798e-03 -2.25775511e-04 9.99987182e-01 4.98905331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:100.22, Y:2.58, Z:0.50 [[ 9.99367916e-01 -3.51871690e-02 -5.06276543e-03 1.00221547e+02] [ 3.51879207e-02 9.99380712e-01 5.94434855e-05 2.57969084e+00] [ 5.05753847e-03 -2.37554101e-04 9.99987182e-01 4.98831282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:100.25, Y:2.58, Z:0.50 [[ 9.99209763e-01 -3.94235679e-02 -5.06275822e-03 1.00254085e+02] [ 3.94243769e-02 9.99222555e-01 6.00506586e-05 2.57895424e+00] [ 5.05645480e-03 -2.59599293e-04 9.99987182e-01 4.98549639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:100.29, Y:2.58, Z:0.50 [[ 9.99169484e-01 -4.04315581e-02 -5.06275102e-03 1.00287004e+02] [ 4.04323830e-02 9.99182275e-01 6.06523185e-05 2.57884201e+00] [ 5.05615881e-03 -2.65301034e-04 9.99987182e-01 4.99484770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:100.32, Y:2.58, Z:0.50 [[ 9.99147286e-01 -4.09764415e-02 -5.06274375e-03 1.00319874e+02] [ 4.09772765e-02 9.99160077e-01 6.12531460e-05 2.57906367e+00] [ 5.05598149e-03 -2.68658365e-04 9.99987182e-01 5.00642035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:100.35, Y:2.58, Z:0.50 [[ 9.99170510e-01 -4.04061874e-02 -5.06273606e-03 1.00351462e+02] [ 4.04070182e-02 9.99183301e-01 6.18817245e-05 2.57959412e+00] [ 5.05610093e-03 -2.66400463e-04 9.99987182e-01 5.01168523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:100.38, Y:2.58, Z:0.50 [[ 9.99219967e-01 -3.91640895e-02 -5.06272965e-03 1.00384917e+02] [ 3.91649071e-02 9.99232759e-01 6.24021722e-05 2.58015072e+00] [ 5.05640139e-03 -2.60634833e-04 9.99987182e-01 5.02131072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87439141799999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:100.42, Y:2.58, Z:0.50 [[ 9.99377121e-01 -3.49247563e-02 -5.06272210e-03 1.00417562e+02] [ 3.49255226e-02 9.99389916e-01 6.30087762e-05 2.58165610e+00] [ 5.05743285e-03 -2.39787744e-04 9.99987182e-01 5.02450690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:100.45, Y:2.58, Z:0.50 [[ 9.99477250e-01 -3.19311143e-02 -5.06271437e-03 1.00449110e+02] [ 3.19318454e-02 9.99490047e-01 6.36238239e-05 2.58153700e+00] [ 5.05810104e-03 -2.25252377e-04 9.99987182e-01 5.02300214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93439141799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:100.48, Y:2.58, Z:0.50 [[ 9.99573303e-01 -2.87677117e-02 -5.06270792e-03 1.00480214e+02] [ 2.87684049e-02 9.99586102e-01 6.41328342e-05 2.58145744e+00] [ 5.05876752e-03 -2.09751500e-04 9.99987182e-01 5.01905483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:100.51, Y:2.58, Z:0.50 [[ 9.99747853e-01 -2.18769322e-02 -5.06270412e-03 1.00512235e+02] [ 2.18775387e-02 9.99760656e-01 6.44318550e-05 2.58377898e+00] [ 5.06008282e-03 -1.75175114e-04 9.99987182e-01 5.03204227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99439141799999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:100.54, Y:2.59, Z:0.50 [[ 9.99822176e-01 -1.81654867e-02 -5.06269890e-03 1.00543700e+02] [ 1.81660477e-02 9.99834982e-01 6.48392843e-05 2.58593649e+00] [ 5.06068562e-03 -1.56796984e-04 9.99987182e-01 5.03748193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:100.58, Y:2.59, Z:0.50 [[ 9.99932444e-01 -1.04631380e-02 -5.06269500e-03 1.00575483e+02] [ 1.04636019e-02 9.99945253e-01 6.51423700e-05 2.59006031e+00] [ 5.06173624e-03 -1.18111994e-04 9.99987182e-01 5.04332347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:100.61, Y:2.59, Z:0.50 [[ 9.99964344e-01 -6.75865859e-03 -5.06268969e-03 1.00606940e+02] [ 6.75907706e-03 9.99977155e-01 6.55525641e-05 2.59115750e+00] [ 5.06213098e-03 -9.97693365e-05 9.99987182e-01 5.03790089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:100.64, Y:2.59, Z:0.50 [[ 9.99987175e-01 -1.34354269e-04 -5.06268705e-03 1.00636744e+02] [ 1.34688893e-04 9.99999989e-01 6.57552979e-05 2.59308465e+00] [ 5.06267816e-03 -6.64363423e-05 9.99987182e-01 5.01845985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:100.67, Y:2.59, Z:0.50 [[ 9.99983691e-01 2.64323062e-03 -5.06268836e-03 1.00665896e+02] [-2.64293210e-03 9.99996505e-01 6.56548501e-05 2.59427790e+00] [ 5.06284420e-03 -5.22734378e-05 9.99987182e-01 5.01618348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:100.69, Y:2.60, Z:0.50 [[ 9.99973921e-01 5.15043376e-03 -5.06270627e-03 1.00694274e+02] [-5.15017451e-03 9.99986736e-01 6.42428491e-05 2.59589956e+00] [ 5.06297000e-03 -3.81673529e-05 9.99987182e-01 5.01675747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:100.72, Y:2.60, Z:0.50 [[ 9.99949932e-01 8.63145216e-03 -5.06272605e-03 1.00720781e+02] [-8.63124562e-03 9.99962748e-01 6.26443833e-05 2.59749858e+00] [ 5.06307817e-03 -1.89436148e-05 9.99987182e-01 5.02328490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:100.75, Y:2.60, Z:0.50 [[ 9.99930287e-01 1.06671342e-02 -5.06293965e-03 1.00750835e+02] [-1.06670430e-02 9.99943104e-01 4.50281387e-05 2.59877048e+00] [ 5.06313192e-03 8.98159513e-06 9.99987182e-01 5.02604281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:100.78, Y:2.60, Z:0.50 [[ 9.99896380e-01 1.34758140e-02 -5.06273386e-03 1.00778004e+02] [-1.34756735e-02 9.99909197e-01 6.18686605e-05 2.59908229e+00] [ 5.06310788e-03 6.36149895e-06 9.99987182e-01 5.02072478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:100.81, Y:2.60, Z:0.50 [[ 9.99897984e-01 1.33563058e-02 -5.06274251e-03 1.00806458e+02] [-1.33561674e-02 9.99910801e-01 6.11524355e-05 2.59885269e+00] [ 5.06310769e-03 6.47263937e-06 9.99987182e-01 5.02216786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29439141799999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:100.83, Y:2.60, Z:0.50 [[ 9.99855884e-01 1.62043257e-02 -5.06274974e-03 1.00833768e+02] [-1.62042269e-02 9.99868701e-01 6.05473435e-05 2.59867758e+00] [ 5.06306614e-03 2.14993278e-05 9.99987182e-01 5.01686620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:100.86, Y:2.60, Z:0.50 [[ 9.99770478e-01 2.08172807e-02 -5.06275801e-03 1.00863023e+02] [-2.08172445e-02 9.99783296e-01 5.98477330e-05 2.59875006e+00] [ 5.06290676e-03 4.55586748e-05 9.99987182e-01 5.03028756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35439141799999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:100.89, Y:2.60, Z:0.50 [[ 9.99729447e-01 2.27024366e-02 -5.06276278e-03 1.00889632e+02] [-2.27024267e-02 9.99742265e-01 5.94416481e-05 2.59889723e+00] [ 5.06280740e-03 5.55114348e-05 9.99987182e-01 5.03710570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:100.92, Y:2.60, Z:0.51 [[ 9.99686192e-01 2.45333645e-02 -5.06277382e-03 1.00918024e+02] [-2.45333829e-02 9.99699010e-01 5.84860999e-05 2.59913084e+00] [ 5.06268484e-03 6.57392223e-05 9.99987182e-01 5.05340031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:100.95, Y:2.60, Z:0.51 [[ 9.99692262e-01 2.42847647e-02 -5.06277842e-03 1.00946366e+02] [-2.42847820e-02 9.99705080e-01 5.80851178e-05 2.59853967e+00] [ 5.06269589e-03 6.48812272e-05 9.99987182e-01 5.05719767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:100.97, Y:2.60, Z:0.51 [[ 9.99706180e-01 2.37048919e-02 -5.06278534e-03 1.00973356e+02] [-2.37049048e-02 9.99718998e-01 5.74753820e-05 2.59685949e+00] [ 5.06272514e-03 6.25543500e-05 9.99987182e-01 5.05508829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:101.00, Y:2.59, Z:0.50 [[ 9.99781374e-01 2.02872406e-02 -5.06279325e-03 1.01001189e+02] [-2.02872132e-02 9.99794192e-01 5.67704507e-05 2.59282895e+00] [ 5.06290300e-03 4.59519269e-05 9.99987182e-01 5.03377632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:101.03, Y:2.59, Z:0.50 [[ 9.99832706e-01 1.75763555e-02 -5.06280007e-03 1.01028380e+02] [-1.75762965e-02 9.99845523e-01 5.61553445e-05 2.59100786e+00] [ 5.06300499e-03 3.28393249e-05 9.99987182e-01 5.02308968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:101.06, Y:2.59, Z:0.50 [[ 9.99884023e-01 1.43634748e-02 -5.06280787e-03 1.01056341e+02] [-1.43633782e-02 9.99896840e-01 5.54435066e-05 2.58966221e+00] [ 5.06308195e-03 1.72819475e-05 9.99987182e-01 5.02376035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:101.08, Y:2.59, Z:0.50 [[ 9.99956335e-01 7.85468951e-03 -5.06281460e-03 1.01083546e+02] [-7.85451261e-03 9.99969151e-01 5.48216646e-05 2.58785519e+00] [ 5.06308903e-03 -1.50533296e-05 9.99987182e-01 5.02678556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59439141799999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:101.11, Y:2.59, Z:0.50 [[ 9.99977589e-01 4.38064219e-03 -5.06282229e-03 1.01112067e+02] [-4.38042442e-03 9.99990404e-01 5.41024396e-05 2.58670255e+00] [ 5.06301071e-03 -3.19239167e-05 9.99987182e-01 5.02759675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:101.14, Y:2.58, Z:0.50 [[ 9.99986482e-01 1.18492090e-03 -5.06282663e-03 1.01140057e+02] [-1.18466424e-03 9.99999297e-01 5.36930199e-05 2.58483567e+00] [ 5.06288669e-03 -4.76945444e-05 9.99987182e-01 5.02516739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65439141799999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:101.17, Y:2.58, Z:0.50 [[ 9.99985287e-01 -1.94749814e-03 -5.06283236e-03 1.01168577e+02] [ 1.94779217e-03 9.99998102e-01 5.31470684e-05 2.58257742e+00] [ 5.06271924e-03 -6.30076317e-05 9.99987182e-01 5.02092597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:101.20, Y:2.58, Z:0.50 [[ 9.99965130e-01 -6.64130197e-03 -5.06283652e-03 1.01197332e+02] [ 6.64165413e-03 9.99977943e-01 5.27472913e-05 2.57760805e+00] [ 5.06237454e-03 -8.63710611e-05 9.99987182e-01 5.01711661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71439141799999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:101.23, Y:2.58, Z:0.50 [[ 9.99948942e-01 -8.74530715e-03 -5.06284069e-03 1.01227981e+02] [ 8.74568423e-03 9.99961754e-01 5.23445216e-05 2.57574084e+00] [ 5.06218929e-03 -9.66198550e-05 9.99987182e-01 5.02205731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:101.26, Y:2.57, Z:0.50 [[ 9.99934917e-01 -1.02239999e-02 -5.06284069e-03 1.01258584e+02] [ 1.02243960e-02 9.99947728e-01 5.23445216e-05 2.57442485e+00] [ 5.06204087e-03 -1.04105603e-04 9.99987182e-01 5.02957935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:101.29, Y:2.57, Z:0.50 [[ 9.99922225e-01 -1.13978615e-02 -5.06284069e-03 1.01289195e+02] [ 1.13982726e-02 9.99935036e-01 5.23445216e-05 2.57347382e+00] [ 5.06191517e-03 -1.10048089e-04 9.99987182e-01 5.03533180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:101.32, Y:2.57, Z:0.50 [[ 9.99899913e-01 -1.32110601e-02 -5.06283962e-03 1.01320959e+02] [ 1.32114949e-02 9.99912723e-01 5.24472277e-05 2.57109058e+00] [ 5.06170487e-03 -1.19329658e-04 9.99987182e-01 5.03784526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:101.35, Y:2.57, Z:0.50 [[ 9.99887518e-01 -1.41180157e-02 -5.06283748e-03 1.01353334e+02] [ 1.41184632e-02 9.99900328e-01 5.26535601e-05 2.56892869e+00] [ 5.06158949e-03 -1.24127122e-04 9.99987182e-01 5.03401750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:101.38, Y:2.57, Z:0.50 [[ 9.99869017e-01 -1.53725593e-02 -5.06283314e-03 1.01384498e+02] [ 1.53730249e-02 9.99881827e-01 5.30675586e-05 2.56665645e+00] [ 5.06141906e-03 -1.30891668e-04 9.99987182e-01 5.03445649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:101.42, Y:2.56, Z:0.50 [[ 9.99804772e-01 -1.90993686e-02 -5.06282581e-03 1.01416544e+02] [ 1.90998855e-02 9.99817579e-01 5.37580811e-05 2.56376290e+00] [ 5.06087550e-03 -1.50446979e-04 9.99987182e-01 5.03022083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:101.45, Y:2.56, Z:0.50 [[ 9.99753130e-01 -2.16343889e-02 -5.06282136e-03 1.01448448e+02] [ 2.16349404e-02 9.99765936e-01 5.41735755e-05 2.56281756e+00] [ 5.06046432e-03 -1.63694040e-04 9.99987182e-01 5.03319447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:101.48, Y:2.56, Z:0.50 [[ 9.99619729e-01 -2.71065706e-02 -5.06281685e-03 1.01481127e+02] [ 2.71071943e-02 9.99632531e-01 5.45921487e-05 2.56130932e+00] [ 5.05947661e-03 -1.91810149e-04 9.99987182e-01 5.02177598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:101.51, Y:2.56, Z:0.50 [[ 9.99535196e-01 -3.00626023e-02 -5.06281233e-03 1.01512035e+02] [ 3.00632659e-02 9.99547996e-01 5.50082945e-05 2.55974012e+00] [ 5.05887022e-03 -2.07187400e-04 9.99987182e-01 5.00850286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01439141799999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:101.54, Y:2.56, Z:0.50 [[ 9.99455841e-01 -3.25943259e-02 -5.06280510e-03 1.01544379e+02] [ 3.25950253e-02 9.99468639e-01 5.56657729e-05 2.55735506e+00] [ 5.05830053e-03 -2.20657742e-04 9.99987182e-01 4.99007202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:101.58, Y:2.55, Z:0.50 [[ 9.99289365e-01 -3.73514928e-02 -5.06279373e-03 1.01576296e+02] [ 3.73522582e-02 9.99302159e-01 5.66810571e-05 2.55428723e+00] [ 5.05714358e-03 -2.45747556e-04 9.99987182e-01 4.96870040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07439141799999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:101.61, Y:2.55, Z:0.50 [[ 9.99221876e-01 -3.91153619e-02 -5.06278916e-03 1.01607238e+02] [ 3.91161519e-02 9.99234669e-01 5.70861937e-05 2.55403150e+00] [ 5.05668150e-03 -2.55078604e-04 9.99987182e-01 4.96765791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:101.64, Y:2.55, Z:0.50 [[ 9.99196134e-01 -3.97675070e-02 -5.06278574e-03 1.01640757e+02] [ 3.97683070e-02 9.99208926e-01 5.73880827e-05 2.55455927e+00] [ 5.05649852e-03 -2.58680368e-04 9.99987182e-01 4.97777432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13439141799999 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:101.67, Y:2.56, Z:0.50 [[ 9.99190779e-01 -3.99018219e-02 -5.06277879e-03 1.01673911e+02] [ 3.99026266e-02 9.99203571e-01 5.79946935e-05 2.55540014e+00] [ 5.05643256e-03 -2.59965935e-04 9.99987182e-01 4.99544877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:101.70, Y:2.56, Z:0.50 [[ 9.99267410e-01 -3.79343051e-02 -5.06277162e-03 1.01704781e+02] [ 3.79350877e-02 9.99280204e-01 5.86145420e-05 2.55670619e+00] [ 5.05690395e-03 -2.50628287e-04 9.99987182e-01 5.01818458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:101.74, Y:2.56, Z:0.50 [[ 9.99338838e-01 -3.60035386e-02 -5.06276805e-03 1.01736366e+02] [ 3.60042981e-02 9.99351633e-01 5.89209402e-05 2.55633159e+00] [ 5.05736416e-03 -2.41163394e-04 9.99987182e-01 5.02658590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:101.77, Y:2.56, Z:0.50 [[ 9.99422068e-01 -3.36139636e-02 -5.06276211e-03 1.01768496e+02] [ 3.36146951e-02 9.99434865e-01 5.94270824e-05 2.55576919e+00] [ 5.05790338e-03 -2.29575942e-04 9.99987182e-01 5.03052967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:101.80, Y:2.56, Z:0.50 [[ 9.99493996e-01 -3.14025663e-02 -5.06275750e-03 1.01800455e+02] [ 3.14032714e-02 9.99506794e-01 5.98167327e-05 2.55570157e+00] [ 5.05838212e-03 -2.18773613e-04 9.99987182e-01 5.03883013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:101.83, Y:2.56, Z:0.50 [[ 9.99585851e-01 -2.83283348e-02 -5.06275275e-03 1.01833113e+02] [ 2.83290026e-02 9.99598651e-01 6.02166023e-05 2.55556901e+00] [ 5.05901498e-03 -2.03614399e-04 9.99987182e-01 5.02983296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:101.86, Y:2.56, Z:0.50 [[ 9.99704476e-01 -2.37766486e-02 -5.06274787e-03 1.01864446e+02] [ 2.37772602e-02 9.99717279e-01 6.06236516e-05 2.55786384e+00] [ 5.05987510e-03 -1.80984009e-04 9.99987182e-01 5.04100089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:101.90, Y:2.56, Z:0.50 [[ 9.99765558e-01 -2.10522390e-02 -5.06274423e-03 1.01895301e+02] [ 2.10528171e-02 9.99778363e-01 6.09267402e-05 2.55862770e+00] [ 5.06033949e-03 -1.67497485e-04 9.99987182e-01 5.04218857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37439141799999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:101.93, Y:2.56, Z:0.50 [[ 9.99812733e-01 -1.86779901e-02 -5.06273624e-03 1.01927553e+02] [ 1.86785412e-02 9.99825539e-01 6.15833208e-05 2.55916867e+00] [ 5.06070274e-03 -1.56136315e-04 9.99987182e-01 5.04373573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:101.96, Y:2.56, Z:0.50 [[ 9.99865491e-01 -1.56002606e-02 -5.06273150e-03 1.01957331e+02] [ 1.56007742e-02 9.99878299e-01 6.19706914e-05 2.55921672e+00] [ 5.06114860e-03 -1.40944887e-04 9.99987182e-01 5.04866046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43439141799999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:101.99, Y:2.56, Z:0.50 [[ 9.99916525e-01 -1.18874386e-02 -5.06286328e-03 1.01988814e+02] [ 1.18878502e-02 9.99929336e-01 5.12235241e-05 2.55931421e+00] [ 5.06189660e-03 -1.11405809e-04 9.99987182e-01 5.04031967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:102.02, Y:2.56, Z:0.51 [[ 9.99927845e-01 -1.08937517e-02 -5.06272647e-03 1.02020574e+02] [ 1.08942069e-02 9.99940654e-01 6.23348731e-05 2.56088092e+00] [ 5.06174696e-03 -1.17484765e-04 9.99987182e-01 5.05302125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49439141799999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:102.05, Y:2.56, Z:0.50 [[ 9.99959114e-01 -7.49254404e-03 -5.06282925e-03 1.02051352e+02] [ 7.49291337e-03 9.99971926e-01 5.39852576e-05 2.56070668e+00] [ 5.06228263e-03 -9.19183913e-05 9.99987182e-01 5.04748222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:102.08, Y:2.56, Z:0.51 [[ 9.99982811e-01 -2.95731939e-03 -5.06272102e-03 1.02081966e+02] [ 2.95767483e-03 9.99995624e-01 6.27214453e-05 2.56432791e+00] [ 5.06251338e-03 -7.76942497e-05 9.99987182e-01 5.06918834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:102.11, Y:2.57, Z:0.51 [[ 9.99986265e-01 -1.35631457e-03 -5.06272102e-03 1.02111286e+02] [ 1.35664950e-03 9.99999078e-01 6.27214453e-05 2.56713666e+00] [ 5.06263128e-03 -6.95889217e-05 9.99987182e-01 5.07056700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:102.14, Y:2.57, Z:0.51 [[ 9.99985838e-01 1.63953987e-03 -5.06325268e-03 1.02141123e+02] [-1.63946618e-03 9.99998656e-01 1.87042069e-05 2.56518089e+00] [ 5.06327654e-03 -1.04029104e-05 9.99987181e-01 5.06238401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:102.17, Y:2.56, Z:0.50 [[ 9.99965246e-01 6.62384372e-03 -5.06273284e-03 1.02168577e+02] [-6.62361725e-03 9.99978062e-01 6.14987286e-05 2.56376224e+00] [ 5.06302913e-03 -2.79629867e-05 9.99987182e-01 5.04076799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:102.20, Y:2.56, Z:0.50 [[ 9.99947153e-01 8.94757145e-03 -5.06274159e-03 1.02196653e+02] [-8.94737844e-03 9.99959970e-01 6.07705037e-05 2.56337674e+00] [ 5.06308267e-03 -1.54690273e-05 9.99987182e-01 5.03619718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:102.22, Y:2.56, Z:0.50 [[ 9.99895069e-01 1.35727197e-02 -5.06274899e-03 1.02224124e+02] [-1.35725892e-02 9.99907886e-01 6.01476236e-05 2.56465998e+00] [ 5.06309900e-03 8.57329966e-06 9.99987182e-01 5.04224292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:102.25, Y:2.57, Z:0.51 [[ 9.99864768e-01 1.56465352e-02 -5.06276809e-03 1.02251034e+02] [-1.56464396e-02 9.99877585e-01 5.84938369e-05 2.56560647e+00] [ 5.06306356e-03 2.07283686e-05 9.99987182e-01 5.05243226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73439141799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:102.28, Y:2.57, Z:0.51 [[ 9.99834917e-01 1.74501216e-02 -5.06277625e-03 1.02279809e+02] [-1.74500528e-02 9.99847735e-01 5.77791330e-05 2.56606250e+00] [ 5.06301362e-03 3.05761180e-05 9.99987182e-01 5.06455354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:102.31, Y:2.56, Z:0.51 [[ 9.99779056e-01 2.04011592e-02 -5.06278086e-03 1.02308436e+02] [-2.04011302e-02 9.99791874e-01 5.73724237e-05 2.56394243e+00] [ 5.06289762e-03 4.59267040e-05 9.99987182e-01 5.07577609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79439141799999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:102.33, Y:2.56, Z:0.51 [[ 9.99749564e-01 2.17985564e-02 -5.06278542e-03 1.02334313e+02] [-2.17985474e-02 9.99762382e-01 5.69667666e-05 2.56133433e+00] [ 5.06282421e-03 5.34088681e-05 9.99987182e-01 5.07288152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:102.36, Y:2.56, Z:0.51 [[ 9.99787220e-01 1.99970194e-02 -5.06299004e-03 1.02363786e+02] [-1.99970797e-02 9.99800038e-01 3.87081912e-05 2.55709772e+00] [ 5.06275168e-03 6.25450607e-05 9.99987182e-01 5.05537896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85439141799999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:102.39, Y:2.56, Z:0.50 [[ 9.99798308e-01 1.94348254e-02 -5.06278321e-03 1.02390462e+02] [-1.94347856e-02 9.99811125e-01 5.70599679e-05 2.55518890e+00] [ 5.06293593e-03 4.13456469e-05 9.99987182e-01 5.04360507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:102.42, Y:2.55, Z:0.51 [[ 9.99851170e-01 1.64925877e-02 -5.06291101e-03 1.02419421e+02] [-1.64925686e-02 9.99863987e-01 4.55291635e-05 2.55374997e+00] [ 5.06297329e-03 3.79780196e-05 9.99987182e-01 5.05079864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:102.45, Y:2.55, Z:0.51 [[ 9.99890574e-01 1.38999617e-02 -5.06279810e-03 1.02447069e+02] [-1.38998575e-02 9.99903391e-01 5.57780996e-05 2.55174873e+00] [ 5.06308430e-03 1.46001759e-05 9.99987182e-01 5.05329336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:102.47, Y:2.55, Z:0.51 [[ 9.99963124e-01 6.93674682e-03 -5.06280477e-03 1.02474903e+02] [-6.93655642e-03 9.99975940e-01 5.51655433e-05 2.54684648e+00] [ 5.06306563e-03 -2.00450781e-05 9.99987182e-01 5.05148208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:102.50, Y:2.54, Z:0.51 [[ 9.99982540e-01 3.04758542e-03 -5.06281023e-03 1.02503884e+02] [-3.04734774e-03 9.99995355e-01 5.46602114e-05 2.54375472e+00] [ 5.06295330e-03 -3.92311137e-05 9.99987182e-01 5.05554331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004391418 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:102.53, Y:2.54, Z:0.51 [[ 9.99986140e-01 -1.44485534e-03 -5.06281462e-03 1.02532721e+02] [ 1.44514852e-03 9.99998954e-01 5.42503550e-05 2.54114585e+00] [ 5.06273094e-03 -6.15661221e-05 9.99987182e-01 5.05398462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034391418 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:102.56, Y:2.54, Z:0.50 [[ 9.99969949e-01 -5.87105596e-03 -5.06281895e-03 1.02560335e+02] [ 5.87140380e-03 9.99982762e-01 5.38434037e-05 2.53898481e+00] [ 5.06241556e-03 -8.35676400e-05 9.99987182e-01 5.04818302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:102.59, Y:2.54, Z:0.51 [[ 9.99934362e-01 -1.02780927e-02 -5.06282427e-03 1.02589997e+02] [ 1.02784944e-02 9.99947173e-01 5.33383653e-05 2.53748169e+00] [ 5.06200860e-03 -1.05373075e-04 9.99987182e-01 5.05742210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09439141799999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:102.62, Y:2.53, Z:0.51 [[ 9.99831299e-01 -1.76561760e-02 -5.06282644e-03 1.02620435e+02] [ 1.76566712e-02 9.99844107e-01 5.31314280e-05 2.53360902e+00] [ 5.06109909e-03 -1.42515126e-04 9.99987182e-01 5.05003406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:102.65, Y:2.53, Z:0.51 [[ 9.99769780e-01 -2.08507712e-02 -5.06282536e-03 1.02652737e+02] [ 2.08513079e-02 9.99782586e-01 5.32339867e-05 2.53112155e+00] [ 5.06061467e-03 -1.58788261e-04 9.99987182e-01 5.05085162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15439141799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:102.69, Y:2.53, Z:0.51 [[ 9.99771430e-01 -2.07715299e-02 -5.06282111e-03 1.02685427e+02] [ 2.07720676e-02 9.99784236e-01 5.36352580e-05 2.53069682e+00] [ 5.06061465e-03 -1.58788261e-04 9.99987182e-01 5.05250575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:102.72, Y:2.53, Z:0.51 [[ 9.99645805e-01 -2.61272271e-02 -5.06281683e-03 1.02717592e+02] [ 2.61278354e-02 9.99658608e-01 5.40365290e-05 2.52626760e+00] [ 5.05967660e-03 -1.86297834e-04 9.99987182e-01 5.05262531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21439141799999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:102.75, Y:2.52, Z:0.51 [[ 9.99582046e-01 -2.84622613e-02 -5.06281239e-03 1.02748384e+02] [ 2.84629016e-02 9.99594848e-01 5.44492367e-05 2.52445733e+00] [ 5.05921143e-03 -1.98528810e-04 9.99987182e-01 5.05291139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:102.78, Y:2.52, Z:0.51 [[ 9.99521130e-01 -3.05266856e-02 -5.06280907e-03 1.02780860e+02] [ 3.05273538e-02 9.99533930e-01 5.47565846e-05 2.52296360e+00] [ 5.05877791e-03 -2.09284527e-04 9.99987182e-01 5.05682071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:102.81, Y:2.52, Z:0.51 [[ 9.99418356e-01 -3.37241411e-02 -5.06280458e-03 1.02811664e+02] [ 3.37248524e-02 9.99431154e-01 5.51680616e-05 2.52168688e+00] [ 5.05806413e-03 -2.25878311e-04 9.99987182e-01 5.07223679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:102.84, Y:2.52, Z:0.51 [[ 9.99376577e-01 -3.49403251e-02 -5.06280123e-03 1.02843685e+02] [ 3.49410536e-02 9.99389373e-01 5.54744230e-05 2.52137084e+00] [ 5.05777145e-03 -2.32339448e-04 9.99987182e-01 5.08452510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:102.88, Y:2.52, Z:0.51 [[ 9.99345653e-01 -3.58138838e-02 -5.06279698e-03 1.02876500e+02] [ 3.58146254e-02 9.99358449e-01 5.58595919e-05 2.52124017e+00] [ 5.05754838e-03 -2.37145217e-04 9.99987182e-01 5.10244465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:102.91, Y:2.52, Z:0.51 [[ 9.99293128e-01 -3.72506731e-02 -5.06279007e-03 1.02908579e+02] [ 3.72514362e-02 9.99305923e-01 5.64783952e-05 2.52161060e+00] [ 5.05717225e-03 -2.45034674e-04 9.99987182e-01 5.10272553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:102.94, Y:2.52, Z:0.51 [[ 9.99275275e-01 -3.77265588e-02 -5.06278432e-03 1.02941216e+02] [ 3.77273306e-02 9.99288069e-01 5.69895299e-05 2.52079788e+00] [ 5.05702995e-03 -2.47953566e-04 9.99987182e-01 5.09383649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:102.97, Y:2.52, Z:0.51 [[ 9.99263250e-01 -3.80437220e-02 -5.06277975e-03 1.02973385e+02] [ 3.80444999e-02 9.99276044e-01 5.73928656e-05 2.51951137e+00] [ 5.05693108e-03 -2.49961505e-04 9.99987182e-01 5.06540332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:103.01, Y:2.52, Z:0.51 [[ 9.99232942e-01 -3.88316283e-02 -5.06277514e-03 1.03005355e+02] [ 3.88324183e-02 9.99245736e-01 5.77961520e-05 2.51854601e+00] [ 5.05671215e-03 -2.54351621e-04 9.99987182e-01 5.06052587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:103.04, Y:2.52, Z:0.51 [[ 9.99215699e-01 -3.92728206e-02 -5.06276936e-03 1.03037717e+02] [ 3.92736188e-02 9.99228492e-01 5.82987573e-05 2.51777229e+00] [ 5.05657383e-03 -2.57086307e-04 9.99987182e-01 5.05034824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51439141799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:103.07, Y:2.52, Z:0.50 [[ 9.99195843e-01 -3.97748049e-02 -5.06276474e-03 1.03070146e+02] [ 3.97756115e-02 9.99208636e-01 5.86966430e-05 2.51908219e+00] [ 5.05642360e-03 -2.60024005e-04 9.99987182e-01 5.03860165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:103.10, Y:2.52, Z:0.50 [[ 9.99196364e-01 -3.97617184e-02 -5.06276010e-03 1.03102020e+02] [ 3.97625268e-02 9.99209156e-01 5.90947117e-05 2.52071617e+00] [ 5.05640654e-03 -2.60355355e-04 9.99987182e-01 5.04525187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57439141799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:103.13, Y:2.52, Z:0.50 [[ 9.99206437e-01 -3.95077867e-02 -5.06275517e-03 1.03133670e+02] [ 3.95085940e-02 9.99219229e-01 5.95137386e-05 2.52286582e+00] [ 5.05645106e-03 -2.59488849e-04 9.99987182e-01 5.04083013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:103.17, Y:2.53, Z:0.51 [[ 9.99288788e-01 -3.73669153e-02 -5.06275148e-03 1.03165751e+02] [ 3.73676968e-02 9.99301582e-01 5.98258688e-05 2.52573431e+00] [ 5.05698006e-03 -2.48966682e-04 9.99987182e-01 5.05445217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63439141799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:103.20, Y:2.53, Z:0.50 [[ 9.99358036e-01 -3.54666781e-02 -5.06274658e-03 1.03197378e+02] [ 3.54674374e-02 9.99370831e-01 6.02379295e-05 2.52606347e+00] [ 5.05742482e-03 -2.39761906e-04 9.99987182e-01 5.04744432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:103.23, Y:2.53, Z:0.51 [[ 9.99469273e-01 -3.21798146e-02 -5.06274291e-03 1.03231723e+02] [ 3.21805333e-02 9.99482071e-01 6.05447991e-05 2.52576517e+00] [ 5.05817245e-03 -2.23434433e-04 9.99987182e-01 5.05277162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:103.26, Y:2.53, Z:0.51 [[ 9.99613722e-01 -2.73272483e-02 -5.06236777e-03 1.03260615e+02] [ 2.73280605e-02 9.99626515e-01 9.13267761e-05 2.53075952e+00] [ 5.05798134e-03 -2.29636191e-04 9.99987182e-01 5.08491375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:103.29, Y:2.53, Z:0.51 [[ 9.99709858e-01 -2.35492749e-02 -5.06273262e-03 1.03293184e+02] [ 2.35498859e-02 9.99722661e-01 6.10908665e-05 2.53283818e+00] [ 5.05988988e-03 -1.80299917e-04 9.99987182e-01 5.09407438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:103.32, Y:2.54, Z:0.51 [[ 9.99787585e-01 -1.99788467e-02 -5.06272762e-03 1.03324432e+02] [ 1.99794141e-02 9.99800390e-01 6.15025332e-05 2.53532307e+00] [ 5.06048830e-03 -1.62639800e-04 9.99987182e-01 5.09675395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:103.36, Y:2.54, Z:0.51 [[ 9.99858278e-01 -1.60559477e-02 -5.06272388e-03 1.03357104e+02] [ 1.60564663e-02 9.99871085e-01 6.18090733e-05 2.53744744e+00] [ 5.06107881e-03 -1.43089769e-04 9.99987182e-01 5.10660199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:103.39, Y:2.54, Z:0.51 [[ 9.99907162e-01 -1.26505768e-02 -5.06271890e-03 1.03388363e+02] [ 1.26510538e-02 9.99919970e-01 6.22138248e-05 2.53952484e+00] [ 5.06152670e-03 -1.26256778e-04 9.99987182e-01 5.11144462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:103.42, Y:2.54, Z:0.51 [[ 9.99963624e-01 -6.86440138e-03 -5.06271642e-03 1.03418406e+02] [ 6.86480533e-03 9.99976435e-01 6.24156336e-05 2.54213338e+00] [ 5.06216867e-03 -9.71679258e-05 9.99987182e-01 5.12432807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87439141799999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:103.45, Y:2.54, Z:0.51 [[ 9.99976160e-01 -4.69559862e-03 -5.06271518e-03 1.03449018e+02] [ 4.69597529e-03 9.99988972e-01 6.25155610e-05 2.54313884e+00] [ 5.06236580e-03 -8.62884560e-05 9.99987182e-01 5.13001247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:103.48, Y:2.55, Z:0.51 [[ 9.99985663e-01 -1.74455249e-03 -5.06271518e-03 1.03478955e+02] [ 1.74489135e-03 9.99998476e-01 6.25155610e-05 2.54715887e+00] [ 5.06259840e-03 -7.13485526e-05 9.99987182e-01 5.13178000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93439141799999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:103.51, Y:2.55, Z:0.51 [[ 9.99986311e-01 -1.32200400e-03 -5.06271642e-03 1.03507561e+02] [ 1.32233694e-03 9.99999124e-01 6.24153695e-05 2.54892079e+00] [ 5.06262947e-03 -6.91091320e-05 9.99987182e-01 5.13685837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:103.54, Y:2.55, Z:0.51 [[ 9.99987071e-01 -4.75669113e-04 -5.06273341e-03 1.03536366e+02] [ 4.75984067e-04 9.99999885e-01 6.10055067e-05 2.54980187e+00] [ 5.06270380e-03 -6.34144984e-05 9.99987182e-01 5.12653182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99439141799999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:103.57, Y:2.55, Z:0.51 [[ 9.99987122e-01 3.54163263e-04 -5.06273699e-03 1.03565207e+02] [-3.53860456e-04 9.99999936e-01 6.07065671e-05 2.55105258e+00] [ 5.06275816e-03 -5.89142829e-05 9.99987182e-01 5.12663066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:103.59, Y:2.55, Z:0.51 [[ 9.99986746e-01 9.33210776e-04 -5.06321914e-03 1.03594853e+02] [-9.33126150e-04 9.99999564e-01 1.90762237e-05 2.54907254e+00] [ 5.06323474e-03 -1.43513486e-05 9.99987182e-01 5.07780718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:103.62, Y:2.55, Z:0.51 [[ 9.99986146e-01 1.44066560e-03 -5.06275072e-03 1.03624077e+02] [-1.44038454e-03 9.99998961e-01 5.91618027e-05 2.54863721e+00] [ 5.06283069e-03 -5.18686752e-05 9.99987182e-01 5.07072427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:103.65, Y:2.55, Z:0.51 [[ 9.99983619e-01 2.67037174e-03 -5.06275535e-03 1.03651964e+02] [-2.67010845e-03 9.99996434e-01 5.87628639e-05 2.55113027e+00] [ 5.06289421e-03 -4.52437954e-05 9.99987182e-01 5.08611227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:103.68, Y:2.55, Z:0.51 [[ 9.99981326e-01 3.42271621e-03 -5.06277374e-03 1.03680866e+02] [-3.42247081e-03 9.99994142e-01 5.71328879e-05 2.55312242e+00] [ 5.06293963e-03 -3.98046257e-05 9.99987182e-01 5.10086683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:103.71, Y:2.55, Z:0.51 [[ 9.99977767e-01 4.33983825e-03 -5.06277836e-03 1.03708177e+02] [-4.33960670e-03 9.99990582e-01 5.67202382e-05 2.55465344e+00] [ 5.06297684e-03 -3.47485102e-05 9.99987182e-01 5.10911842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:103.74, Y:2.55, Z:0.51 [[ 9.99966017e-01 6.50636122e-03 -5.06278516e-03 1.03735797e+02] [-6.50616054e-03 9.99978833e-01 5.61066813e-05 2.55470482e+00] [ 5.06304305e-03 -2.31654815e-05 9.99987182e-01 5.11585454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:103.76, Y:2.55, Z:0.51 [[ 9.99963452e-01 6.88926587e-03 -5.06280281e-03 1.03764623e+02] [-6.88907840e-03 9.99976269e-01 5.44666109e-05 2.55420218e+00] [ 5.06305789e-03 -1.95865748e-05 9.99987182e-01 5.12019758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23439141799999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:103.79, Y:2.55, Z:0.51 [[ 9.99959408e-01 7.45319024e-03 -5.06280718e-03 1.03792689e+02] [-7.45301207e-03 9.99972224e-01 5.40569975e-05 2.55365718e+00] [ 5.06306946e-03 -1.63216402e-05 9.99987182e-01 5.11751637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:103.82, Y:2.55, Z:0.51 [[ 9.99958443e-01 7.58155905e-03 -5.06281298e-03 1.03821010e+02] [-7.58138531e-03 9.99971259e-01 5.35079461e-05 2.55352920e+00] [ 5.06307315e-03 -1.51225865e-05 9.99987182e-01 5.10779803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29439141799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:103.85, Y:2.55, Z:0.51 [[ 9.99960326e-01 7.32899501e-03 -5.06281725e-03 1.03848963e+02] [-7.32882009e-03 9.99973142e-01 5.31014725e-05 2.55320443e+00] [ 5.06307045e-03 -1.59948890e-05 9.99987182e-01 5.10206189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:103.88, Y:2.55, Z:0.51 [[ 9.99962696e-01 6.99820760e-03 -5.06282303e-03 1.03878038e+02] [-6.99803126e-03 9.99975512e-01 5.25439210e-05 2.55237094e+00] [ 5.06306677e-03 -1.71121670e-05 9.99987182e-01 5.09738592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35439141799999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:103.91, Y:2.55, Z:0.51 [[ 9.99967478e-01 6.27779080e-03 -5.06282715e-03 1.03905450e+02] [-6.27760725e-03 9.99980294e-01 5.21441446e-05 2.55108639e+00] [ 5.06305473e-03 -2.03600083e-05 9.99987182e-01 5.08640578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:103.93, Y:2.55, Z:0.51 [[ 9.99974377e-01 5.06091469e-03 -5.06283220e-03 1.03933758e+02] [-5.06071806e-03 9.99987193e-01 5.16489182e-05 2.54949763e+00] [ 5.06302876e-03 -2.60260285e-05 9.99987182e-01 5.07677489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414391418 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:103.96, Y:2.55, Z:0.51 [[ 9.99979698e-01 3.86938922e-03 -5.06283618e-03 1.03961433e+02] [-3.86917930e-03 9.99992513e-01 5.12556651e-05 2.54782142e+00] [ 5.06299661e-03 -3.16656035e-05 9.99987182e-01 5.07170401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:103.99, Y:2.55, Z:0.51 [[ 9.99986850e-01 8.16609313e-04 -5.06284154e-03 1.03990473e+02] [-8.16362984e-04 9.99999665e-01 5.07206981e-05 2.54662605e+00] [ 5.06288127e-03 -4.65869147e-05 9.99987182e-01 5.06520735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:104.02, Y:2.55, Z:0.51 [[ 9.99987155e-01 -2.37784355e-04 -5.06284539e-03 1.04019116e+02] [ 2.38042240e-04 9.99999970e-01 5.03343228e-05 2.54640716e+00] [ 5.06283327e-03 -5.15388473e-05 9.99987182e-01 5.06688061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:104.05, Y:2.55, Z:0.51 [[ 9.99986441e-01 -1.21892851e-03 -5.06284917e-03 1.04047561e+02] [ 1.21919703e-03 9.99999256e-01 4.99507840e-05 2.54597196e+00] [ 5.06278451e-03 -5.61227173e-05 9.99987182e-01 5.07066576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:104.08, Y:2.54, Z:0.51 [[ 9.99986072e-01 -1.49098315e-03 -5.06285292e-03 1.04075143e+02] [ 1.49125322e-03 9.99998887e-01 4.95677990e-05 2.54481093e+00] [ 5.06277338e-03 -5.71171043e-05 9.99987182e-01 5.06488660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:104.10, Y:2.55, Z:0.51 [[ 9.99987117e-01 -3.65151141e-04 -5.06285752e-03 1.04103918e+02] [ 3.65404378e-04 9.99999932e-01 4.90937722e-05 2.54576554e+00] [ 5.06283924e-03 -5.09431300e-05 9.99987182e-01 5.06208237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59439141799999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:104.13, Y:2.54, Z:0.51 [[ 9.99986811e-01 8.61235558e-04 -5.06327900e-03 1.04134287e+02] [-8.61223691e-04 9.99999629e-01 4.52405430e-06 2.54309346e+00] [ 5.06328102e-03 -1.63378806e-07 9.99987182e-01 5.05650012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:104.16, Y:2.54, Z:0.51 [[ 9.99974275e-01 5.08110279e-03 -5.06285088e-03 1.04161796e+02] [-5.08092047e-03 9.99987091e-01 4.88734085e-05 2.54388826e+00] [ 5.06303386e-03 -2.31482085e-05 9.99987182e-01 5.05772252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65439141799999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:104.19, Y:2.55, Z:0.51 [[ 9.99959012e-01 7.50609886e-03 -5.06285527e-03 1.04189748e+02] [-7.50594994e-03 9.99971829e-01 4.84142862e-05 2.54511083e+00] [ 5.06307605e-03 -1.04107636e-05 9.99987182e-01 5.07022960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:104.22, Y:2.55, Z:0.51 [[ 9.99940336e-01 9.67942294e-03 -5.06286874e-03 1.04217794e+02] [-9.67930923e-03 9.99953153e-01 4.69627898e-05 2.54656408e+00] [ 5.06308613e-03 2.04508433e-06 9.99987182e-01 5.07684258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71439141799999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.24, Y:2.55, Z:0.51 [[ 9.99883417e-01 1.44055640e-02 -5.06287370e-03 1.04243927e+02] [-1.44055136e-02 9.99896234e-01 4.64213808e-05 2.54858357e+00] [ 5.06301708e-03 2.65173270e-05 9.99987182e-01 5.08776703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:104.27, Y:2.55, Z:0.51 [[ 9.99877158e-01 1.48335444e-02 -5.06315826e-03 1.04274171e+02] [-1.48336631e-02 9.99889975e-01 1.41232655e-05 2.54701895e+00] [ 5.06281068e-03 6.09836530e-05 9.99987182e-01 5.08781613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:104.30, Y:2.55, Z:0.51 [[ 9.99866428e-01 1.55400457e-02 -5.06287696e-03 1.04300958e+02] [-1.55400147e-02 9.99879246e-01 4.54550909e-05 2.54618754e+00] [ 5.06297197e-03 3.32281632e-05 9.99987183e-01 5.08435562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:104.33, Y:2.55, Z:0.51 [[ 9.99876604e-01 1.48709304e-02 -5.06288378e-03 1.04329830e+02] [-1.48708948e-02 9.99889421e-01 4.46826825e-05 2.54525507e+00] [ 5.06298840e-03 3.06124430e-05 9.99987183e-01 5.07536444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:104.36, Y:2.55, Z:0.51 [[ 9.99896533e-01 1.34643794e-02 -5.06288720e-03 1.04355649e+02] [-1.34643277e-02 9.99909351e-01 4.42912108e-05 2.54600456e+00] [ 5.06302461e-03 2.38817444e-05 9.99987183e-01 5.06971007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:104.39, Y:2.54, Z:0.50 [[ 9.99914381e-01 1.20662207e-02 -5.06323489e-03 1.04385854e+02] [-1.20663643e-02 9.99927199e-01 2.20022885e-06 2.54420573e+00] [ 5.06289282e-03 5.88947960e-05 9.99987182e-01 5.04300729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:104.41, Y:2.54, Z:0.51 [[ 9.99962684e-01 6.99984252e-03 -5.06288845e-03 1.04414599e+02] [-6.99971454e-03 9.99975501e-01 4.29954243e-05 2.54334921e+00] [ 5.06306537e-03 -7.55504597e-06 9.99987183e-01 5.06203078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:104.44, Y:2.54, Z:0.51 [[ 9.99979492e-01 3.92198546e-03 -5.06289189e-03 1.04443027e+02] [-3.92182012e-03 9.99992309e-01 4.25855616e-05 2.54266790e+00] [ 5.06301997e-03 -2.27289370e-05 9.99987183e-01 5.06673039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:104.47, Y:2.54, Z:0.51 [[ 9.99986815e-01 8.58536313e-04 -5.06289531e-03 1.04471827e+02] [-8.58333787e-04 9.99999631e-01 4.21748206e-05 2.54190225e+00] [ 5.06292965e-03 -3.78286105e-05 9.99987183e-01 5.07414838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:104.50, Y:2.54, Z:0.51 [[ 9.99979469e-01 -3.92788170e-03 -5.06289873e-03 1.04499287e+02] [ 3.92814347e-03 9.99992284e-01 4.17604728e-05 2.54365625e+00] [ 5.06269564e-03 -6.16474080e-05 9.99987183e-01 5.07174505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01439141799999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:104.53, Y:2.54, Z:0.51 [[ 9.99970528e-01 -5.77111020e-03 -5.06325282e-03 1.04530440e+02] [ 5.77117299e-03 9.99983347e-01 -2.21050447e-06 2.54022483e+00] [ 5.06318126e-03 -2.70104686e-05 9.99987182e-01 5.08277139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:104.56, Y:2.54, Z:0.51 [[ 9.99909668e-01 -1.24508015e-02 -5.06287990e-03 1.04559906e+02] [ 1.24511755e-02 9.99922480e-01 4.23607006e-05 2.53831061e+00] [ 5.06196001e-03 -1.05395680e-04 9.99987183e-01 5.08566121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07439141799999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:104.59, Y:2.54, Z:0.51 [[ 9.99910177e-01 -1.24098857e-02 -5.06288163e-03 1.04591752e+02] [ 1.24102581e-02 9.99922989e-01 4.21535375e-05 2.53800820e+00] [ 5.06196861e-03 -1.04981419e-04 9.99987183e-01 5.08727429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:104.62, Y:2.54, Z:0.51 [[ 9.99868430e-01 -1.54106852e-02 -5.06287989e-03 1.04623440e+02] [ 1.54110971e-02 9.99881241e-01 4.23607159e-05 2.53710862e+00] [ 5.06162582e-03 -1.20379676e-04 9.99987183e-01 5.08639629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13439141799999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:104.66, Y:2.54, Z:0.51 [[ 9.99820282e-01 -1.82693756e-02 -5.06287816e-03 1.04655567e+02] [ 1.82698253e-02 9.99833092e-01 4.25673478e-05 2.53655215e+00] [ 5.06125544e-03 -1.35057597e-04 9.99987183e-01 5.08766794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:104.69, Y:2.54, Z:0.51 [[ 9.99696291e-01 -2.41183312e-02 -5.06287465e-03 1.04686591e+02] [ 2.41188578e-02 9.99709097e-01 4.29800606e-05 2.53685906e+00] [ 5.06036524e-03 -1.65077761e-04 9.99987183e-01 5.09879103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:104.72, Y:2.54, Z:0.51 [[ 9.99608397e-01 -2.75212620e-02 -5.06287203e-03 1.04719104e+02] [ 2.75218338e-02 9.99621202e-01 4.32874124e-05 2.53645502e+00] [ 5.05976289e-03 -1.82609983e-04 9.99987183e-01 5.11066166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:104.75, Y:2.54, Z:0.51 [[ 9.99377980e-01 -3.49001457e-02 -5.06286846e-03 1.04751483e+02] [ 3.49008141e-02 9.99390780e-01 4.37009659e-05 2.53505996e+00] [ 5.05825889e-03 -2.20372014e-04 9.99987183e-01 5.12815800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:104.78, Y:2.53, Z:0.51 [[ 9.99242658e-01 -3.85807903e-02 -5.06286488e-03 1.04782482e+02] [ 3.85815079e-02 9.99255455e-01 4.41115641e-05 2.53368216e+00] [ 5.05739349e-03 -2.39411118e-04 9.99987183e-01 5.13520447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:104.82, Y:2.53, Z:0.51 [[ 9.99100493e-01 -4.21019275e-02 -5.06287131e-03 1.04815244e+02] [ 4.21026865e-02 9.99113288e-01 4.33830038e-05 2.53232288e+00] [ 5.05655549e-03 -2.56504464e-04 9.99987183e-01 5.14096384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:104.85, Y:2.53, Z:0.51 [[ 9.98792566e-01 -4.88648949e-02 -5.06285499e-03 1.04847708e+02] [ 4.88657497e-02 9.98805355e-01 4.52108837e-05 2.53151857e+00] [ 5.05459745e-03 -2.92556499e-04 9.99987183e-01 5.13936010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:104.88, Y:2.53, Z:0.51 [[ 9.98659311e-01 -5.15164871e-02 -5.06285031e-03 1.04881096e+02] [ 5.15173785e-02 9.98672097e-01 4.57291492e-05 2.53135765e+00] [ 5.05377153e-03 -3.06492616e-04 9.99987183e-01 5.13039651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37439141799999 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:104.91, Y:2.53, Z:0.51 [[ 9.98548241e-01 -5.36262800e-02 -5.06284463e-03 1.04913739e+02] [ 5.36272016e-02 9.98561025e-01 4.63493013e-05 2.53100764e+00] [ 5.05307378e-03 -3.17788203e-04 9.99987183e-01 5.12167539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:104.94, Y:2.53, Z:0.51 [[ 9.98323454e-01 -5.76597686e-02 -5.06284080e-03 1.04943756e+02] [ 5.76607439e-02 9.98336234e-01 4.67635506e-05 2.53327293e+00] [ 5.05172104e-03 -3.38612316e-04 9.99987183e-01 5.08128802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43439141799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:104.98, Y:2.53, Z:0.51 [[ 9.98518157e-01 -5.41835323e-02 -5.06310709e-03 1.04977170e+02] [ 5.41843168e-02 9.98530951e-01 1.77977160e-05 2.53009181e+00] [ 5.05470479e-03 -2.92112341e-04 9.99987182e-01 5.10221529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:105.01, Y:2.53, Z:0.51 [[ 9.98598530e-01 -5.26815405e-02 -5.06281477e-03 1.05009739e+02] [ 5.26824602e-02 9.98611314e-01 4.83849862e-05 2.53060951e+00] [ 5.05323511e-03 -3.15038714e-04 9.99987183e-01 5.10691985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49439141799999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:105.04, Y:2.53, Z:0.51 [[ 9.98702644e-01 -5.06694944e-02 -5.06280884e-03 1.05042067e+02] [ 5.06703915e-02 9.98715429e-01 4.89974919e-05 2.53219228e+00] [ 5.05382263e-03 -3.05468431e-04 9.99987183e-01 5.11125864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:105.08, Y:2.54, Z:0.51 [[ 9.98991575e-01 -4.46116588e-02 -5.06280485e-03 1.05075171e+02] [ 4.46124803e-02 9.99004366e-01 4.94068171e-05 2.53697949e+00] [ 5.05556003e-03 -2.75221276e-04 9.99987183e-01 5.12116675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:105.11, Y:2.54, Z:0.51 [[ 9.99138302e-01 -4.11949163e-02 -5.06279874e-03 1.05108256e+02] [ 4.11956973e-02 9.99151096e-01 5.00246600e-05 2.53935555e+00] [ 5.05644015e-03 -2.58547078e-04 9.99987183e-01 5.12573723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:105.14, Y:2.54, Z:0.51 [[ 9.99282408e-01 -3.75371522e-02 -5.06279260e-03 1.05141344e+02] [ 3.75378895e-02 9.99295204e-01 5.06386860e-05 2.54115695e+00] [ 5.05732353e-03 -2.40648897e-04 9.99987183e-01 5.13187983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:105.17, Y:2.54, Z:0.51 [[ 9.99535190e-01 -3.00628104e-02 -5.06278631e-03 1.05173355e+02] [ 3.00634551e-02 9.99547991e-01 5.12597995e-05 2.54495815e+00] [ 5.05895687e-03 -2.03440822e-04 9.99987183e-01 5.13751137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:105.21, Y:2.55, Z:0.51 [[ 9.99650263e-01 -2.59561273e-02 -5.06278210e-03 1.05206036e+02] [ 2.59567214e-02 9.99663066e-01 5.16720597e-05 2.54653307e+00] [ 5.05973507e-03 -1.83067213e-04 9.99987183e-01 5.14512359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:105.24, Y:2.55, Z:0.52 [[ 9.99744369e-01 -2.20355430e-02 -5.06277789e-03 1.05237164e+02] [ 2.20360890e-02 9.99757175e-01 5.20817707e-05 2.54856821e+00] [ 5.06040087e-03 -1.63632281e-04 9.99987183e-01 5.15267970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:105.27, Y:2.55, Z:0.52 [[ 9.99826460e-01 -1.79281463e-02 -5.06277474e-03 1.05269400e+02] [ 1.79286412e-02 9.99839268e-01 5.23864348e-05 2.55053534e+00] [ 5.06102179e-03 -1.43146016e-04 9.99987183e-01 5.16342701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73439141799999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:105.30, Y:2.55, Z:0.52 [[ 9.99935739e-01 -1.01433146e-02 -5.06277046e-03 1.05302103e+02] [ 1.01437119e-02 9.99948550e-01 5.27963903e-05 2.55453989e+00] [ 5.06197445e-03 -1.04148282e-04 9.99987183e-01 5.17481078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:105.33, Y:2.56, Z:0.52 [[ 9.99963726e-01 -6.84939775e-03 -5.06276618e-03 1.05333378e+02] [ 6.84975488e-03 9.99976539e-01 5.32035829e-05 2.55651128e+00] [ 5.06228299e-03 -8.78803604e-05 9.99987183e-01 5.18090035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79439141799999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:105.36, Y:2.56, Z:0.52 [[ 9.99980596e-01 -3.62979045e-03 -5.06276403e-03 1.05363919e+02] [ 3.63010736e-03 9.99993410e-01 5.34076881e-05 2.55812182e+00] [ 5.06253680e-03 -7.17850288e-05 9.99987183e-01 5.18241841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:105.40, Y:2.55, Z:0.51 [[ 9.99963253e-01 6.91821703e-03 -5.06276403e-03 1.05398892e+02] [-6.91803530e-03 9.99976069e-01 5.34076881e-05 2.55407160e+00] [ 5.06301236e-03 -1.83813453e-05 9.99987183e-01 5.14082827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85439141799999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:105.42, Y:2.56, Z:0.52 [[ 9.99977143e-01 4.48266246e-03 -5.06152594e-03 1.05423860e+02] [-4.48189635e-03 9.99989943e-01 1.62692950e-04 2.56094197e+00] [ 5.06220433e-03 -1.40003996e-04 9.99987177e-01 5.16480106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:105.45, Y:2.56, Z:0.51 [[ 9.99967691e-01 6.24394610e-03 -5.06268879e-03 1.05451958e+02] [-6.24375109e-03 9.99980506e-01 5.43233402e-05 2.56120956e+00] [ 5.06292929e-03 -2.27114164e-05 9.99987183e-01 5.14946785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:105.48, Y:2.56, Z:0.51 [[ 9.99954044e-01 8.14120250e-03 -5.06269400e-03 1.05480998e+02] [-8.14103428e-03 9.99966860e-01 5.38334783e-05 2.56114600e+00] [ 5.06296449e-03 -1.26154389e-05 9.99987183e-01 5.14063065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:105.51, Y:2.56, Z:0.51 [[ 9.99922195e-01 1.14005936e-02 -5.06269824e-03 1.05508631e+02] [-1.14004692e-02 9.99935011e-01 5.34319402e-05 2.56191546e+00] [ 5.06297837e-03 4.28935225e-06 9.99987183e-01 5.11674102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:105.54, Y:2.56, Z:0.51 [[ 9.99906065e-01 1.27369913e-02 -5.06270343e-03 1.05535341e+02] [-1.27368866e-02 9.99918881e-01 5.29349565e-05 2.56272058e+00] [ 5.06296699e-03 1.15530953e-05 9.99987183e-01 5.11658825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:105.56, Y:2.56, Z:0.51 [[ 9.99889297e-01 1.39915404e-02 -5.06271167e-03 1.05564171e+02] [-1.39914558e-02 9.99902113e-01 5.21352738e-05 2.56372560e+00] [ 5.06294555e-03 1.87052042e-05 9.99987183e-01 5.13123007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:105.59, Y:2.56, Z:0.51 [[ 9.99874348e-01 1.50219015e-02 -5.06271572e-03 1.05591733e+02] [-1.50218321e-02 9.99887165e-01 5.17385423e-05 2.56491363e+00] [ 5.06292168e-03 2.43192244e-05 9.99987183e-01 5.14497266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:105.62, Y:2.57, Z:0.52 [[ 9.99852457e-01 1.64143957e-02 -5.06272175e-03 1.05618243e+02] [-1.64143472e-02 9.99865274e-01 5.11419057e-05 2.56791817e+00] [ 5.06287914e-03 3.19669124e-05 9.99987183e-01 5.15168571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09439141799999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:105.65, Y:2.57, Z:0.52 [[ 9.99868387e-01 1.54134612e-02 -5.06305673e-03 1.05647812e+02] [-1.54135739e-02 9.99881204e-01 1.67664941e-05 2.56681373e+00] [ 5.06271368e-03 6.12755117e-05 9.99987183e-01 5.17991058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:105.67, Y:2.57, Z:0.52 [[ 9.99893436e-01 1.36925610e-02 -5.06274023e-03 1.05674840e+02] [-1.36924870e-02 9.99906252e-01 4.92814272e-05 2.56643369e+00] [ 5.06294039e-03 2.00453291e-05 9.99987183e-01 5.15833549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15439141799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:105.70, Y:2.57, Z:0.52 [[ 9.99938069e-01 9.91079258e-03 -5.06308183e-03 1.05704170e+02] [-9.91085590e-03 9.99950886e-01 1.25834768e-05 2.56514198e+00] [ 5.06295788e-03 3.75967770e-05 9.99987182e-01 5.17109352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:105.73, Y:2.56, Z:0.52 [[ 9.99955990e-01 7.89847448e-03 -5.06275857e-03 1.05729956e+02] [-7.89833658e-03 9.99968807e-01 4.72332001e-05 2.56481045e+00] [ 5.06297371e-03 -7.24375024e-06 9.99987183e-01 5.15533676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21439141799999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:105.76, Y:2.56, Z:0.51 [[ 9.99973650e-01 5.20227333e-03 -5.06320448e-03 1.05763042e+02] [-5.20235375e-03 9.99986468e-01 -2.71310006e-06 2.55630981e+00] [ 5.06312185e-03 2.90536094e-05 9.99987182e-01 5.12032529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:105.79, Y:2.56, Z:0.52 [[ 9.99985955e-01 -1.56923949e-03 -5.06243672e-03 1.05788538e+02] [ 1.56965990e-03 9.99998765e-01 7.90718174e-05 2.55846628e+00] [ 5.06230639e-03 -8.70170107e-05 9.99987183e-01 5.16178062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:105.82, Y:2.56, Z:0.52 [[ 9.99959595e-01 -7.42801428e-03 -5.06291454e-03 1.05817285e+02] [ 7.42824353e-03 9.99972410e-01 2.64773721e-05 2.55634953e+00] [ 5.06257818e-03 -6.40848645e-05 9.99987183e-01 5.15813610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:105.85, Y:2.56, Z:0.52 [[ 9.99942774e-01 -9.42432095e-03 -5.06273749e-03 1.05847933e+02] [ 9.42467447e-03 9.99955586e-01 4.59742541e-05 2.55535779e+00] [ 5.06207936e-03 -9.36862759e-05 9.99987183e-01 5.17418131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:105.88, Y:2.56, Z:0.52 [[ 9.99943152e-01 -9.38409444e-03 -5.06273749e-03 1.05879779e+02] [ 9.38444745e-03 9.99955964e-01 4.59742541e-05 2.55503068e+00] [ 5.06208313e-03 -9.34826345e-05 9.99987183e-01 5.17579375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:105.91, Y:2.55, Z:0.52 [[ 9.99932691e-01 -1.04394889e-02 -5.06273564e-03 1.05910232e+02] [ 1.04398565e-02 9.99945502e-01 4.61779244e-05 2.55400094e+00] [ 5.06197766e-03 -9.90290498e-05 9.99987183e-01 5.17533683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:105.94, Y:2.55, Z:0.52 [[ 9.99930661e-01 -1.06321074e-02 -5.06273471e-03 1.05940989e+02] [ 1.06324780e-02 9.99943473e-01 4.62788593e-05 2.55259350e+00] [ 5.06195649e-03 -1.00105066e-04 9.99987183e-01 5.18201179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424391418 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:105.97, Y:2.55, Z:0.52 [[ 9.99937576e-01 -9.96059182e-03 -5.06273196e-03 1.05972344e+02] [ 9.96095527e-03 9.99950387e-01 4.65787840e-05 2.55194741e+00] [ 5.06201683e-03 -9.70055229e-05 9.99987183e-01 5.18816222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:106.00, Y:2.55, Z:0.52 [[ 9.99958310e-01 -7.59916017e-03 -5.06273010e-03 1.06002270e+02] [ 7.59949438e-03 9.99971122e-01 4.67797923e-05 2.55008609e+00] [ 5.06222841e-03 -8.52520310e-05 9.99987183e-01 5.18355052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:106.03, Y:2.55, Z:0.52 [[ 9.99976259e-01 -4.67436095e-03 -5.06272717e-03 1.06032429e+02] [ 4.67465928e-03 9.99989073e-01 4.70947161e-05 2.54863680e+00] [ 5.06245171e-03 -7.07601225e-05 9.99987183e-01 5.18750164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51439141799999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:106.06, Y:2.55, Z:0.52 [[ 9.99978785e-01 -4.09817252e-03 -5.06298225e-03 1.06062390e+02] [ 4.09832297e-03 9.99991602e-01 1.93410822e-05 2.54778662e+00] [ 5.06286046e-03 -4.00904083e-05 9.99987183e-01 5.17526288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:106.09, Y:2.55, Z:0.52 [[ 9.99986646e-01 1.03763394e-03 -5.06272429e-03 1.06091244e+02] [-1.03740888e-03 9.99999461e-01 4.70803066e-05 2.54758974e+00] [ 5.06277041e-03 -4.18275628e-05 9.99987183e-01 5.15562827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57439141799999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:106.12, Y:2.55, Z:0.52 [[ 9.99985231e-01 1.97568362e-03 -5.06304853e-03 1.06120887e+02] [-1.97565257e-03 9.99998048e-01 1.11348705e-05 2.54719040e+00] [ 5.06306065e-03 -1.13188117e-06 9.99987183e-01 5.17990394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:106.15, Y:2.55, Z:0.52 [[ 9.99972892e-01 5.34647779e-03 -5.06273709e-03 1.06147894e+02] [-5.34631512e-03 9.99985707e-01 4.56643593e-05 2.54712979e+00] [ 5.06290887e-03 -1.85961335e-05 9.99987183e-01 5.16684535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63439141799999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:106.18, Y:2.55, Z:0.52 [[ 9.99967058e-01 6.34428890e-03 -5.06292883e-03 1.06176599e+02] [-6.34425187e-03 9.99979875e-01 2.33738695e-05 2.54706473e+00] [ 5.06297523e-03 8.74739615e-06 9.99987183e-01 5.20750533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:106.20, Y:2.55, Z:0.52 [[ 9.99959217e-01 7.47880792e-03 -5.06275563e-03 1.06204535e+02] [-7.47868342e-03 9.99972033e-01 4.35218603e-05 2.54552370e+00] [ 5.06293953e-03 -5.65733878e-06 9.99987183e-01 5.21102204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:106.23, Y:2.54, Z:0.52 [[ 9.99941970e-01 9.50917248e-03 -5.06275989e-03 1.06231644e+02] [-9.50907655e-03 9.99954787e-01 4.30205919e-05 2.54326376e+00] [ 5.06294008e-03 5.12407589e-06 9.99987183e-01 5.18959515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:106.26, Y:2.54, Z:0.52 [[ 9.99954341e-01 8.10444593e-03 -5.06293978e-03 1.06259981e+02] [-8.10444204e-03 9.99967158e-01 2.12863043e-05 2.53819458e+00] [ 5.06294602e-03 1.97469696e-05 9.99987183e-01 5.17478303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:106.29, Y:2.54, Z:0.52 [[ 9.99955731e-01 7.93125657e-03 -5.06276991e-03 1.06289037e+02] [-7.93114639e-03 9.99968547e-01 4.18412074e-05 2.53584727e+00] [ 5.06294252e-03 -1.68578585e-06 9.99987183e-01 5.16760368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:106.32, Y:2.53, Z:0.52 [[ 9.99950792e-01 8.53119080e-03 -5.06277329e-03 1.06315820e+02] [-8.53109039e-03 9.99963609e-01 4.14281611e-05 2.53419149e+00] [ 5.06294248e-03 1.76485406e-06 9.99987183e-01 5.16838715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:106.34, Y:2.53, Z:0.52 [[ 9.99963253e-01 6.91793043e-03 -5.06299804e-03 1.06344974e+02] [-6.91795428e-03 9.99976071e-01 1.28013995e-05 2.53133555e+00] [ 5.06296544e-03 2.22246598e-05 9.99987183e-01 5.15301749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:106.37, Y:2.53, Z:0.52 [[ 9.99965525e-01 6.58149741e-03 -5.06278013e-03 1.06373693e+02] [-6.58137810e-03 9.99978342e-01 4.02269047e-05 2.53020423e+00] [ 5.06293523e-03 -6.90544770e-06 9.99987183e-01 5.16493745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87439141799999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:106.40, Y:2.53, Z:0.52 [[ 9.99965984e-01 6.51151714e-03 -5.06278324e-03 1.06402298e+02] [-6.51139894e-03 9.99978800e-01 3.98305340e-05 2.52893384e+00] [ 5.06293527e-03 -6.86337771e-06 9.99987183e-01 5.17711272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:106.43, Y:2.53, Z:0.52 [[ 9.99970967e-01 5.69510409e-03 -5.06278643e-03 1.06431332e+02] [-5.69497749e-03 9.99983783e-01 3.94219435e-05 2.52797287e+00] [ 5.06292883e-03 -1.05883442e-05 9.99987183e-01 5.20446042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:106.46, Y:2.53, Z:0.52 [[ 9.99976570e-01 4.60744549e-03 -5.06278959e-03 1.06460264e+02] [-4.60730703e-03 9.99989386e-01 3.90110145e-05 2.52572711e+00] [ 5.06291559e-03 -1.56842743e-05 9.99987183e-01 5.22673671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:106.49, Y:2.53, Z:0.52 [[ 9.99976945e-01 4.52527012e-03 -5.06279276e-03 1.06489566e+02] [-4.52513272e-03 9.99989761e-01 3.85953759e-05 2.52557770e+00] [ 5.06291558e-03 -1.56846769e-05 9.99987183e-01 5.22822163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99439141799999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:106.52, Y:2.52, Z:0.52 [[ 9.99979701e-01 3.86857125e-03 -5.06279590e-03 1.06517674e+02] [-3.86842753e-03 9.99992517e-01 3.81793344e-05 2.52477245e+00] [ 5.06290571e-03 -1.85935004e-05 9.99987183e-01 5.22984288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:106.55, Y:2.52, Z:0.52 [[ 9.99978474e-01 4.17365230e-03 -5.06279973e-03 1.06545397e+02] [-4.17351510e-03 9.99991290e-01 3.76640889e-05 2.52407967e+00] [ 5.06291283e-03 -1.65336070e-05 9.99987183e-01 5.21544058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:106.57, Y:2.52, Z:0.52 [[ 9.99984249e-01 2.42251138e-03 -5.06294587e-03 1.06574116e+02] [-2.42245391e-03 9.99997066e-01 1.74852115e-05 2.52317509e+00] [ 5.06297337e-03 -5.22018312e-06 9.99987183e-01 5.22906515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:106.60, Y:2.52, Z:0.52 [[ 9.99984064e-01 2.49776540e-03 -5.06280574e-03 1.06602567e+02] [-2.49761122e-03 9.99996880e-01 3.67758897e-05 2.51972641e+00] [ 5.06288180e-03 -2.41303832e-05 9.99987183e-01 5.20242405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:106.63, Y:2.52, Z:0.52 [[ 9.99987162e-01 2.10551741e-04 -5.06283627e-03 1.06630273e+02] [-2.10389573e-04 9.99999977e-01 3.25636315e-05 2.51867734e+00] [ 5.06284301e-03 -3.14980455e-05 9.99987183e-01 5.21780399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:106.66, Y:2.51, Z:0.52 [[ 9.99986985e-01 -6.29976810e-04 -5.06280482e-03 1.06658415e+02] [ 6.30171603e-04 9.99999801e-01 3.68802505e-05 2.51491365e+00] [ 5.06278058e-03 -4.00702064e-05 9.99987183e-01 5.21542442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:106.69, Y:2.51, Z:0.52 [[ 9.99986847e-01 -8.21312079e-04 -5.06280878e-03 1.06686755e+02] [ 8.21506534e-04 9.99999662e-01 3.63290024e-05 2.51353673e+00] [ 5.06277723e-03 -4.04876551e-05 9.99987183e-01 5.21583487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:106.71, Y:2.51, Z:0.52 [[ 9.99985606e-01 1.77622828e-03 -5.06281166e-03 1.06714229e+02] [-1.77606917e-03 9.99998422e-01 3.59231517e-05 2.51274625e+00] [ 5.06286748e-03 -2.69307309e-05 9.99987183e-01 5.23481674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23439141799999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:106.75, Y:2.51, Z:0.52 [[ 9.99987047e-01 5.21230437e-04 -5.06311655e-03 1.06746189e+02] [-5.21288549e-04 9.99999864e-01 -1.01577906e-05 2.51360120e+00] [ 5.06311056e-03 1.27970037e-05 9.99987182e-01 5.22325797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:106.77, Y:2.51, Z:0.52 [[ 9.99984497e-01 2.31823129e-03 -5.06280317e-03 1.06774298e+02] [-2.31808342e-03 9.99997313e-01 3.50755962e-05 2.51364919e+00] [ 5.06287088e-03 -2.33390523e-05 9.99987183e-01 5.21904118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29439141799999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:106.80, Y:2.51, Z:0.52 [[ 9.99983675e-01 2.64868676e-03 -5.06292698e-03 1.06802852e+02] [-2.64863746e-03 9.99996492e-01 1.64419429e-05 2.51334716e+00] [ 5.06295277e-03 -3.03181644e-06 9.99987183e-01 5.23024030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:106.83, Y:2.51, Z:0.52 [[ 9.99970566e-01 5.76504296e-03 -5.06281391e-03 1.06830380e+02] [-5.76494714e-03 9.99983382e-01 3.35200467e-05 2.51060221e+00] [ 5.06292302e-03 -4.33220549e-06 9.99987183e-01 5.22431853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35439141799999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:106.86, Y:2.51, Z:0.52 [[ 9.99957794e-01 7.66662625e-03 -5.06282421e-03 1.06856904e+02] [-7.66656308e-03 9.99970611e-01 3.18857009e-05 2.50857721e+00] [ 5.06291987e-03 6.93010601e-06 9.99987183e-01 5.21248983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:106.89, Y:2.51, Z:0.52 [[ 9.99936919e-01 1.00262994e-02 -5.06282856e-03 1.06885023e+02] [-1.00262700e-02 9.99949735e-01 3.11796122e-05 2.50672544e+00] [ 5.06288669e-03 1.95836408e-05 9.99987183e-01 5.19433651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:106.91, Y:2.51, Z:0.52 [[ 9.99926337e-01 1.10312720e-02 -5.06283221e-03 1.06914103e+02] [-1.10312586e-02 9.99939153e-01 3.05738730e-05 2.50638398e+00] [ 5.06286143e-03 2.52777906e-05 9.99987183e-01 5.19869508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:106.94, Y:2.51, Z:0.52 [[ 9.99898807e-01 1.32944593e-02 -5.06283469e-03 1.06942583e+02] [-1.32944770e-02 9.99911624e-01 3.01588816e-05 2.50706166e+00] [ 5.06278820e-03 3.71519095e-05 9.99987183e-01 5.18924953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:106.97, Y:2.51, Z:0.52 [[ 9.99898782e-01 1.32963534e-02 -5.06283711e-03 1.06970606e+02] [-1.32963732e-02 9.99911599e-01 2.97467182e-05 2.50765117e+00] [ 5.06278507e-03 3.75736642e-05 9.99987183e-01 5.20459466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:107.00, Y:2.51, Z:0.52 [[ 9.99900476e-01 1.31683263e-02 -5.06284064e-03 1.06998840e+02] [-1.31683476e-02 9.99913293e-01 2.91324871e-05 2.50747482e+00] [ 5.06278529e-03 3.75396578e-05 9.99987183e-01 5.21526805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:107.03, Y:2.50, Z:0.52 [[ 9.99916165e-01 1.19176200e-02 -5.06284411e-03 1.07027751e+02] [-1.19176284e-02 9.99928982e-01 2.85160569e-05 2.50350790e+00] [ 5.06282441e-03 3.18234283e-05 9.99987183e-01 5.22367074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:107.06, Y:2.50, Z:0.52 [[ 9.99933680e-01 1.03442324e-02 -5.06284638e-03 1.07055602e+02] [-1.03442227e-02 9.99946497e-01 2.81080904e-05 2.50064524e+00] [ 5.06286626e-03 2.42649843e-05 9.99987183e-01 5.22771494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59439141799999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:107.08, Y:2.50, Z:0.52 [[ 9.99949316e-01 8.70250549e-03 -5.06284914e-03 1.07083268e+02] [-8.70247727e-03 9.99962132e-01 2.76022785e-05 2.49783505e+00] [ 5.06289763e-03 1.64584501e-05 9.99987183e-01 5.22355915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:107.11, Y:2.49, Z:0.52 [[ 9.99981477e-01 3.37827532e-03 -5.06288296e-03 1.07111752e+02] [-3.37821138e-03 9.99994294e-01 2.11799684e-05 2.49473593e+00] [ 5.06292562e-03 -4.07608727e-06 9.99987183e-01 5.22765439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65439141799999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:107.14, Y:2.49, Z:0.52 [[ 9.99986825e-01 8.46408990e-04 -5.06285291e-03 1.07140854e+02] [-8.46283919e-04 9.99999642e-01 2.68460232e-05 2.49326756e+00] [ 5.06287382e-03 -2.25610585e-05 9.99987183e-01 5.22207200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:107.17, Y:2.49, Z:0.52 [[ 9.99984767e-01 -2.19836419e-03 -5.06285507e-03 1.07168391e+02] [ 2.19852619e-03 9.99997583e-01 2.64329702e-05 2.49179486e+00] [ 5.06278472e-03 -3.75633870e-05 9.99987183e-01 5.22717665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71439141799999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:107.20, Y:2.49, Z:0.52 [[ 9.99954305e-01 -8.10897408e-03 -5.06285768e-03 1.07197404e+02] [ 8.10920924e-03 9.99967119e-01 2.59224817e-05 2.48616834e+00] [ 5.06248101e-03 -6.69770695e-05 9.99987183e-01 5.22144503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:107.23, Y:2.48, Z:0.52 [[ 9.99926832e-01 -1.09862651e-02 -5.06285972e-03 1.07227746e+02] [ 1.09865351e-02 9.99939646e-01 2.55174387e-05 2.48308145e+00] [ 5.06227382e-03 -8.11388578e-05 9.99987183e-01 5.21989560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:107.26, Y:2.48, Z:0.52 [[ 9.99893370e-01 -1.36972908e-02 -5.06285972e-03 1.07258238e+02] [ 1.36975955e-02 9.99906183e-01 2.55174387e-05 2.48054016e+00] [ 5.06203522e-03 -9.48637224e-05 9.99987183e-01 5.22052746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:107.29, Y:2.48, Z:0.52 [[ 9.99806258e-01 -1.90213879e-02 -5.06285922e-03 1.07289904e+02] [ 1.90217614e-02 9.99819070e-01 2.56175664e-05 2.47942382e+00] [ 5.06145591e-03 -1.21917103e-04 9.99987183e-01 5.24098909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:107.32, Y:2.48, Z:0.52 [[ 9.99755102e-01 -2.15430723e-02 -5.06285816e-03 1.07320655e+02] [ 2.15434791e-02 9.99767912e-01 2.58238997e-05 2.48001358e+00] [ 5.06112681e-03 -1.34889154e-04 9.99987183e-01 5.24694248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:107.35, Y:2.48, Z:0.52 [[ 9.99704045e-01 -2.37947505e-02 -5.06285657e-03 1.07351372e+02] [ 2.37951877e-02 9.99716854e-01 2.61326827e-05 2.48016515e+00] [ 5.06080122e-03 -1.46596571e-04 9.99987183e-01 5.24829446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:107.38, Y:2.48, Z:0.52 [[ 9.99643026e-01 -2.62333565e-02 -5.06285501e-03 1.07383492e+02] [ 2.62338265e-02 9.99655834e-01 2.64308156e-05 2.47921301e+00] [ 5.06041918e-03 -1.59239441e-04 9.99987183e-01 5.24682570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:107.42, Y:2.47, Z:0.52 [[ 9.99517799e-01 -3.06355415e-02 -5.06285293e-03 1.07415540e+02] [ 3.06360699e-02 9.99530605e-01 2.68243451e-05 2.47458544e+00] [ 5.05965467e-03 -1.81917326e-04 9.99987183e-01 5.23006152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:107.45, Y:2.47, Z:0.52 [[ 9.99448946e-01 -3.28050457e-02 -5.06285083e-03 1.07447432e+02] [ 3.28056039e-02 9.99461751e-01 2.72153283e-05 2.47256358e+00] [ 5.05923295e-03 -1.93290210e-04 9.99987183e-01 5.22637349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:107.48, Y:2.47, Z:0.52 [[ 9.99344106e-01 -3.58570030e-02 -5.06284871e-03 1.07479881e+02] [ 3.58576022e-02 9.99356909e-01 2.76044591e-05 2.47219045e+00] [ 5.05860302e-03 -2.09127968e-04 9.99987183e-01 5.23253354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:107.51, Y:2.47, Z:0.52 [[ 9.99312021e-01 -3.67403479e-02 -5.06284642e-03 1.07511542e+02] [ 3.67409605e-02 9.99324823e-01 2.80167244e-05 2.47365349e+00] [ 5.05839876e-03 -2.14011290e-04 9.99987183e-01 5.23390051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:107.54, Y:2.48, Z:0.52 [[ 9.99305846e-01 -3.69078980e-02 -5.06284353e-03 1.07542552e+02] [ 3.69085154e-02 9.99318648e-01 2.85302414e-05 2.47536069e+00] [ 5.05834096e-03 -2.15372475e-04 9.99987183e-01 5.23264486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07439141799999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:107.58, Y:2.47, Z:0.52 [[ 9.99384878e-01 -3.47020568e-02 -5.06284184e-03 1.07577945e+02] [ 3.47026474e-02 9.99397681e-01 2.88276182e-05 2.47440873e+00] [ 5.05879202e-03 -2.04503901e-04 9.99987183e-01 5.23094987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:107.61, Y:2.48, Z:0.52 [[ 9.99346608e-01 -3.57872679e-02 -5.06247846e-03 1.07605025e+02] [ 3.57881757e-02 9.99359394e-01 8.88220951e-05 2.47757202e+00] [ 5.05605671e-03 -2.69940928e-04 9.99987182e-01 5.24697552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13439141799999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:107.64, Y:2.48, Z:0.52 [[ 9.99427185e-01 -3.34614632e-02 -5.06282128e-03 1.07638797e+02] [ 3.34620389e-02 9.99439989e-01 2.90242683e-05 2.47510434e+00] [ 5.05901485e-03 -1.98419965e-04 9.99987183e-01 5.22874862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:107.67, Y:2.48, Z:0.53 [[ 9.99387305e-01 -3.46321407e-02 -5.06258485e-03 1.07667467e+02] [ 3.46329304e-02 9.99400098e-01 6.83629254e-05 2.47824096e+00] [ 5.05718024e-03 -2.43653188e-04 9.99987183e-01 5.25149209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:107.70, Y:2.48, Z:0.53 [[ 9.99392825e-01 -3.44724414e-02 -5.06281136e-03 1.07699280e+02] [ 3.44730326e-02 9.99405628e-01 2.95315322e-05 2.47977164e+00] [ 5.05878414e-03 -2.04044062e-04 9.99987183e-01 5.25594004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:107.73, Y:2.48, Z:0.53 [[ 9.99404369e-01 -3.41361419e-02 -5.06280897e-03 1.07731528e+02] [ 3.41367309e-02 9.99417172e-01 2.99356246e-05 2.48146773e+00] [ 5.05883633e-03 -2.02745541e-04 9.99987183e-01 5.25696775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:107.76, Y:2.48, Z:0.52 [[ 9.99465122e-01 -3.23084866e-02 -5.06280653e-03 1.07763883e+02] [ 3.23090542e-02 9.99477926e-01 3.03415732e-05 2.48449963e+00] [ 5.05918308e-03 -1.93899835e-04 9.99987183e-01 5.24557011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:107.80, Y:2.49, Z:0.52 [[ 9.99524118e-01 -3.04287092e-02 -5.06280403e-03 1.07795650e+02] [ 3.04292548e-02 9.99536923e-01 3.07536387e-05 2.48522914e+00] [ 5.05952377e-03 -1.84796358e-04 9.99987183e-01 5.23781823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314391418 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:107.83, Y:2.49, Z:0.52 [[ 9.99651497e-01 -2.59085437e-02 -5.06280151e-03 1.07828048e+02] [ 2.59090334e-02 9.99664304e-01 3.11632081e-05 2.48799932e+00] [ 5.06029455e-03 -1.62324641e-04 9.99987183e-01 5.23628196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:107.86, Y:2.49, Z:0.52 [[ 9.99653574e-01 -2.58282650e-02 -5.06279897e-03 1.07860739e+02] [ 2.58287558e-02 9.99666382e-01 3.15702116e-05 2.48771797e+00] [ 5.06029452e-03 -1.62325073e-04 9.99987183e-01 5.23793600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37439141799999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:107.89, Y:2.49, Z:0.53 [[ 9.99776416e-01 -2.05301028e-02 -5.06279640e-03 1.07892792e+02] [ 2.05305278e-02 9.99789226e-01 3.19767821e-05 2.49300002e+00] [ 5.06107281e-03 -1.35911515e-04 9.99987183e-01 5.26529064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:107.92, Y:2.50, Z:0.53 [[ 9.99834172e-01 -1.74927472e-02 -5.06274106e-03 1.07923660e+02] [ 1.74931766e-02 9.99846982e-01 4.05289462e-05 2.49577338e+00] [ 5.06125740e-03 -1.29085649e-04 9.99987183e-01 5.27379219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43439141799999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:107.96, Y:2.50, Z:0.53 [[ 9.99911771e-01 -1.22808069e-02 -5.06279180e-03 1.07956225e+02] [ 1.22811297e-02 9.99924584e-01 3.26633313e-05 2.50004471e+00] [ 5.06200885e-03 -9.48372520e-05 9.99987183e-01 5.29276410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:107.99, Y:2.50, Z:0.53 [[ 9.99935375e-01 -1.01791180e-02 -5.06278911e-03 1.07987377e+02] [ 1.01794159e-02 9.99948188e-01 3.30749518e-05 2.50112483e+00] [ 5.06219013e-03 -8.46090502e-05 9.99987183e-01 5.29076877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49439141799999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:108.02, Y:2.50, Z:0.53 [[ 9.99953894e-01 -8.15951755e-03 -5.06278778e-03 1.08017848e+02] [ 8.15979059e-03 9.99966708e-01 3.32781194e-05 2.50163617e+00] [ 5.06234769e-03 -7.45878732e-05 9.99987183e-01 5.28542769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:108.05, Y:2.50, Z:0.53 [[ 9.99966947e-01 -6.36191711e-03 -5.06278711e-03 1.08047890e+02] [ 6.36216763e-03 9.99979761e-01 3.33789491e-05 2.50237880e+00] [ 5.06247229e-03 -6.55881462e-05 9.99987183e-01 5.28949847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:108.08, Y:2.50, Z:0.53 [[ 9.99975042e-01 -4.92775388e-03 -5.06281654e-03 1.08077372e+02] [ 4.92796298e-03 9.99987857e-01 2.88266395e-05 2.50296209e+00] [ 5.06261301e-03 -5.37752925e-05 9.99987183e-01 5.27207029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:108.11, Y:2.51, Z:0.53 [[ 9.99981804e-01 -3.28032574e-03 -5.06279459e-03 1.08106437e+02] [ 3.28053116e-03 9.99994619e-01 3.22701004e-05 2.50594825e+00] [ 5.06266149e-03 -4.88781686e-05 9.99987183e-01 5.26906326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:108.14, Y:2.51, Z:0.53 [[ 9.99983544e-01 -2.69796525e-03 -5.06279522e-03 1.08135688e+02] [ 2.69816271e-03 9.99996359e-01 3.21715013e-05 2.50713122e+00] [ 5.06268999e-03 -4.58312171e-05 9.99987183e-01 5.27027473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:108.16, Y:2.51, Z:0.53 [[ 9.99981462e-01 -3.38286639e-03 -5.06284577e-03 1.08164154e+02] [ 3.38303103e-03 9.99994277e-01 2.39562307e-05 2.50823890e+00] [ 5.06273575e-03 -4.10835509e-05 9.99987183e-01 5.26436350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:108.19, Y:2.51, Z:0.53 [[ 9.99975313e-01 -4.87251291e-03 -5.06280123e-03 1.08194042e+02] [ 4.87273325e-03 9.99988128e-01 3.11868187e-05 2.50880060e+00] [ 5.06258916e-03 -5.58557287e-05 9.99987183e-01 5.26721483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:108.22, Y:2.51, Z:0.53 [[ 9.99966633e-01 -6.41095275e-03 -5.06280242e-03 1.08223890e+02] [ 6.41119182e-03 9.99979448e-01 3.09918487e-05 2.50855915e+00] [ 5.06249968e-03 -6.34494121e-05 9.99987183e-01 5.27399511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73439141799999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:108.25, Y:2.51, Z:0.53 [[ 9.99933841e-01 -1.03287058e-02 -5.06280364e-03 1.08253463e+02] [ 1.03289940e-02 9.99946654e-01 3.07911563e-05 2.50831392e+00] [ 5.06221553e-03 -8.30827878e-05 9.99987183e-01 5.26924488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:108.29, Y:2.51, Z:0.53 [[ 9.99909255e-01 -1.24839989e-02 -5.06280299e-03 1.08285035e+02] [ 1.24843153e-02 9.99922067e-01 3.08981518e-05 2.50820412e+00] [ 5.06202270e-03 -9.41009769e-05 9.99987183e-01 5.26808083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:108.32, Y:2.51, Z:0.53 [[ 9.99893307e-01 -1.37019505e-02 -5.06280180e-03 1.08316185e+02] [ 1.37022835e-02 9.99906119e-01 3.10913423e-05 2.50775957e+00] [ 5.06190049e-03 -1.00459971e-04 9.99987183e-01 5.27177864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:108.35, Y:2.51, Z:0.53 [[ 9.99856618e-01 -1.61589059e-02 -5.06286906e-03 1.08347053e+02] [ 1.61592154e-02 9.99869431e-01 2.02342488e-05 2.50735796e+00] [ 5.06188104e-03 -1.02043339e-04 9.99987183e-01 5.27408169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85439141799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:108.38, Y:2.51, Z:0.53 [[ 9.99836073e-01 -1.73837338e-02 -5.06290360e-03 1.08379381e+02] [ 1.73840323e-02 9.99848886e-01 1.49606510e-05 2.50721089e+00] [ 5.06187845e-03 -1.02971878e-04 9.99987183e-01 5.27261860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:108.41, Y:2.51, Z:0.53 [[ 9.99837472e-01 -1.73030989e-02 -5.06277569e-03 1.08412074e+02] [ 1.73034928e-02 9.99850283e-01 3.40045984e-05 2.50690539e+00] [ 5.06142932e-03 -1.21602774e-04 9.99987183e-01 5.27421501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:108.44, Y:2.51, Z:0.53 [[ 9.99838460e-01 -1.72459493e-02 -5.06277292e-03 1.08443382e+02] [ 1.72463445e-02 9.99851270e-01 3.44124180e-05 2.50693640e+00] [ 5.06142646e-03 -1.21721185e-04 9.99987183e-01 5.26687448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:108.48, Y:2.51, Z:0.53 [[ 9.99875221e-01 -1.49636644e-02 -5.06277084e-03 1.08475386e+02] [ 1.49640319e-02 9.99888032e-01 3.47159710e-05 2.50802980e+00] [ 5.06168449e-03 -1.10471103e-04 9.99987183e-01 5.27113680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:108.51, Y:2.51, Z:0.53 [[ 9.99903953e-01 -1.29016546e-02 -5.06276802e-03 1.08506404e+02] [ 1.29019978e-02 9.99916765e-01 3.51227805e-05 2.50903027e+00] [ 5.06189347e-03 -1.00439229e-04 9.99987183e-01 5.28051708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:108.54, Y:2.51, Z:0.53 [[ 9.99957144e-01 -7.75107899e-03 -5.06276657e-03 1.08536436e+02] [ 7.75135719e-03 9.99969957e-01 3.53297545e-05 2.51151418e+00] [ 5.06234063e-03 -7.45715525e-05 9.99987183e-01 5.28942978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:108.57, Y:2.51, Z:0.53 [[ 9.99976826e-01 -4.55149391e-03 -5.06276585e-03 1.08566531e+02] [ 4.55173162e-03 9.99989640e-01 3.54324100e-05 2.51219110e+00] [ 5.06255213e-03 -5.84759403e-05 9.99987183e-01 5.29741046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:108.59, Y:2.51, Z:0.53 [[ 9.99987145e-01 -2.80470113e-04 -5.06276585e-03 1.08594995e+02] [ 2.80653096e-04 9.99999960e-01 3.54324100e-05 2.51271869e+00] [ 5.06275571e-03 -3.68528354e-05 9.99987183e-01 5.27098590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:108.62, Y:2.51, Z:0.53 [[ 9.99986289e-01 1.33774609e-03 -5.06291760e-03 1.08624572e+02] [-1.33769643e-03 9.99999105e-01 1.31958574e-05 2.51345281e+00] [ 5.06293072e-03 -6.42302972e-06 9.99987183e-01 5.28756879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:108.65, Y:2.51, Z:0.53 [[ 9.99967167e-01 6.32714772e-03 -5.06277345e-03 1.08653804e+02] [-6.32705461e-03 9.99979983e-01 3.44062658e-05 2.51497923e+00] [ 5.06288981e-03 -2.37269201e-06 9.99987183e-01 5.28129065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15439141799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:108.68, Y:2.52, Z:0.53 [[ 9.99952747e-01 8.29897386e-03 -5.06278188e-03 1.08681390e+02] [-8.29891255e-03 9.99965563e-01 3.31181572e-05 2.51580689e+00] [ 5.06288238e-03 8.89899186e-06 9.99987183e-01 5.28598587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:108.71, Y:2.52, Z:0.53 [[ 9.99937130e-01 1.00051854e-02 -5.06278576e-03 1.08708926e+02] [-1.00051490e-02 9.99949947e-01 3.25132769e-05 2.51678204e+00] [ 5.06285766e-03 1.81426930e-05 9.99987183e-01 5.28769393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21439141799999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:108.74, Y:2.52, Z:0.53 [[ 9.99911166e-01 1.23299469e-02 -5.06278892e-03 1.08736292e+02] [-1.23299429e-02 9.99923983e-01 3.20138060e-05 2.51901046e+00] [ 5.06279879e-03 3.04129361e-05 9.99987183e-01 5.28668130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:108.76, Y:2.52, Z:0.53 [[ 9.99900961e-01 1.31315251e-02 -5.06279198e-03 1.08764704e+02] [-1.31315338e-02 9.99913777e-01 3.15222029e-05 2.51941308e+00] [ 5.06276939e-03 3.49631431e-05 9.99987183e-01 5.29226089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:108.79, Y:2.52, Z:0.53 [[ 9.99895075e-01 1.35722643e-02 -5.06279553e-03 1.08791529e+02] [-1.35722816e-02 9.99907892e-01 3.09415115e-05 2.52051362e+00] [ 5.06274915e-03 3.77754216e-05 9.99987183e-01 5.32283159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:108.82, Y:2.52, Z:0.53 [[ 9.99909355e-01 1.24758963e-02 -5.06297561e-03 1.08820133e+02] [-1.24760561e-02 9.99922171e-01 3.21412168e-08 2.51883531e+00] [ 5.06258197e-03 6.31338294e-05 9.99987183e-01 5.30503968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:108.85, Y:2.52, Z:0.53 [[ 9.99926263e-01 1.10379544e-02 -5.06280045e-03 1.08847788e+02] [-1.10379450e-02 9.99939080e-01 2.97951206e-05 2.51825192e+00] [ 5.06282090e-03 2.60899894e-05 9.99987184e-01 5.30926053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:108.88, Y:2.52, Z:0.53 [[ 9.99959350e-01 7.46101436e-03 -5.06280399e-03 1.08876909e+02] [-7.46096224e-03 9.99972166e-01 2.91812566e-05 2.51711118e+00] [ 5.06288080e-03 8.59331906e-06 9.99987184e-01 5.30979472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:108.91, Y:2.52, Z:0.53 [[ 9.99982532e-01 3.05019663e-03 -5.06280630e-03 1.08905818e+02] [-3.05009003e-03 9.99995348e-01 2.87759808e-05 2.51503340e+00] [ 5.06287052e-03 -1.33334631e-05 9.99987184e-01 5.30414912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:108.94, Y:2.51, Z:0.53 [[ 9.99982773e-01 2.96998687e-03 -5.06280857e-03 1.08935119e+02] [-2.96988129e-03 9.99995589e-01 2.83707048e-05 2.51494484e+00] [ 5.06287050e-03 -1.33342756e-05 9.99987184e-01 5.30563392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454391418 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:108.97, Y:2.51, Z:0.53 [[ 9.99986411e-01 1.24295593e-03 -5.06281081e-03 1.08966981e+02] [-1.24283028e-03 9.99999227e-01 2.79646161e-05 2.50898239e+00] [ 5.06284166e-03 -2.16720215e-05 9.99987184e-01 5.28660021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:109.00, Y:2.51, Z:0.53 [[ 9.99986402e-01 -1.25120158e-03 -5.06261503e-03 1.08995992e+02] [ 1.25153109e-03 9.99999215e-01 6.19191458e-05 2.50794808e+00] [ 5.06253359e-03 -6.82543239e-05 9.99987183e-01 5.29104791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51439141799999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:109.02, Y:2.51, Z:0.53 [[ 9.99971439e-01 -5.61175277e-03 -5.06263916e-03 1.09023340e+02] [ 5.61211652e-03 9.99984250e-01 5.76475614e-05 2.50939429e+00] [ 5.06223592e-03 -8.60580358e-05 9.99987183e-01 5.30272912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:109.05, Y:2.51, Z:0.53 [[ 9.99946073e-01 -9.06744512e-03 -5.06280305e-03 1.09053050e+02] [ 9.06770202e-03 9.99958887e-01 2.77899978e-05 2.50823359e+00] [ 5.06234292e-03 -7.36964886e-05 9.99987184e-01 5.31948049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57439141799999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:109.08, Y:2.51, Z:0.53 [[ 9.99928195e-01 -1.08615497e-02 -5.06280416e-03 1.09084024e+02] [ 1.08618286e-02 9.99941008e-01 2.75858321e-05 2.50803528e+00] [ 5.06220587e-03 -8.25751622e-05 9.99987184e-01 5.33099747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:109.11, Y:2.51, Z:0.53 [[ 9.99908592e-01 -1.25369579e-02 -5.06280416e-03 1.09114468e+02] [ 1.25372582e-02 9.99921405e-01 2.75858321e-05 2.50747797e+00] [ 5.06206041e-03 -9.10569938e-05 9.99987184e-01 5.33316802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63439141799999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:109.15, Y:2.51, Z:0.53 [[ 9.99884264e-01 -1.43466785e-02 -5.06280360e-03 1.09145799e+02] [ 1.43470026e-02 9.99897076e-01 2.76878078e-05 2.50650980e+00] [ 5.06188529e-03 -1.00320660e-04 9.99987184e-01 5.34198921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664391418 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:109.18, Y:2.50, Z:0.53 [[ 9.99820859e-01 -1.82378268e-02 -5.06280249e-03 1.09178175e+02] [ 1.82382017e-02 9.99833670e-01 2.78905462e-05 2.50370375e+00] [ 5.06145173e-03 -1.20221963e-04 9.99987184e-01 5.34679711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694391418 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:109.21, Y:2.50, Z:0.53 [[ 9.99787004e-01 -2.00078472e-02 -5.06280017e-03 1.09209740e+02] [ 2.00082469e-02 9.99799815e-01 2.83047921e-05 2.50252327e+00] [ 5.06122035e-03 -1.29596519e-04 9.99987184e-01 5.34714249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724391418 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:109.24, Y:2.50, Z:0.53 [[ 9.99697554e-01 -2.40659048e-02 -5.06279842e-03 1.09241818e+02] [ 2.40663580e-02 9.99710363e-01 2.86140124e-05 2.50160877e+00] [ 5.06064343e-03 -1.50448478e-04 9.99987184e-01 5.33862357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754391418 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:109.27, Y:2.50, Z:0.53 [[ 9.99646266e-01 -2.61096043e-02 -5.06279606e-03 1.09273480e+02] [ 2.61100858e-02 9.99659073e-01 2.90256847e-05 2.50122567e+00] [ 5.06031217e-03 -1.61205457e-04 9.99987184e-01 5.33045968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:109.30, Y:2.50, Z:0.53 [[ 9.99579950e-01 -2.85357827e-02 -5.06279429e-03 1.09304923e+02] [ 2.85362969e-02 9.99592757e-01 2.93325573e-05 2.50099880e+00] [ 5.05989547e-03 -1.73793637e-04 9.99987184e-01 5.31985096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:109.34, Y:2.50, Z:0.53 [[ 9.99423777e-01 -3.35630982e-02 -5.06279251e-03 1.09335926e+02] [ 3.35636783e-02 9.99436581e-01 2.96362916e-05 2.50046513e+00] [ 5.05894535e-03 -1.99545154e-04 9.99987184e-01 5.30983932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:109.37, Y:2.50, Z:0.53 [[ 9.99315151e-01 -3.66550998e-02 -5.06279995e-03 1.09367881e+02] [ 3.66557133e-02 9.99327953e-01 2.83907554e-05 2.49992808e+00] [ 5.05835684e-03 -2.13951855e-04 9.99987184e-01 5.30901577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87439141799999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:109.40, Y:2.50, Z:0.53 [[ 9.99216678e-01 -3.92479099e-02 -5.06278745e-03 1.09400883e+02] [ 3.92485670e-02 9.99229478e-01 3.04673105e-05 2.49940358e+00] [ 5.05769068e-03 -2.29150597e-04 9.99987184e-01 5.31166187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:109.43, Y:2.50, Z:0.53 [[ 9.99117966e-01 -4.16852215e-02 -5.06278378e-03 1.09433442e+02] [ 4.16859129e-02 9.99130764e-01 3.10654314e-05 2.49929164e+00] [ 5.05708806e-03 -2.42084794e-04 9.99987184e-01 5.31360401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93439141799999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:109.47, Y:2.50, Z:0.53 [[ 9.98940491e-01 -4.57412667e-02 -5.06278007e-03 1.09465738e+02] [ 4.57420130e-02 9.98953286e-01 3.16593575e-05 2.50017397e+00] [ 5.05603264e-03 -2.63207566e-04 9.99987184e-01 5.32693283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:109.50, Y:2.50, Z:0.53 [[ 9.98882537e-01 -4.69898522e-02 -5.06277695e-03 1.09497861e+02] [ 4.69906170e-02 9.98895330e-01 3.21506713e-05 2.50099404e+00] [ 5.05567349e-03 -2.70017756e-04 9.99987184e-01 5.32677833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99439141799999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:109.53, Y:2.50, Z:0.53 [[ 9.98839931e-01 -4.78869462e-02 -5.06277444e-03 1.09531123e+02] [ 4.78877244e-02 9.98852724e-01 3.25401473e-05 2.50250591e+00] [ 5.05540780e-03 -2.74947146e-04 9.99987184e-01 5.32499468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:109.56, Y:2.50, Z:0.53 [[ 9.98861312e-01 -4.74388856e-02 -5.06277053e-03 1.09564314e+02] [ 4.74396611e-02 9.98874105e-01 3.31381899e-05 2.50283974e+00] [ 5.05549834e-03 -2.73276574e-04 9.99987184e-01 5.32488988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:109.60, Y:2.50, Z:0.53 [[ 9.99014347e-01 -4.40987762e-02 -5.06276653e-03 1.09598611e+02] [ 4.40995120e-02 9.99027143e-01 3.37383898e-05 2.50169769e+00] [ 5.05635336e-03 -2.56970669e-04 9.99987184e-01 5.30411408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:109.63, Y:2.51, Z:0.53 [[ 9.99042046e-01 -4.34667849e-02 -5.06254975e-03 1.09627710e+02] [ 4.34676719e-02 9.99054832e-01 6.52647013e-05 2.50716416e+00] [ 5.05492794e-03 -2.85259432e-04 9.99987183e-01 5.32942930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:109.66, Y:2.51, Z:0.53 [[ 9.99128120e-01 -4.14411330e-02 -5.06275953e-03 1.09660755e+02] [ 4.14418377e-02 9.99140917e-01 3.43115407e-05 2.50944975e+00] [ 5.05698829e-03 -2.44091684e-04 9.99987184e-01 5.33668187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:109.69, Y:2.51, Z:0.53 [[ 9.99214598e-01 -3.93008244e-02 -5.06275551e-03 1.09693526e+02] [ 3.93015046e-02 9.99227397e-01 3.48940783e-05 2.51158979e+00] [ 5.05747264e-03 -2.33840581e-04 9.99987184e-01 5.34419060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:109.73, Y:2.51, Z:0.53 [[ 9.99307763e-01 -3.68559912e-02 -5.06275139e-03 1.09725218e+02] [ 3.68566431e-02 9.99320562e-01 3.54826513e-05 2.51340942e+00] [ 5.05800382e-03 -2.22054110e-04 9.99987184e-01 5.34944603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:109.76, Y:2.52, Z:0.53 [[ 9.99505162e-01 -3.10451211e-02 -5.06274793e-03 1.09756927e+02] [ 3.10457010e-02 9.99517965e-01 3.59694597e-05 2.51650305e+00] [ 5.05919083e-03 -1.93128219e-04 9.99987184e-01 5.34233653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23439141799999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:109.79, Y:2.52, Z:0.54 [[ 9.99581991e-01 -2.84642239e-02 -5.06274582e-03 1.09788308e+02] [ 2.84647722e-02 9.99594796e-01 3.62637495e-05 2.51851565e+00] [ 5.05966215e-03 -1.80358498e-04 9.99987184e-01 5.36414519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:109.82, Y:2.52, Z:0.54 [[ 9.99666768e-01 -2.53124734e-02 -5.06274125e-03 1.09820028e+02] [ 2.53129845e-02 9.99679574e-01 3.68911424e-05 2.52052467e+00] [ 5.06018521e-03 -1.65031940e-04 9.99987184e-01 5.36948278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29439141799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:109.85, Y:2.52, Z:0.54 [[ 9.99746850e-01 -2.19226871e-02 -5.06273835e-03 1.09852714e+02] [ 2.19231567e-02 9.99759658e-01 3.72844838e-05 2.52286859e+00] [ 5.06070419e-03 -1.48266252e-04 9.99987184e-01 5.37161543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:109.88, Y:2.53, Z:0.54 [[ 9.99822519e-01 -1.81466003e-02 -5.06273545e-03 1.09883845e+02] [ 1.81470236e-02 9.99835329e-01 3.76747517e-05 2.52505334e+00] [ 5.06121809e-03 -1.29541645e-04 9.99987184e-01 5.37011174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35439141799999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:109.92, Y:2.53, Z:0.54 [[ 9.99932518e-01 -1.04560163e-02 -5.06273327e-03 1.09915838e+02] [ 1.04563425e-02 9.99945330e-01 3.79654317e-05 2.52933782e+00] [ 5.06205952e-03 -9.09005425e-05 9.99987184e-01 5.37576763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:109.95, Y:2.53, Z:0.54 [[ 9.99965539e-01 -6.57943287e-03 -5.06273037e-03 1.09946731e+02] [ 6.57971133e-03 9.99978353e-01 3.83481562e-05 2.53111420e+00] [ 5.06236847e-03 -7.16581391e-05 9.99987184e-01 5.37828527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:109.98, Y:2.53, Z:0.54 [[ 9.99986840e-01 8.29825524e-04 -5.06272893e-03 1.09977425e+02] [-8.29641052e-04 9.99999655e-01 3.85372103e-05 2.53488329e+00] [ 5.06275916e-03 -3.43364554e-05 9.99987184e-01 5.38119009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:110.01, Y:2.54, Z:0.54 [[ 9.99980286e-01 3.71435987e-03 -5.06272893e-03 1.10006687e+02] [-3.71421236e-03 9.99993102e-01 3.85372103e-05 2.53684283e+00] [ 5.06283715e-03 -1.97324002e-05 9.99987184e-01 5.39536854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:110.04, Y:2.54, Z:0.54 [[ 9.99964738e-01 6.70006769e-03 -5.06270552e-03 1.10035212e+02] [-6.69994252e-03 9.99977554e-01 4.16837397e-05 2.53849962e+00] [ 5.06287117e-03 -7.76243393e-06 9.99987184e-01 5.39390382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:110.06, Y:2.54, Z:0.54 [[ 9.99944812e-01 9.20547765e-03 -5.06274229e-03 1.10063341e+02] [-9.20541034e-03 9.99957629e-01 3.65976526e-05 2.53992686e+00] [ 5.06286467e-03 1.00089873e-05 9.99987184e-01 5.39783297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:110.09, Y:2.54, Z:0.54 [[ 9.99887790e-01 1.40987862e-02 -5.06274653e-03 1.10090175e+02] [-1.40987846e-02 9.99900607e-01 3.60015653e-05 2.54111761e+00] [ 5.06275090e-03 3.53810471e-05 9.99987184e-01 5.39483035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:110.12, Y:2.54, Z:0.54 [[ 9.99859720e-01 1.59658801e-02 -5.06275134e-03 1.10118468e+02] [-1.59659060e-02 9.99872536e-01 3.53116417e-05 2.54127457e+00] [ 5.06266980e-03 4.55247237e-05 9.99987184e-01 5.39256965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59439141799999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:110.14, Y:2.54, Z:0.54 [[ 9.99821297e-01 1.82137844e-02 -5.06275543e-03 1.10144219e+02] [-1.82138421e-02 9.99834114e-01 3.47155534e-05 2.54193512e+00] [ 5.06254789e-03 5.75028780e-05 9.99987184e-01 5.37743122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:110.17, Y:2.54, Z:0.54 [[ 9.99780541e-01 2.03282226e-02 -5.06300373e-03 1.10174052e+02] [-2.03285024e-02 9.99793355e-01 -3.78451315e-06 2.54059554e+00] [ 5.06188056e-03 1.06706966e-04 9.99987183e-01 5.39018224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65439141799999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:110.20, Y:2.54, Z:0.54 [[ 9.99750606e-01 2.17507412e-02 -5.06275599e-03 1.10200505e+02] [-2.17508501e-02 9.99763422e-01 3.35744543e-05 2.54031340e+00] [ 5.06228852e-03 7.65531653e-05 9.99987184e-01 5.38986464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:110.23, Y:2.54, Z:0.54 [[ 9.99716788e-01 2.32532044e-02 -5.06276041e-03 1.10227158e+02] [-2.32533359e-02 9.99729604e-01 3.28939509e-05 2.53974788e+00] [ 5.06215635e-03 8.48414335e-05 9.99987184e-01 5.39095757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71439141799999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:110.25, Y:2.54, Z:0.54 [[ 9.99728380e-01 2.27493942e-02 -5.06276467e-03 1.10254035e+02] [-2.27495227e-02 9.99741196e-01 3.22245523e-05 2.53816735e+00] [ 5.06218749e-03 8.29596800e-05 9.99987184e-01 5.39178785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:110.28, Y:2.54, Z:0.54 [[ 9.99744756e-01 2.20179859e-02 -5.06276878e-03 1.10282440e+02] [-2.20181083e-02 9.99757572e-01 3.15656824e-05 2.53673464e+00] [ 5.06223643e-03 7.99149656e-05 9.99987184e-01 5.39348035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:110.31, Y:2.54, Z:0.54 [[ 9.99747383e-01 2.18983704e-02 -5.06277248e-03 1.10310893e+02] [-2.18984943e-02 9.99760199e-01 3.09605194e-05 2.53667376e+00] [ 5.06223640e-03 7.99143959e-05 9.99987184e-01 5.39492300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:110.34, Y:2.54, Z:0.54 [[ 9.99768660e-01 2.09044085e-02 -5.06277611e-03 1.10337985e+02] [-2.09045228e-02 9.99781476e-01 3.03547869e-05 2.53525222e+00] [ 5.06230432e-03 7.54871540e-05 9.99987184e-01 5.39067962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:110.36, Y:2.53, Z:0.54 [[ 9.99792713e-01 1.97205450e-02 -5.06278021e-03 1.10364915e+02] [-1.97206477e-02 9.99805529e-01 2.96544430e-05 2.53329475e+00] [ 5.06238045e-03 7.01930087e-05 9.99987184e-01 5.38613470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:110.39, Y:2.53, Z:0.54 [[ 9.99847378e-01 1.67209162e-02 -5.06278389e-03 1.10392578e+02] [-1.67209836e-02 9.99860194e-01 2.90128191e-05 2.52880779e+00] [ 5.06256120e-03 5.56463354e-05 9.99987184e-01 5.37557656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:110.42, Y:2.53, Z:0.54 [[ 9.99863984e-01 1.56965639e-02 -5.06278719e-03 1.10420975e+02] [-1.56966212e-02 9.99876800e-01 2.84246630e-05 2.52613541e+00] [ 5.06260962e-03 5.10478559e-05 9.99987184e-01 5.37166152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:110.45, Y:2.52, Z:0.54 [[ 9.99876578e-01 1.48726697e-02 -5.06279041e-03 1.10448526e+02] [-1.48727193e-02 9.99889395e-01 2.78397005e-05 2.52353732e+00] [ 5.06264449e-03 4.74611963e-05 9.99987184e-01 5.36507114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:110.48, Y:2.52, Z:0.54 [[ 9.99882161e-01 1.44925156e-02 -5.06279356e-03 1.10475028e+02] [-1.44925634e-02 9.99894977e-01 2.72541422e-05 2.52078740e+00] [ 5.06265683e-03 4.61219260e-05 9.99987184e-01 5.36333334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:110.50, Y:2.52, Z:0.54 [[ 9.99879733e-01 1.46590524e-02 -5.06279803e-03 1.10501852e+02] [-1.46591066e-02 9.99892549e-01 2.63967607e-05 2.51609385e+00] [ 5.06264098e-03 4.78225100e-05 9.99987184e-01 5.36466701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01439141799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:110.53, Y:2.51, Z:0.54 [[ 9.99872976e-01 1.51128850e-02 -5.06280231e-03 1.10529693e+02] [-1.51129493e-02 9.99885793e-01 2.55485737e-05 2.51431004e+00] [ 5.06261021e-03 5.09685463e-05 9.99987184e-01 5.37442729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:110.56, Y:2.51, Z:0.54 [[ 9.99863454e-01 1.57302582e-02 -5.06280517e-03 1.10556296e+02] [-1.57303334e-02 9.99876270e-01 2.49690515e-05 2.51221124e+00] [ 5.06257152e-03 5.46739711e-05 9.99987184e-01 5.38331078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07439141799999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:110.58, Y:2.51, Z:0.54 [[ 9.99852231e-01 1.64281778e-02 -5.06280921e-03 1.10583788e+02] [-1.64282663e-02 9.99865047e-01 2.41208633e-05 2.50977322e+00] [ 5.06252223e-03 5.90558787e-05 9.99987184e-01 5.38930095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:110.61, Y:2.50, Z:0.54 [[ 9.99828486e-01 1.78147967e-02 -5.06281185e-03 1.10611808e+02] [-1.78149058e-02 9.99841302e-01 2.35531795e-05 2.50410476e+00] [ 5.06242799e-03 6.66443766e-05 9.99987184e-01 5.39056065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13439141799999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:110.64, Y:2.50, Z:0.54 [[ 9.99822500e-01 1.81476526e-02 -5.06281448e-03 1.10639566e+02] [-1.81477689e-02 9.99835315e-01 2.29739167e-05 2.50131466e+00] [ 5.06239763e-03 6.89089484e-05 9.99987184e-01 5.38732840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:110.67, Y:2.50, Z:0.54 [[ 9.99822565e-01 1.81440285e-02 -5.06281718e-03 1.10666260e+02] [-1.81441478e-02 9.99835381e-01 2.23612890e-05 2.49851802e+00] [ 5.06238947e-03 6.95031820e-05 9.99987184e-01 5.38049434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:110.69, Y:2.49, Z:0.54 [[ 9.99836359e-01 1.73673102e-02 -5.06282021e-03 1.10694526e+02] [-1.73674232e-02 9.99849175e-01 2.16531255e-05 2.49283299e+00] [ 5.06243267e-03 6.62785590e-05 9.99987184e-01 5.36352874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:110.72, Y:2.49, Z:0.54 [[ 9.99857758e-01 1.60882231e-02 -5.06282273e-03 1.10722857e+02] [-1.60883227e-02 9.99870574e-01 2.10476721e-05 2.49026726e+00] [ 5.06250609e-03 6.04076476e-05 9.99987184e-01 5.35691817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:110.75, Y:2.49, Z:0.54 [[ 9.99874125e-01 1.50366835e-02 -5.06282517e-03 1.10750677e+02] [-1.50367727e-02 9.99886941e-01 2.04427871e-05 2.48746379e+00] [ 5.06256017e-03 5.56883376e-05 9.99987184e-01 5.35141490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284391418 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:110.78, Y:2.48, Z:0.53 [[ 9.99906533e-01 1.27001045e-02 -5.06282754e-03 1.10779195e+02] [-1.27001669e-02 9.99919349e-01 1.98379698e-05 2.48204943e+00] [ 5.06267117e-03 4.44626390e-05 9.99987184e-01 5.34862010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:110.81, Y:2.48, Z:0.53 [[ 9.99917814e-01 1.17785337e-02 -5.06282910e-03 1.10807352e+02] [-1.17785862e-02 9.99930630e-01 1.94333567e-05 2.47961628e+00] [ 5.06270678e-03 4.02012096e-05 9.99987184e-01 5.34829247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:110.84, Y:2.48, Z:0.54 [[ 9.99928429e-01 1.08399277e-02 -5.06283129e-03 1.10836625e+02] [-1.08399712e-02 9.99941246e-01 1.88430045e-05 2.47743206e+00] [ 5.06273809e-03 3.60392897e-05 9.99987184e-01 5.35552103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37439141799999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:110.87, Y:2.48, Z:0.54 [[ 9.99936649e-01 1.00531426e-02 -5.06283368e-03 1.10865148e+02] [-1.00531794e-02 9.99949465e-01 1.81773817e-05 2.47559014e+00] [ 5.06276057e-03 3.27213449e-05 9.99987184e-01 5.36061712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:110.89, Y:2.47, Z:0.54 [[ 9.99943447e-01 9.35254011e-03 -5.06283510e-03 1.10892801e+02] [-9.35256998e-03 9.99956264e-01 1.77748012e-05 2.47213169e+00] [ 5.06277991e-03 2.95767235e-05 9.99987184e-01 5.36657206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43439141799999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:110.92, Y:2.47, Z:0.54 [[ 9.99945976e-01 9.07814160e-03 -5.06283680e-03 1.10921127e+02] [-9.07817048e-03 9.99958792e-01 1.72763090e-05 2.47016498e+00] [ 5.06278501e-03 2.86859199e-05 9.99987184e-01 5.37500398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:110.95, Y:2.47, Z:0.54 [[ 9.99946587e-01 9.01055089e-03 -5.06283811e-03 1.10949931e+02] [-9.01058090e-03 9.99959404e-01 1.68826953e-05 2.46781491e+00] [ 5.06278470e-03 2.87373188e-05 9.99987184e-01 5.37950763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49439141799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:110.98, Y:2.46, Z:0.54 [[ 9.99951791e-01 8.41332219e-03 -5.06283945e-03 1.10977728e+02] [-8.41334663e-03 9.99964607e-01 1.64720059e-05 2.46271955e+00] [ 5.06279884e-03 2.61242114e-05 9.99987184e-01 5.37605535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:111.01, Y:2.46, Z:0.54 [[ 9.99954363e-01 8.10182392e-03 -5.06284122e-03 1.11006983e+02] [-8.10184721e-03 9.99967179e-01 1.59084841e-05 2.46034803e+00] [ 5.06280394e-03 2.51106079e-05 9.99987184e-01 5.37887281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:111.03, Y:2.46, Z:0.54 [[ 9.99961152e-01 7.21539584e-03 -5.06284246e-03 1.11034823e+02] [-7.21540984e-03 9.99973968e-01 1.55009515e-05 2.45662640e+00] [ 5.06282252e-03 2.10301340e-05 9.99987184e-01 5.38194339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:111.06, Y:2.45, Z:0.54 [[ 9.99968279e-01 6.14883815e-03 -5.06284396e-03 1.11063673e+02] [-6.14884104e-03 9.99981096e-01 1.49961485e-05 2.45285786e+00] [ 5.06284046e-03 1.61349498e-05 9.99987184e-01 5.39087112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:111.09, Y:2.45, Z:0.54 [[ 9.99971917e-01 5.52556177e-03 -5.06284509e-03 1.11092297e+02] [-5.52555865e-03 9.99984734e-01 1.46038790e-05 2.45037479e+00] [ 5.06284850e-03 1.33715786e-05 9.99987184e-01 5.39419843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:111.12, Y:2.45, Z:0.54 [[ 9.99972338e-01 5.44887726e-03 -5.06284618e-03 1.11121606e+02] [-5.44887512e-03 9.99985155e-01 1.42171140e-05 2.45037214e+00] [ 5.06284848e-03 1.33700958e-05 9.99987184e-01 5.39568332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:111.15, Y:2.45, Z:0.54 [[ 9.99969327e-01 5.97602699e-03 -5.06284724e-03 1.11148432e+02] [-5.97603357e-03 9.99982143e-01 1.38288662e-05 2.44512082e+00] [ 5.06283947e-03 1.64273030e-05 9.99987184e-01 5.40248130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:111.18, Y:2.44, Z:0.54 [[ 9.99981789e-01 3.28467560e-03 -5.06294473e-03 1.11177789e+02] [-3.28484872e-03 9.99994605e-01 -2.58778633e-05 2.44292058e+00] [ 5.06283242e-03 4.25083996e-05 9.99987183e-01 5.39964391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73439141799999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:111.21, Y:2.44, Z:0.54 [[ 9.99984033e-01 2.51024950e-03 -5.06284605e-03 1.11206900e+02] [-2.51021642e-03 9.99996849e-01 1.28886814e-05 2.44031223e+00] [ 5.06286245e-03 -1.79636304e-07 9.99987184e-01 5.39535040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:111.23, Y:2.44, Z:0.54 [[ 9.99986858e-01 8.07113157e-04 -5.06284702e-03 1.11234248e+02] [-8.07060244e-04 9.99999674e-01 1.24942571e-05 2.43533271e+00] [ 5.06285546e-03 -8.40807039e-06 9.99987184e-01 5.38149603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79439141799999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:111.26, Y:2.43, Z:0.54 [[ 9.99983540e-01 2.69943925e-03 -5.06284818e-03 1.11260692e+02] [-2.69941307e-03 9.99996357e-01 1.20041030e-05 2.43238951e+00] [ 5.06286214e-03 1.66281313e-06 9.99987184e-01 5.36661810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:111.29, Y:2.43, Z:0.54 [[ 9.99986729e-01 -9.53472424e-04 -5.06295906e-03 1.11293180e+02] [ 9.53253163e-04 9.99999545e-01 -4.57198015e-05 2.43088580e+00] [ 5.06300034e-03 4.08929130e-05 9.99987182e-01 5.36680091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85439141799999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:111.32, Y:2.43, Z:0.54 [[ 9.99983003e-01 -2.89171768e-03 -5.06283650e-03 1.11322437e+02] [ 2.89181018e-03 9.99995819e-01 1.09496659e-05 2.42777683e+00] [ 5.06278367e-03 -2.55902420e-05 9.99987184e-01 5.36542551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:111.35, Y:2.43, Z:0.54 [[ 9.99980746e-01 -3.58824371e-03 -5.06283730e-03 1.11351143e+02] [ 3.58834320e-03 9.99993562e-01 1.05677448e-05 2.42643687e+00] [ 5.06276678e-03 -2.87347392e-05 9.99987184e-01 5.36910700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:111.38, Y:2.43, Z:0.54 [[ 9.99976557e-01 -4.61019066e-03 -5.06283788e-03 1.11379749e+02] [ 4.61030181e-03 9.99989372e-01 1.02836208e-05 2.42553068e+00] [ 5.06273666e-03 -3.36245904e-05 9.99987184e-01 5.37509510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:111.41, Y:2.42, Z:0.54 [[ 9.99977416e-01 -4.41979693e-03 -5.06284022e-03 1.11409593e+02] [ 4.41989895e-03 9.99990232e-01 8.96303931e-06 2.42267530e+00] [ 5.06275115e-03 -3.13400791e-05 9.99987184e-01 5.39512695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:111.44, Y:2.42, Z:0.54 [[ 9.99979347e-01 -3.95892604e-03 -5.06284057e-03 1.11437911e+02] [ 3.95902114e-03 9.99992163e-01 8.76074192e-06 2.42090577e+00] [ 5.06276620e-03 -2.88044538e-05 9.99987184e-01 5.38991820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:111.47, Y:2.42, Z:0.54 [[ 9.99980257e-01 -3.72192783e-03 -5.06284107e-03 1.11466880e+02] [ 3.72201837e-03 9.99993073e-01 8.46016124e-06 2.41956836e+00] [ 5.06277451e-03 -2.73039817e-05 9.99987184e-01 5.39077709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:111.50, Y:2.42, Z:0.54 [[ 9.99984694e-01 -2.23146801e-03 -5.06284153e-03 1.11495229e+02] [ 2.23153799e-03 9.99997510e-01 8.17275099e-06 2.41673517e+00] [ 5.06281069e-03 -1.94705491e-05 9.99987184e-01 5.39397434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:111.52, Y:2.42, Z:0.54 [[ 9.99986184e-01 -1.41422627e-03 -5.06284338e-03 1.11523454e+02] [ 1.41427880e-03 9.99999000e-01 6.79632497e-06 2.41555631e+00] [ 5.06282870e-03 -1.39565032e-05 9.99987184e-01 5.39387094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:111.55, Y:2.41, Z:0.54 [[ 9.99987161e-01 -2.13493963e-04 -5.06284386e-03 1.11551464e+02] [ 2.13529198e-04 9.99999977e-01 6.41897681e-06 2.41300347e+00] [ 5.06284237e-03 -7.49995938e-06 9.99987184e-01 5.40135977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:111.58, Y:2.41, Z:0.54 [[ 9.99986094e-01 1.47644122e-03 -5.06284442e-03 1.11579521e+02] [-1.47643009e-03 9.99998910e-01 5.93672331e-06 2.41084581e+00] [ 5.06284767e-03 1.53829510e-06 9.99987184e-01 5.40641266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15439141799999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:111.61, Y:2.41, Z:0.54 [[ 9.99987152e-01 2.53192269e-04 -5.06286656e-03 1.11608267e+02] [-2.53294934e-04 9.99999968e-01 -1.96368239e-05 2.40925725e+00] [ 5.06286143e-03 2.09189700e-05 9.99987183e-01 5.40993981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:111.64, Y:2.41, Z:0.54 [[ 9.99987182e-01 5.41981303e-05 -5.06284190e-03 1.11636309e+02] [-5.41732220e-05 9.99999999e-01 5.05696524e-06 2.40723403e+00] [ 5.06284216e-03 -4.78262997e-06 9.99987184e-01 5.41311531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:111.66, Y:2.40, Z:0.54 [[ 9.99986827e-01 -8.44482499e-04 -5.06284235e-03 1.11664087e+02] [ 8.44516359e-04 9.99999643e-01 4.55002389e-06 2.40374634e+00] [ 5.06283670e-03 -8.82561715e-06 9.99987184e-01 5.40055888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:111.69, Y:2.40, Z:0.54 [[ 9.99986156e-01 -1.43338717e-03 -5.06284268e-03 1.11692609e+02] [ 1.43342658e-03 9.99998973e-01 4.15636661e-06 2.40236737e+00] [ 5.06283152e-03 -1.14135223e-05 9.99987184e-01 5.40243624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:111.72, Y:2.40, Z:0.54 [[ 9.99985113e-01 -2.03513611e-03 -5.06284298e-03 1.11721184e+02] [ 2.03518114e-03 9.99997929e-01 3.74202330e-06 2.40098083e+00] [ 5.06282488e-03 -1.40457701e-05 9.99987184e-01 5.39628384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:111.75, Y:2.40, Z:0.54 [[ 9.99983612e-01 -2.67286647e-03 -5.06284364e-03 1.11748872e+02] [ 2.67291231e-03 9.99996428e-01 2.28908108e-06 2.39761505e+00] [ 5.06281944e-03 -1.58215807e-05 9.99987184e-01 5.38219747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:111.78, Y:2.40, Z:0.54 [[ 9.99981773e-01 -3.28956356e-03 -5.06284382e-03 1.11777706e+02] [ 3.28961471e-03 9.99994589e-01 1.77567413e-06 2.39582453e+00] [ 5.06281058e-03 -1.84304473e-05 9.99987184e-01 5.37973206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:111.81, Y:2.39, Z:0.54 [[ 9.99979606e-01 -3.89284216e-03 -5.06284393e-03 1.11806606e+02] [ 3.89289411e-03 9.99992423e-01 4.07368026e-07 2.39374762e+00] [ 5.06280398e-03 -2.01164751e-05 9.99987184e-01 5.40061548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:111.84, Y:2.39, Z:0.54 [[ 9.99978987e-01 -4.04895096e-03 -5.06284358e-03 1.11835472e+02] [ 4.04899710e-03 9.99991803e-01 -1.13536714e-06 2.39166968e+00] [ 5.06280668e-03 -1.93640957e-05 9.99987184e-01 5.39606900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:111.86, Y:2.39, Z:0.54 [[ 9.99975150e-01 -4.90589027e-03 -5.06284349e-03 1.11864103e+02] [ 4.90594574e-03 9.99987966e-01 -1.46106184e-06 2.38874775e+00] [ 5.06278973e-03 -2.33770099e-05 9.99987184e-01 5.39559530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:111.89, Y:2.39, Z:0.54 [[ 9.99971998e-01 -5.51106280e-03 -5.06284338e-03 1.11893259e+02] [ 5.51112441e-03 9.99984814e-01 -1.78134752e-06 2.38783108e+00] [ 5.06277631e-03 -2.61206621e-05 9.99987184e-01 5.39540186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:111.92, Y:2.39, Z:0.54 [[ 9.99968185e-01 -6.16414171e-03 -5.06284244e-03 1.11923331e+02] [ 6.16420427e-03 9.99981001e-01 -3.24807131e-06 2.38704235e+00] [ 5.06276627e-03 -2.79604270e-05 9.99987184e-01 5.40960229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51439141799999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.95, Y:2.38, Z:0.54 [[ 9.99962605e-01 -7.01121868e-03 -5.06284229e-03 1.11952211e+02] [ 7.01129098e-03 9.99975421e-01 -3.46722183e-06 2.38449480e+00] [ 5.06274215e-03 -3.20299683e-05 9.99987184e-01 5.40394800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:111.98, Y:2.38, Z:0.54 [[ 9.99955537e-01 -7.95555444e-03 -5.06284204e-03 1.11980712e+02] [ 7.95563721e-03 9.99968353e-01 -3.79099776e-06 2.38300515e+00] [ 5.06271198e-03 -3.64873053e-05 9.99987184e-01 5.39491655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57439141799999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:112.01, Y:2.38, Z:0.54 [[ 9.99950726e-01 -8.53896950e-03 -5.06284173e-03 1.12009936e+02] [ 8.53905781e-03 9.99963542e-01 -4.17438065e-06 2.38119228e+00] [ 5.06269279e-03 -3.90577232e-05 9.99987184e-01 5.41213834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:112.04, Y:2.38, Z:0.54 [[ 9.99933335e-01 -1.03775341e-02 -5.06284154e-03 1.12039704e+02] [ 1.03776449e-02 9.99946151e-01 -4.38822718e-06 2.37734279e+00] [ 5.06261445e-03 -4.81524370e-05 9.99987184e-01 5.41792097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63439141799999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:112.07, Y:2.38, Z:0.54 [[ 9.99923180e-01 -1.13138132e-02 -5.06284145e-03 1.12069414e+02] [ 1.13139355e-02 9.99935995e-01 -4.49425345e-06 2.37546104e+00] [ 5.06256825e-03 -5.27867532e-05 9.99987184e-01 5.41328786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:112.10, Y:2.37, Z:0.54 [[ 9.99911799e-01 -1.22785126e-02 -5.06284135e-03 1.12099484e+02] [ 1.22786467e-02 9.99924615e-01 -4.59859786e-06 2.37387831e+00] [ 5.06251615e-03 -5.75666481e-05 9.99987184e-01 5.42771587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:112.13, Y:2.37, Z:0.54 [[ 9.99911799e-01 -1.22785126e-02 -5.06284135e-03 1.12130482e+02] [ 1.22786467e-02 9.99924615e-01 -4.59859786e-06 2.37390647e+00] [ 5.06251615e-03 -5.75666481e-05 9.99987184e-01 5.42928529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:112.16, Y:2.37, Z:0.54 [[ 9.99885611e-01 -1.42524830e-02 -5.06284135e-03 1.12161359e+02] [ 1.42526424e-02 9.99898426e-01 -4.59859786e-06 2.37188950e+00] [ 5.06239264e-03 -6.75607953e-05 9.99987184e-01 5.44605222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:112.19, Y:2.37, Z:0.54 [[ 9.99875799e-01 -1.49249523e-02 -5.06284135e-03 1.12191267e+02] [ 1.49251203e-02 9.99888614e-01 -4.59859786e-06 2.37096424e+00] [ 5.06234606e-03 -7.09654898e-05 9.99987184e-01 5.44381407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:112.22, Y:2.37, Z:0.54 [[ 9.99861942e-01 -1.58260483e-02 -5.06284145e-03 1.12221491e+02] [ 1.58262284e-02 9.99874757e-01 -4.49191112e-06 2.37009452e+00] [ 5.06227845e-03 -7.56343941e-05 9.99987184e-01 5.44770484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:112.25, Y:2.37, Z:0.54 [[ 9.99855927e-01 -1.62016106e-02 -5.06284145e-03 1.12251813e+02] [ 1.62017955e-02 9.99868742e-01 -4.49191112e-06 2.36851537e+00] [ 5.06224969e-03 -7.75358578e-05 9.99987184e-01 5.42660268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:112.28, Y:2.37, Z:0.54 [[ 9.99834539e-01 -1.74717307e-02 -5.06284153e-03 1.12282218e+02] [ 1.74719324e-02 9.99847354e-01 -4.39153846e-06 2.36651206e+00] [ 5.06214544e-03 -8.40668132e-05 9.99987184e-01 5.42995649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87439141799999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:112.31, Y:2.37, Z:0.55 [[ 9.99817513e-01 -1.84203137e-02 -5.06284153e-03 1.12313746e+02] [ 1.84205276e-02 9.99830328e-01 -4.39153846e-06 2.36626499e+00] [ 5.06206340e-03 -8.88694750e-05 9.99987184e-01 5.45369012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:112.34, Y:2.37, Z:0.54 [[ 9.99811041e-01 -1.87683447e-02 -5.06284172e-03 1.12344045e+02] [ 1.87685641e-02 9.99823855e-01 -4.16793373e-06 2.36559558e+00] [ 5.06202815e-03 -9.08551232e-05 9.99987184e-01 5.44599623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93439141799999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:112.37, Y:2.36, Z:0.54 [[ 9.99816929e-01 -1.84519692e-02 -5.06284181e-03 1.12374978e+02] [ 1.84521851e-02 9.99829744e-01 -4.05732958e-06 2.36467157e+00] [ 5.06205469e-03 -8.93639074e-05 9.99987184e-01 5.44515004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:112.41, Y:2.36, Z:0.54 [[ 9.99833151e-01 -1.75510146e-02 -5.06284198e-03 1.12405056e+02] [ 1.75512201e-02 9.99845965e-01 -3.83459236e-06 2.36475585e+00] [ 5.06212942e-03 -8.50251012e-05 9.99987184e-01 5.44289510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99439141799999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:112.44, Y:2.36, Z:0.55 [[ 9.99856538e-01 -1.61638890e-02 -5.06284206e-03 1.12436700e+02] [ 1.61640773e-02 9.99869353e-01 -3.72424290e-06 2.36496283e+00] [ 5.06224081e-03 -7.81124616e-05 9.99987184e-01 5.45399341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:112.47, Y:2.37, Z:0.55 [[ 9.99915413e-01 -1.19805788e-02 -5.06284221e-03 1.12467256e+02] [ 1.19807146e-02 9.99928229e-01 -3.50482439e-06 2.36503542e+00] [ 5.06252083e-03 -5.71519396e-05 9.99987184e-01 5.46518378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:112.50, Y:2.37, Z:0.55 [[ 9.99941144e-01 -9.59566465e-03 -5.06284221e-03 1.12497427e+02] [ 9.59576989e-03 9.99953960e-01 -3.50482439e-06 2.36514315e+00] [ 5.06264274e-03 -4.50772507e-05 9.99987184e-01 5.47333942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:112.53, Y:2.37, Z:0.55 [[ 9.99963997e-01 -6.80965185e-03 -5.06284221e-03 1.12526839e+02] [ 6.80972138e-03 9.99976814e-01 -3.50482439e-06 2.36563180e+00] [ 5.06274869e-03 -3.09718466e-05 9.99987184e-01 5.48341786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:112.56, Y:2.37, Z:0.55 [[ 9.99986034e-01 -1.51644601e-03 -5.06284204e-03 1.12555217e+02] [ 1.51644655e-03 9.99998850e-01 -3.73096403e-06 2.36673827e+00] [ 5.06284188e-03 -3.94661744e-06 9.99987184e-01 5.48478801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.58, Y:2.37, Z:0.55 [[ 9.99986967e-01 6.58044023e-04 -5.06284177e-03 1.12583975e+02] [-6.58073045e-04 9.99999783e-01 -4.06655472e-06 2.36712826e+00] [ 5.06283800e-03 7.39822143e-06 9.99987184e-01 5.49351195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:112.61, Y:2.37, Z:0.55 [[ 9.99984195e-01 2.44498423e-03 -5.06284002e-03 1.12611699e+02] [-2.44504414e-03 9.99997011e-01 -5.64248809e-06 2.36748758e+00] [ 5.06281109e-03 1.80212662e-05 9.99987184e-01 5.49318883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204391418 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:112.64, Y:2.37, Z:0.55 [[ 9.99977972e-01 4.29221139e-03 -5.06283739e-03 1.12639357e+02] [-4.29230401e-03 9.99990788e-01 -7.42903140e-06 2.36757595e+00] [ 5.06275887e-03 2.91601050e-05 9.99987184e-01 5.49400185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23439141799999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:112.67, Y:2.37, Z:0.55 [[ 9.99978752e-01 4.10649050e-03 -5.06283413e-03 1.12667802e+02] [-4.10658981e-03 9.99991568e-01 -9.22024976e-06 2.36731001e+00] [ 5.06275358e-03 3.00110369e-05 9.99987184e-01 5.49837623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:112.70, Y:2.37, Z:0.55 [[ 9.99985938e-01 1.57865631e-03 -5.06283326e-03 1.12697094e+02] [-1.57872552e-03 9.99998754e-01 -9.67487957e-06 2.36598304e+00] [ 5.06281168e-03 1.76675676e-05 9.99987184e-01 5.49062930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29439141799999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:112.72, Y:2.37, Z:0.55 [[ 9.99986753e-01 -9.28294032e-04 -5.06283236e-03 1.12724965e+02] [ 9.28254649e-04 9.99999569e-01 -1.01286732e-05 2.36555667e+00] [ 5.06283958e-03 5.42894138e-06 9.99987184e-01 5.48025787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:112.75, Y:2.37, Z:0.55 [[ 9.99981698e-01 -3.31217460e-03 -5.06283117e-03 1.12753745e+02] [ 3.31216293e-03 9.99994515e-01 -1.06899080e-05 2.36513515e+00] [ 5.06283881e-03 -6.07920942e-06 9.99987184e-01 5.49178757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35439141799999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:112.78, Y:2.37, Z:0.55 [[ 9.99948594e-01 -8.78504897e-03 -5.06283019e-03 1.12782712e+02] [ 8.78510518e-03 9.99961410e-01 -1.11366390e-05 2.36539679e+00] [ 5.06273265e-03 -3.33414292e-05 9.99987184e-01 5.49882103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:112.81, Y:2.37, Z:0.55 [[ 9.99927685e-01 -1.09084140e-02 -5.06282917e-03 1.12812177e+02] [ 1.09084952e-02 9.99940501e-01 -1.15813529e-05 2.36528625e+00] [ 5.06265427e-03 -4.36473323e-05 9.99987184e-01 5.48218684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:112.84, Y:2.37, Z:0.55 [[ 9.99863374e-01 -1.57353277e-02 -5.06282865e-03 1.12841571e+02] [ 1.57354696e-02 9.99876190e-01 -1.18054620e-05 2.36518991e+00] [ 5.06238758e-03 -6.78621372e-05 9.99987184e-01 5.49873667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.87, Y:2.36, Z:0.55 [[ 9.99793377e-01 -1.96868291e-02 -5.06282839e-03 1.12872128e+02] [ 1.96870211e-02 9.99806192e-01 -1.19160193e-05 2.36452101e+00] [ 5.06208176e-03 -8.77584523e-05 9.99987184e-01 5.50688600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.90, Y:2.36, Z:0.55 [[ 9.99794236e-01 -1.96431605e-02 -5.06282839e-03 1.12903970e+02] [ 1.96433519e-02 9.99807051e-01 -1.19160193e-05 2.36455059e+00] [ 5.06208559e-03 -8.75373522e-05 9.99987184e-01 5.50849811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:112.93, Y:2.36, Z:0.55 [[ 9.99777082e-01 -2.04976531e-02 -5.06282890e-03 1.12932796e+02] [ 2.04978566e-02 9.99789897e-01 -1.16948839e-05 2.36368656e+00] [ 5.06200490e-03 -9.20848638e-05 9.99987184e-01 5.49591506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:112.96, Y:2.36, Z:0.55 [[ 9.99698368e-01 -2.40321116e-02 -5.06276557e-03 1.12964613e+02] [ 2.40322348e-02 9.99711183e-01 -3.64976744e-05 2.36402088e+00] [ 5.06218048e-03 -8.51829055e-05 9.99987183e-01 5.50811173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:113.00, Y:2.36, Z:0.55 [[ 9.99578231e-01 -2.85959442e-02 -5.06282508e-03 1.12995945e+02] [ 2.85962469e-02 9.99591044e-01 -1.26171302e-05 2.36422014e+00] [ 5.06111541e-03 -1.32165987e-04 9.99987184e-01 5.51128809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59439141799999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:113.03, Y:2.36, Z:0.55 [[ 9.99511914e-01 -3.08269496e-02 -5.06282563e-03 1.13026995e+02] [ 3.08272819e-02 9.99524726e-01 -1.23963633e-05 2.36485947e+00] [ 5.06080154e-03 -1.43682840e-04 9.99987184e-01 5.51355667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:113.06, Y:2.37, Z:0.55 [[ 9.99441330e-01 -3.30362784e-02 -5.06282615e-03 1.13058335e+02] [ 3.30366401e-02 9.99454141e-01 -1.21770845e-05 2.36542671e+00] [ 5.06046485e-03 -1.55088484e-04 9.99987184e-01 5.51513092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65439141799999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:113.09, Y:2.37, Z:0.55 [[ 9.99285780e-01 -3.74472594e-02 -5.06282692e-03 1.13090555e+02] [ 3.74476794e-02 9.99298590e-01 -1.18496867e-05 2.36580669e+00] [ 5.05971954e-03 -1.77749896e-04 9.99987184e-01 5.52309410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:113.12, Y:2.37, Z:0.55 [[ 9.99193949e-01 -3.98223577e-02 -5.06282789e-03 1.13123153e+02] [ 3.98228103e-02 9.99206757e-01 -1.14190820e-05 2.36622540e+00] [ 5.05926657e-03 -1.90206157e-04 9.99987184e-01 5.52564564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71439141799999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:113.15, Y:2.37, Z:0.55 [[ 9.99105812e-01 -4.19755181e-02 -5.06282883e-03 1.13154123e+02] [ 4.19760005e-02 9.99118619e-01 -1.09877765e-05 2.36697395e+00] [ 5.05882776e-03 -2.01539354e-04 9.99987184e-01 5.52478567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:113.19, Y:2.37, Z:0.55 [[ 9.98949643e-01 -4.55409444e-02 -5.06282950e-03 1.13185560e+02] [ 4.55414741e-02 9.98962449e-01 -1.06675563e-05 2.36943549e+00] [ 5.05806237e-03 -2.19912367e-04 9.99987184e-01 5.52028818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:113.22, Y:2.37, Z:0.55 [[ 9.98897927e-01 -4.66615327e-02 -5.06283015e-03 1.13217528e+02] [ 4.66620784e-02 9.98910732e-01 -1.03509477e-05 2.37128696e+00] [ 5.05779836e-03 -2.25902637e-04 9.99987184e-01 5.52895846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:113.25, Y:2.37, Z:0.55 [[ 9.98874950e-01 -4.71508476e-02 -5.06283101e-03 1.13249217e+02] [ 4.71514018e-02 9.98887754e-01 -9.91228598e-06 2.37350470e+00] [ 5.05766727e-03 -2.28818445e-04 9.99987184e-01 5.52892182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:113.28, Y:2.38, Z:0.55 [[ 9.98921116e-01 -4.61624482e-02 -5.06283178e-03 1.13280158e+02] [ 4.61629917e-02 9.98933921e-01 -9.50169053e-06 2.37777240e+00] [ 5.05787302e-03 -2.24224022e-04 9.99987184e-01 5.50665276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:113.31, Y:2.38, Z:0.55 [[ 9.98968174e-01 -4.51326364e-02 -5.06283233e-03 1.13312075e+02] [ 4.51331683e-02 9.98980979e-01 -9.19532722e-06 2.38004175e+00] [ 5.05808821e-03 -2.19315825e-04 9.99987184e-01 5.52602108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894391418 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:113.34, Y:2.38, Z:0.55 [[ 9.99039751e-01 -4.35194620e-02 -5.06283303e-03 1.13343893e+02] [ 4.35199753e-02 9.99052557e-01 -8.79302377e-06 2.38261784e+00] [ 5.05841896e-03 -2.11549788e-04 9.99987184e-01 5.53027037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924391418 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:113.38, Y:2.39, Z:0.55 [[ 9.99229929e-01 -3.89090853e-02 -5.06283370e-03 1.13375229e+02] [ 3.89095415e-02 9.99242737e-01 -8.39137855e-06 2.38952526e+00] [ 5.05932630e-03 -1.88607621e-04 9.99987184e-01 5.54156408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:113.41, Y:2.39, Z:0.55 [[ 9.99319882e-01 -3.65258868e-02 -5.06283418e-03 1.13407523e+02] [ 3.65263140e-02 9.99332692e-01 -8.09235004e-06 2.39349115e+00] [ 5.05975128e-03 -1.76839825e-04 9.99987184e-01 5.54576586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:113.44, Y:2.40, Z:0.56 [[ 9.99417318e-01 -3.37548969e-02 -5.06283477e-03 1.13439384e+02] [ 3.37552905e-02 9.99430128e-01 -7.70034302e-06 2.39728153e+00] [ 5.06020953e-03 -1.63201602e-04 9.99987184e-01 5.55130861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:113.47, Y:2.40, Z:0.56 [[ 9.99492513e-01 -3.14497199e-02 -5.06283533e-03 1.13471248e+02] [ 3.14500860e-02 9.99505324e-01 -7.31143380e-06 2.40088452e+00] [ 5.06056081e-03 -1.51918883e-04 9.99987184e-01 5.55220416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:113.50, Y:2.40, Z:0.56 [[ 9.99559971e-01 -2.92272657e-02 -5.06283586e-03 1.13502370e+02] [ 2.92276052e-02 9.99572782e-01 -6.92383634e-06 2.40409569e+00] [ 5.06087530e-03 -1.41053778e-04 9.99987184e-01 5.55147748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07439141799999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:113.53, Y:2.41, Z:0.55 [[ 9.99643573e-01 -2.62124845e-02 -5.06283624e-03 1.13533250e+02] [ 2.62127869e-02 9.99656386e-01 -6.63467765e-06 2.40915171e+00] [ 5.06127049e-03 -1.26078735e-04 9.99987184e-01 5.54264951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:113.57, Y:2.41, Z:0.55 [[ 9.99674250e-01 -2.50152270e-02 -5.06283660e-03 1.13565357e+02] [ 2.50155155e-02 9.99687063e-01 -6.34776720e-06 2.41339547e+00] [ 5.06141105e-03 -1.20303768e-04 9.99987184e-01 5.54712999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:113.60, Y:2.42, Z:0.56 [[ 9.99664159e-01 -2.54152762e-02 -5.06283709e-03 1.13596505e+02] [ 2.54155719e-02 9.99676972e-01 -5.92893652e-06 2.41586219e+00] [ 5.06135234e-03 -1.22747955e-04 9.99987184e-01 5.55250799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:113.63, Y:2.42, Z:0.56 [[ 9.99645889e-01 -2.61240229e-02 -5.06283744e-03 1.13628166e+02] [ 2.61243293e-02 9.99658701e-01 -5.61725021e-06 2.41833389e+00] [ 5.06125625e-03 -1.26647971e-04 9.99987184e-01 5.55338100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:113.66, Y:2.42, Z:0.56 [[ 9.99573870e-01 -2.87479731e-02 -5.06283775e-03 1.13660508e+02] [ 2.87483146e-02 9.99586682e-01 -5.32265248e-06 2.42288311e+00] [ 5.06089820e-03 -1.40227668e-04 9.99987184e-01 5.55987831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:113.69, Y:2.42, Z:0.56 [[ 9.99527994e-01 -3.03010885e-02 -5.06283815e-03 1.13693003e+02] [ 3.03014520e-02 9.99540806e-01 -4.91482763e-06 2.42464048e+00] [ 5.06066224e-03 -1.48498839e-04 9.99987184e-01 5.56050739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:113.72, Y:2.43, Z:0.56 [[ 9.99465867e-01 -3.22854296e-02 -5.06283851e-03 1.13724892e+02] [ 3.22858206e-02 9.99478677e-01 -4.50632397e-06 2.42639724e+00] [ 5.06034462e-03 -1.58953979e-04 9.99987184e-01 5.56079659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:113.76, Y:2.43, Z:0.56 [[ 9.99322725e-01 -3.64480239e-02 -5.06283884e-03 1.13757519e+02] [ 3.64484703e-02 9.99335534e-01 -4.10118339e-06 2.43008037e+00] [ 5.05962423e-03 -1.80434325e-04 9.99987184e-01 5.56529002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:113.79, Y:2.43, Z:0.56 [[ 9.99261936e-01 -3.80782329e-02 -5.06283914e-03 1.13789148e+02] [ 3.80787023e-02 9.99274743e-01 -3.68713269e-06 2.43188801e+00] [ 5.05930768e-03 -1.89101933e-04 9.99987184e-01 5.56560957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:113.82, Y:2.43, Z:0.56 [[ 9.99198385e-01 -3.97108877e-02 -5.06283934e-03 1.13820200e+02] [ 3.97113796e-02 9.99211192e-01 -3.37820398e-06 2.43397498e+00] [ 5.05897989e-03 -1.97676839e-04 9.99987184e-01 5.56432191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37439141799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:113.85, Y:2.44, Z:0.56 [[ 9.99118349e-01 -4.16760439e-02 -5.06283952e-03 1.13852088e+02] [ 4.16765624e-02 9.99131155e-01 -3.08404203e-06 2.43761188e+00] [ 5.05856923e-03 -2.07920424e-04 9.99987184e-01 5.57631299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:113.88, Y:2.44, Z:0.56 [[ 9.99066512e-01 -4.29007175e-02 -5.06283688e-03 1.13884905e+02] [ 4.29012290e-02 9.99079318e-01 -7.58250878e-06 2.43935828e+00] [ 5.05850092e-03 -2.09626494e-04 9.99987184e-01 5.57637916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43439141799999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:113.92, Y:2.44, Z:0.56 [[ 9.99010214e-01 -4.41923000e-02 -5.06283951e-03 1.13916673e+02] [ 4.41928525e-02 9.99023019e-01 -2.74479341e-06 2.44291327e+00] [ 5.05801451e-03 -2.20999243e-04 9.99987184e-01 5.57831143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:113.95, Y:2.45, Z:0.56 [[ 9.98978490e-01 -4.49037249e-02 -5.06283969e-03 1.13948944e+02] [ 4.49042885e-02 9.98991294e-01 -2.33773671e-06 2.44509064e+00] [ 5.05783775e-03 -2.25007866e-04 9.99987184e-01 5.58499416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:113.98, Y:2.45, Z:0.56 [[ 9.98970230e-01 -4.50871159e-02 -5.06283985e-03 1.13981642e+02] [ 4.50876840e-02 9.98983033e-01 -1.92777561e-06 2.44745380e+00] [ 5.05777803e-03 -2.26345933e-04 9.99987184e-01 5.59247066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:114.01, Y:2.45, Z:0.56 [[ 9.98960780e-01 -4.52959906e-02 -5.06284001e-03 1.14013707e+02] [ 4.52965645e-02 9.98973584e-01 -1.31213223e-06 2.45021101e+00] [ 5.05770286e-03 -2.28018491e-04 9.99987184e-01 5.59616149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:114.05, Y:2.45, Z:0.56 [[ 9.98938966e-01 -4.57745653e-02 -5.06284009e-03 1.14046765e+02] [ 4.57751479e-02 9.98951769e-01 -8.02870829e-07 2.45491710e+00] [ 5.05756981e-03 -2.30950235e-04 9.99987184e-01 5.60162682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:114.08, Y:2.45, Z:0.56 [[ 9.98944421e-01 -4.56553629e-02 -5.06284011e-03 1.14080304e+02] [ 4.56559471e-02 9.98957224e-01 -1.99094750e-07 2.45479910e+00] [ 5.05756979e-03 -2.30949876e-04 9.99987184e-01 5.60332321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:114.11, Y:2.46, Z:0.56 [[ 9.98944314e-01 -4.56576942e-02 -5.06284007e-03 1.14113389e+02] [ 4.56582815e-02 9.98957117e-01 4.05039467e-07 2.45647318e+00] [ 5.05754162e-03 -2.31565189e-04 9.99987184e-01 5.60350843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:114.15, Y:2.46, Z:0.56 [[ 9.98937793e-01 -4.58001429e-02 -5.06283995e-03 1.14146609e+02] [ 4.58007350e-02 9.98950596e-01 1.00861446e-06 2.45803442e+00] [ 5.05748079e-03 -2.32889334e-04 9.99987184e-01 5.60514402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:114.18, Y:2.46, Z:0.56 [[ 9.98934006e-01 -4.58826758e-02 -5.06283974e-03 1.14178452e+02] [ 4.58832722e-02 9.98946808e-01 1.63393924e-06 2.45942395e+00] [ 5.05743263e-03 -2.33931851e-04 9.99987184e-01 5.59731776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:114.21, Y:2.46, Z:0.56 [[ 9.98923106e-01 -4.61193722e-02 -5.06283952e-03 1.14210870e+02] [ 4.61199742e-02 9.98935908e-01 2.15139437e-06 2.46292267e+00] [ 5.05735298e-03 -2.35647106e-04 9.99987184e-01 5.59137289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73439141799999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:114.24, Y:2.47, Z:0.56 [[ 9.98924036e-01 -4.60992230e-02 -5.06283893e-03 1.14243917e+02] [ 4.60998296e-02 9.98936838e-01 3.11222236e-06 2.46517656e+00] [ 5.05731284e-03 -2.36504886e-04 9.99987184e-01 5.59618383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:114.28, Y:2.47, Z:0.56 [[ 9.98928012e-01 -4.60129765e-02 -5.06283849e-03 1.14277108e+02] [ 4.60135850e-02 9.98940814e-01 3.72061711e-06 2.46750217e+00] [ 5.05730480e-03 -2.36675978e-04 9.99987184e-01 5.60016271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79439141799999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:114.31, Y:2.47, Z:0.56 [[ 9.98977229e-01 -4.49317572e-02 -5.06283796e-03 1.14308472e+02] [ 4.49323550e-02 9.98990032e-01 4.33530855e-06 2.47153185e+00] [ 5.05752986e-03 -2.31816107e-04 9.99987184e-01 5.59587162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:114.34, Y:2.47, Z:0.56 [[ 9.99020067e-01 -4.39689981e-02 -5.06283768e-03 1.14340521e+02] [ 4.39695851e-02 9.99032870e-01 4.63932977e-06 2.47291107e+00] [ 5.05773727e-03 -2.27245656e-04 9.99987184e-01 5.60058023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85439141799999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:114.37, Y:2.47, Z:0.56 [[ 9.99061431e-01 -4.30188866e-02 -5.06283727e-03 1.14372208e+02] [ 4.30194636e-02 9.99074234e-01 5.05487759e-06 2.47499654e+00] [ 5.05793281e-03 -2.22850677e-04 9.99987184e-01 5.59102328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:114.40, Y:2.48, Z:0.56 [[ 9.99202573e-01 -3.96053710e-02 -5.06283694e-03 1.14404571e+02] [ 3.96059057e-02 9.99215378e-01 5.36395310e-06 2.47951847e+00] [ 5.05865209e-03 -2.05877918e-04 9.99987184e-01 5.61209471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:114.44, Y:2.48, Z:0.56 [[ 9.99282801e-01 -3.75266753e-02 -5.06283647e-03 1.14436521e+02] [ 3.75271855e-02 9.99295607e-01 5.77479491e-06 2.48199003e+00] [ 5.05905354e-03 -1.95764656e-04 9.99987184e-01 5.61580985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:114.47, Y:2.49, Z:0.56 [[ 9.99479853e-01 -3.18495156e-02 -5.06283584e-03 1.14468747e+02] [ 3.18499556e-02 9.99492661e-01 6.28641463e-06 2.48672080e+00] [ 5.06006704e-03 -1.67534241e-04 9.99987184e-01 5.62664057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:114.50, Y:2.49, Z:0.56 [[ 9.99583440e-01 -2.84132839e-02 -5.06283517e-03 1.14499670e+02] [ 2.84136824e-02 9.99596250e-01 6.78619764e-06 2.48859690e+00] [ 5.06059823e-03 -1.50637161e-04 9.99987184e-01 5.63041970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:114.53, Y:2.49, Z:0.56 [[ 9.99676916e-01 -2.49084638e-02 -5.06283476e-03 1.14532203e+02] [ 2.49088189e-02 9.99689727e-01 7.07949140e-06 2.49000406e+00] [ 5.06108756e-03 -1.33186438e-04 9.99987184e-01 5.62727674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:114.56, Y:2.49, Z:0.56 [[ 9.99827478e-01 -1.78712642e-02 -5.06283419e-03 1.14564817e+02] [ 1.78715310e-02 9.99840291e-01 7.46277716e-06 2.49319755e+00] [ 5.06189224e-03 -9.79420878e-05 9.99987184e-01 5.63204278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:114.60, Y:2.50, Z:0.56 [[ 9.99878696e-01 -1.47295688e-02 -5.06283355e-03 1.14596663e+02] [ 1.47297974e-02 9.99891511e-01 7.87171730e-06 2.49557322e+00] [ 5.06216834e-03 -8.24452749e-05 9.99987184e-01 5.63946462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09439141799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:114.63, Y:2.50, Z:0.57 [[ 9.99928337e-01 -1.08484048e-02 -5.06283288e-03 1.14627000e+02] [ 1.08485857e-02 9.99941152e-01 8.28275424e-06 2.49769414e+00] [ 5.06244509e-03 -6.32067372e-05 9.99987184e-01 5.65740195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:114.66, Y:2.50, Z:0.57 [[ 9.99943081e-01 -9.39162745e-03 -5.06286675e-03 1.14657564e+02] [ 9.39167240e-03 9.99955897e-01 -1.48963564e-05 2.49970396e+00] [ 5.06278337e-03 -3.26532775e-05 9.99987183e-01 5.65980739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15439141799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:114.69, Y:2.50, Z:0.57 [[ 9.99971896e-01 -5.52948439e-03 -5.06283351e-03 1.14688832e+02] [ 5.52959329e-03 9.99984712e-01 7.51117323e-06 2.50223619e+00] [ 5.06271458e-03 -3.55063723e-05 9.99987184e-01 5.67073921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:114.72, Y:2.50, Z:0.57 [[ 9.99978172e-01 -4.24537275e-03 -5.06283319e-03 1.14718626e+02] [ 4.24546624e-03 9.99990988e-01 7.71932580e-06 2.50279721e+00] [ 5.06275480e-03 -2.92132447e-05 9.99987184e-01 5.66239380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21439141799999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:114.75, Y:2.51, Z:0.57 [[ 9.99975191e-01 -4.89744587e-03 -5.06283335e-03 1.14746602e+02] [ 4.89754720e-03 9.99988007e-01 7.61643957e-06 2.50594794e+00] [ 5.06273533e-03 -3.24117159e-05 9.99987184e-01 5.67461275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:114.78, Y:2.50, Z:0.57 [[ 9.99981501e-01 -3.37113625e-03 -5.06290553e-03 1.14778512e+02] [ 3.37089639e-03 9.99994317e-01 -5.59088404e-05 2.50295735e+00] [ 5.06306523e-03 3.88412762e-05 9.99987182e-01 5.65471729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:114.81, Y:2.50, Z:0.56 [[ 9.99976729e-01 -4.57273325e-03 -5.06282273e-03 1.14806680e+02] [ 4.57282576e-03 9.99989545e-01 6.69639788e-06 2.50343445e+00] [ 5.06273918e-03 -2.98476483e-05 9.99987184e-01 5.64952858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:114.84, Y:2.50, Z:0.57 [[ 9.99972813e-01 -5.36111009e-03 -5.06282310e-03 1.14836496e+02] [ 5.36121122e-03 9.99985629e-01 6.40378175e-06 2.50351014e+00] [ 5.06271601e-03 -3.35464717e-05 9.99987184e-01 5.65230809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:114.87, Y:2.50, Z:0.56 [[ 9.99964734e-01 -6.70068458e-03 -5.06282335e-03 1.14866184e+02] [ 6.70080186e-03 9.99977549e-01 6.20311102e-06 2.50317182e+00] [ 5.06266812e-03 -4.01278684e-05 9.99987184e-01 5.64532396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:114.90, Y:2.50, Z:0.56 [[ 9.99940117e-01 -9.70204400e-03 -5.06282332e-03 1.14895964e+02] [ 9.70219988e-03 9.99952933e-01 6.22909558e-06 2.50172003e+00] [ 5.06252459e-03 -5.53492464e-05 9.99987184e-01 5.63419313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:114.93, Y:2.50, Z:0.56 [[ 9.99922970e-01 -1.13323032e-02 -5.06282344e-03 1.14927691e+02] [ 1.13324795e-02 9.99935785e-01 6.13068746e-06 2.50107405e+00] [ 5.06242885e-03 -6.35045580e-05 9.99987184e-01 5.63484750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:114.96, Y:2.50, Z:0.56 [[ 9.99885467e-01 -1.42625969e-02 -5.06282319e-03 1.14958771e+02] [ 1.42628117e-02 9.99898281e-01 6.32956568e-06 2.49974409e+00] [ 5.06221793e-03 -7.85389345e-05 9.99987184e-01 5.63530724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:114.99, Y:2.50, Z:0.56 [[ 9.99863797e-01 -1.57084505e-02 -5.06282293e-03 1.14990240e+02] [ 1.57086849e-02 9.99876611e-01 6.53055506e-06 2.49903112e+00] [ 5.06209565e-03 -8.60599557e-05 9.99987184e-01 5.63329396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:115.02, Y:2.50, Z:0.56 [[ 9.99839428e-01 -1.71896909e-02 -5.06282197e-03 1.15022868e+02] [ 1.71899477e-02 9.99852242e-01 7.20592736e-06 2.49838077e+00] [ 5.06195003e-03 -9.42344149e-05 9.99987184e-01 5.63688706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51439141799999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:115.05, Y:2.50, Z:0.56 [[ 9.99786089e-01 -2.00535084e-02 -5.06282137e-03 1.15054815e+02] [ 2.00538039e-02 9.99798902e-01 7.60556933e-06 2.49681435e+00] [ 5.06165073e-03 -1.09132769e-04 9.99987184e-01 5.64032918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:115.08, Y:2.50, Z:0.56 [[ 9.99788960e-01 -1.99098595e-02 -5.06282071e-03 1.15084118e+02] [ 1.99101552e-02 9.99801773e-01 8.01847479e-06 2.49547233e+00] [ 5.06165748e-03 -1.08818329e-04 9.99987184e-01 5.62980209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57439141799999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:115.12, Y:2.49, Z:0.56 [[ 9.99722805e-01 -2.29930482e-02 -5.06286813e-03 1.15117701e+02] [ 2.29931964e-02 9.99735621e-01 -2.89371138e-05 2.49499669e+00] [ 5.06219497e-03 -8.74824287e-05 9.99987183e-01 5.62722362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:115.15, Y:2.49, Z:0.56 [[ 9.99695506e-01 -2.41508326e-02 -5.06280789e-03 1.15149988e+02] [ 2.41511837e-02 9.99708318e-01 8.21075414e-06 2.49428736e+00] [ 5.06113286e-03 -1.30481057e-04 9.99987184e-01 5.63291809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63439141799999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:115.18, Y:2.49, Z:0.57 [[ 9.99646439e-01 -2.61029848e-02 -5.06280722e-03 1.15181900e+02] [ 2.61033629e-02 9.99659249e-01 8.60102758e-06 2.49360729e+00] [ 5.06085756e-03 -1.40754281e-04 9.99987184e-01 5.65270626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:115.21, Y:2.49, Z:0.57 [[ 9.99567838e-01 -2.89569583e-02 -5.06280649e-03 1.15212680e+02] [ 2.89573750e-02 9.99580647e-01 9.01418080e-06 2.49334485e+00] [ 5.06042236e-03 -1.55615871e-04 9.99987184e-01 5.65995127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:115.25, Y:2.49, Z:0.57 [[ 9.99529169e-01 -3.02623307e-02 -5.06280592e-03 1.15245146e+02] [ 3.02627657e-02 9.99541978e-01 9.32134435e-06 2.49278397e+00] [ 5.06020496e-03 -1.62531465e-04 9.99987184e-01 5.66045162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:115.28, Y:2.49, Z:0.57 [[ 9.99470654e-01 -3.21368991e-02 -5.06280514e-03 1.15278066e+02] [ 3.21373602e-02 9.99483462e-01 9.72834840e-06 2.49234317e+00] [ 5.05987737e-03 -1.72428391e-04 9.99987184e-01 5.66029568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:115.31, Y:2.49, Z:0.57 [[ 9.99405018e-01 -3.41171277e-02 -5.06280390e-03 1.15309663e+02] [ 3.41176173e-02 9.99417825e-01 1.03364555e-05 2.49167612e+00] [ 5.05950381e-03 -1.83061111e-04 9.99987184e-01 5.65697029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:115.34, Y:2.49, Z:0.56 [[ 9.99324861e-01 -3.63894145e-02 -5.06280282e-03 1.15341657e+02] [ 3.63899357e-02 9.99337667e-01 1.08395282e-05 2.49092681e+00] [ 5.05905512e-03 -1.95067279e-04 9.99987184e-01 5.64865669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:115.37, Y:2.49, Z:0.57 [[ 9.99132501e-01 -4.13353796e-02 -5.06280171e-03 1.15374786e+02] [ 4.13359667e-02 9.99145304e-01 1.13375384e-05 2.49001379e+00] [ 5.05800591e-03 -2.20603506e-04 9.99987184e-01 5.65586802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:115.41, Y:2.49, Z:0.56 [[ 9.99024638e-01 -4.38650182e-02 -5.06280024e-03 1.15406673e+02] [ 4.38656408e-02 9.99037439e-01 1.19570960e-05 2.49018008e+00] [ 5.05740249e-03 -2.34028411e-04 9.99987184e-01 5.64950779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87439141799999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:115.44, Y:2.49, Z:0.57 [[ 9.98807038e-01 -4.85681885e-02 -5.06279898e-03 1.15439256e+02] [ 4.85688741e-02 9.98819836e-01 1.24705383e-05 2.49055816e+00] [ 5.05621837e-03 -2.58350107e-04 9.99987184e-01 5.65542974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:115.47, Y:2.49, Z:0.57 [[ 9.98700108e-01 -5.07194469e-02 -5.06279740e-03 1.15472367e+02] [ 5.07201631e-02 9.98712904e-01 1.30826743e-05 2.49033193e+00] [ 5.05561755e-03 -2.69851578e-04 9.99987184e-01 5.65765419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93439141799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:115.50, Y:2.49, Z:0.57 [[ 9.98609265e-01 -5.24776530e-02 -5.06279574e-03 1.15504631e+02] [ 5.24783948e-02 9.98622060e-01 1.36961234e-05 2.49017005e+00] [ 5.05510077e-03 -2.79364469e-04 9.99987184e-01 5.65471854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:115.54, Y:2.49, Z:0.57 [[ 9.98459771e-01 -5.52490187e-02 -5.06279431e-03 1.15537470e+02] [ 5.52497986e-02 9.98472563e-01 1.42038197e-05 2.49097620e+00] [ 5.05427647e-03 -2.93900309e-04 9.99987184e-01 5.66201411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99439141799999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:115.57, Y:2.49, Z:0.57 [[ 9.98413342e-01 -5.60817799e-02 -5.06279255e-03 1.15569437e+02] [ 5.60825735e-02 9.98426134e-01 1.48085083e-05 2.49154835e+00] [ 5.05399390e-03 -2.98719447e-04 9.99987184e-01 5.66050943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:115.60, Y:2.49, Z:0.57 [[ 9.98372104e-01 -5.68111718e-02 -5.06279103e-03 1.15602238e+02] [ 5.68119773e-02 9.98384895e-01 1.53087729e-05 2.49228998e+00] [ 5.05374439e-03 -3.02911021e-04 9.99987184e-01 5.67151926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:115.63, Y:2.49, Z:0.57 [[ 9.98347351e-01 -5.72445195e-02 -5.06278912e-03 1.15634336e+02] [ 5.72453336e-02 9.98360141e-01 1.59159496e-05 2.49349488e+00] [ 5.05357576e-03 -3.05710698e-04 9.99987184e-01 5.67055520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:115.67, Y:2.50, Z:0.57 [[ 9.98363616e-01 -5.69601446e-02 -5.06278749e-03 1.15666805e+02] [ 5.69609576e-02 9.98376406e-01 1.64190208e-05 2.49598357e+00] [ 5.05363235e-03 -3.04773377e-04 9.99987184e-01 5.67185096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:115.70, Y:2.50, Z:0.57 [[ 9.98408960e-01 -5.61597372e-02 -5.06278615e-03 1.15700070e+02] [ 5.61605420e-02 9.98421751e-01 1.68225454e-05 2.49681865e+00] [ 5.05385107e-03 -3.01124594e-04 9.99987184e-01 5.66893352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:115.73, Y:2.50, Z:0.57 [[ 9.98580418e-01 -5.30237457e-02 -5.06278407e-03 1.15731888e+02] [ 5.30245134e-02 9.98593211e-01 1.74263932e-05 2.49885504e+00] [ 5.05473779e-03 -2.85853317e-04 9.99987184e-01 5.66742887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:115.76, Y:2.50, Z:0.57 [[ 9.98700231e-01 -5.07170366e-02 -5.06278230e-03 1.15764360e+02] [ 5.07177772e-02 9.98713025e-01 1.79261982e-05 2.50071185e+00] [ 5.05535747e-03 -2.74675963e-04 9.99987184e-01 5.68543147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:115.80, Y:2.50, Z:0.57 [[ 9.98856161e-01 -4.75472210e-02 -5.06278087e-03 1.15796668e+02] [ 4.75479231e-02 9.98868958e-01 1.83226650e-05 2.50312512e+00] [ 5.05618346e-03 -2.59026422e-04 9.99987184e-01 5.70132538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23439141799999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:115.83, Y:2.51, Z:0.57 [[ 9.99177241e-01 -4.02394046e-02 -5.06277941e-03 1.15827828e+02] [ 4.02400150e-02 9.99190042e-01 1.87159630e-05 2.50830154e+00] [ 5.05792566e-03 -2.22426884e-04 9.99987184e-01 5.73158327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:115.86, Y:2.51, Z:0.57 [[ 9.99328038e-01 -3.63020695e-02 -5.06277831e-03 1.15860672e+02] [ 3.63026309e-02 9.99340842e-01 1.90087862e-05 2.51035350e+00] [ 5.05875109e-03 -2.02788186e-04 9.99987184e-01 5.74657575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29439141799999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:115.89, Y:2.51, Z:0.57 [[ 9.99476262e-01 -3.19620116e-02 -5.06277595e-03 1.15891443e+02] [ 3.19625205e-02 9.99489068e-01 1.96200397e-05 2.51130371e+00] [ 5.05956212e-03 -1.81428844e-04 9.99987184e-01 5.73448894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:115.92, Y:2.51, Z:0.58 [[ 9.99562205e-01 -2.91507702e-02 -5.06277476e-03 1.15923367e+02] [ 2.91512447e-02 9.99575012e-01 1.99223872e-05 2.51282156e+00] [ 5.06004238e-03 -1.67499851e-04 9.99987184e-01 5.75124907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35439141799999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:115.95, Y:2.51, Z:0.57 [[ 9.99729725e-01 -2.26901819e-02 -5.06277315e-03 1.15954557e+02] [ 2.26905755e-02 9.99742536e-01 2.03234200e-05 2.51397836e+00] [ 5.06100852e-03 -1.35195163e-04 9.99987184e-01 5.73066605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:115.99, Y:2.51, Z:0.57 [[ 9.99796655e-01 -1.95196420e-02 -5.06277193e-03 1.15987141e+02] [ 1.95199966e-02 9.99809467e-01 2.06218219e-05 2.51458921e+00] [ 5.06140477e-03 -1.19442919e-04 9.99987184e-01 5.72407725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:116.02, Y:2.52, Z:0.57 [[ 9.99851663e-01 -1.64627254e-02 -5.06277039e-03 1.16019434e+02] [ 1.64630427e-02 9.99864475e-01 2.09943304e-05 2.51521765e+00] [ 5.06173863e-03 -1.04339821e-04 9.99987184e-01 5.73529176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:116.05, Y:2.52, Z:0.57 [[ 9.99938075e-01 -9.91029067e-03 -5.06276865e-03 1.16050724e+02] [ 9.91052605e-03 9.99950889e-01 2.14058044e-05 2.51731771e+00] [ 5.06230787e-03 -7.15791794e-05 9.99987184e-01 5.72621667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:116.08, Y:2.52, Z:0.57 [[ 9.99965012e-01 -6.65905850e-03 -5.06276560e-03 1.16081802e+02] [ 6.65925574e-03 9.99977827e-01 2.21030468e-05 2.51817747e+00] [ 5.06250616e-03 -5.58165244e-05 9.99987184e-01 5.72912450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:116.11, Y:2.52, Z:0.57 [[ 9.99965012e-01 -6.65905748e-03 -5.06276472e-03 1.16112800e+02] [ 6.65925574e-03 9.99977827e-01 2.23035422e-05 2.51804082e+00] [ 5.06250394e-03 -5.60170068e-05 9.99987184e-01 5.73069321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:116.14, Y:2.52, Z:0.57 [[ 9.99982876e-01 -2.93543112e-03 -5.06276472e-03 1.16142413e+02] [ 2.93558166e-03 9.99995691e-01 2.23035422e-05 2.51880458e+00] [ 5.06267743e-03 -3.71653195e-05 9.99987184e-01 5.73008934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:116.17, Y:2.52, Z:0.57 [[ 9.99984283e-01 2.40870868e-03 -5.06285968e-03 1.16171285e+02] [-2.40874318e-03 9.99997099e-01 -7.17767132e-07 2.51893417e+00] [ 5.06284326e-03 1.29128846e-05 9.99987184e-01 5.72968790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59439141799999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:116.20, Y:2.52, Z:0.57 [[ 9.99974758e-01 4.98508835e-03 -5.06277118e-03 1.16198714e+02] [-4.98504688e-03 9.99987574e-01 2.08107609e-05 2.51904994e+00] [ 5.06281202e-03 4.42791610e-06 9.99987184e-01 5.73064692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:116.23, Y:2.52, Z:0.57 [[ 9.99962070e-01 7.08711082e-03 -5.06277391e-03 1.16227412e+02] [-7.08709976e-03 9.99974886e-01 2.01262390e-05 2.51922361e+00] [ 5.06278940e-03 1.57549081e-05 9.99987184e-01 5.74474559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:116.26, Y:2.52, Z:0.57 [[ 9.99937853e-01 9.93265677e-03 -5.06277594e-03 1.16255074e+02] [-9.93268481e-03 9.99950669e-01 1.96061982e-05 2.51911359e+00] [ 5.06272093e-03 3.06819779e-05 9.99987184e-01 5.74382691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:116.28, Y:2.52, Z:0.57 [[ 9.99926499e-01 1.10165949e-02 -5.06277787e-03 1.16284138e+02] [-1.10166394e-02 9.99939315e-01 1.90938998e-05 2.51859442e+00] [ 5.06268098e-03 3.66823019e-05 9.99987184e-01 5.74449993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71439141799999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.31, Y:2.52, Z:0.57 [[ 9.99920832e-01 1.15195031e-02 -5.06277928e-03 1.16311142e+02] [-1.15195560e-02 9.99933648e-01 1.87119831e-05 2.51797939e+00] [ 5.06265890e-03 3.96104676e-05 9.99987184e-01 5.74608993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.34, Y:2.52, Z:0.58 [[ 9.99908222e-01 1.25664496e-02 -5.06278164e-03 1.16338914e+02] [-1.25665192e-02 9.99921038e-01 1.80493467e-05 2.51679527e+00] [ 5.06260869e-03 4.55738528e-05 9.99987184e-01 5.76133864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:116.37, Y:2.51, Z:0.58 [[ 9.99922781e-01 1.13489600e-02 -5.06282448e-03 1.16367322e+02] [-1.13490752e-02 9.99935597e-01 5.98273593e-06 2.51449241e+00] [ 5.06256632e-03 5.14761017e-05 9.99987184e-01 5.75032134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:116.40, Y:2.51, Z:0.58 [[ 9.99937873e-01 9.93070934e-03 -5.06278463e-03 1.16395669e+02] [-9.93074797e-03 9.99950689e-01 1.75085411e-05 2.51378079e+00] [ 5.06270885e-03 3.27697848e-05 9.99987184e-01 5.75273152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:116.42, Y:2.51, Z:0.58 [[ 9.99966016e-01 6.50650744e-03 -5.06278668e-03 1.16423757e+02] [-6.50650530e-03 9.99978832e-01 1.68934365e-05 2.51096950e+00] [ 5.06278943e-03 1.60481860e-05 9.99987184e-01 5.75419065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:116.45, Y:2.51, Z:0.57 [[ 9.99979474e-01 3.92679426e-03 -5.06278851e-03 1.16451768e+02] [-3.92676194e-03 9.99992290e-01 1.63240343e-05 2.50893969e+00] [ 5.06281358e-03 3.55666603e-06 9.99987184e-01 5.73757403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:116.48, Y:2.51, Z:0.57 [[ 9.99986302e-01 1.32816588e-03 -5.06279008e-03 1.16479533e+02] [-1.32810280e-03 9.99999118e-01 1.58220033e-05 2.50643671e+00] [ 5.06280663e-03 -9.09788093e-06 9.99987184e-01 5.73183293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:116.51, Y:2.50, Z:0.57 [[ 9.99986289e-01 -1.33776408e-03 -5.06279146e-03 1.16508410e+02] [ 1.33785903e-03 9.99999105e-01 1.53683503e-05 2.50389989e+00] [ 5.06276637e-03 -2.21414408e-05 9.99987184e-01 5.72591318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95439141799999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:116.54, Y:2.50, Z:0.57 [[ 9.99970374e-01 -5.79828258e-03 -5.06279253e-03 1.16536569e+02] [ 5.79843288e-03 9.99983189e-01 1.50082614e-05 2.49900271e+00] [ 5.06262039e-03 -4.43640794e-05 9.99987184e-01 5.72264697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:116.57, Y:2.50, Z:0.57 [[ 9.99960923e-01 -7.24709280e-03 -5.06279381e-03 1.16566326e+02] [ 7.24725940e-03 9.99973738e-01 1.45607354e-05 2.49703698e+00] [ 5.06255533e-03 -5.12515465e-05 9.99987184e-01 5.72801868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01439141799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:116.60, Y:2.49, Z:0.58 [[ 9.99967233e-01 -6.31668455e-03 -5.06279432e-03 1.16596352e+02] [ 6.31683833e-03 9.99980048e-01 1.43835687e-05 2.49479518e+00] [ 5.06260245e-03 -4.63639506e-05 9.99987184e-01 5.76308427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:116.63, Y:2.49, Z:0.58 [[ 9.99969715e-01 -5.91066493e-03 -5.06286530e-03 1.16626973e+02] [ 5.91068773e-03 9.99982532e-01 -1.04591641e-05 2.49165913e+00] [ 5.06283869e-03 -1.94661685e-05 9.99987184e-01 5.75324593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07439141799999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:116.66, Y:2.49, Z:0.58 [[ 9.99978866e-01 -4.07863171e-03 -5.06279577e-03 1.16656684e+02] [ 4.07875612e-03 9.99991682e-01 1.42487234e-05 2.49010375e+00] [ 5.06269554e-03 -3.48983314e-05 9.99987184e-01 5.75131314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:116.69, Y:2.49, Z:0.58 [[ 9.99984999e-01 -2.09057263e-03 -5.06279633e-03 1.16685999e+02] [ 2.09067054e-03 9.99997814e-01 1.40475385e-05 2.48869609e+00] [ 5.06275589e-03 -2.46319669e-05 9.99987184e-01 5.75025312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13439141799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:116.72, Y:2.49, Z:0.58 [[ 9.99987174e-01 1.38480970e-04 -5.06279687e-03 1.16715056e+02] [-1.38412635e-04 9.99999990e-01 1.38479619e-05 2.48706345e+00] [ 5.06279874e-03 -1.31470292e-05 9.99987184e-01 5.75019951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:116.74, Y:2.48, Z:0.57 [[ 9.99979525e-01 3.91387783e-03 -5.06279767e-03 1.16742524e+02] [-3.91385939e-03 9.99992341e-01 1.35506689e-05 2.48375097e+00] [ 5.06281193e-03 6.26468677e-06 9.99987184e-01 5.74659167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:116.77, Y:2.48, Z:0.57 [[ 9.99974031e-01 5.12881620e-03 -5.06279960e-03 1.16770051e+02] [-5.12881721e-03 9.99986847e-01 1.27837672e-05 2.48180948e+00] [ 5.06279858e-03 1.31827385e-05 9.99987184e-01 5.74552284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:116.80, Y:2.48, Z:0.57 [[ 9.99970475e-01 5.78084120e-03 -5.06280086e-03 1.16799319e+02] [-5.78085320e-03 9.99983291e-01 1.22637350e-05 2.47978559e+00] [ 5.06278716e-03 1.70039357e-05 9.99987184e-01 5.74337093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:116.83, Y:2.48, Z:0.57 [[ 9.99971372e-01 5.62352217e-03 -5.06280177e-03 1.16827310e+02] [-5.62353410e-03 9.99984188e-01 1.18792588e-05 2.47549506e+00] [ 5.06278852e-03 1.65919197e-05 9.99987184e-01 5.72941743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:116.86, Y:2.47, Z:0.57 [[ 9.99975477e-01 4.83874220e-03 -5.06280288e-03 1.16856382e+02] [-4.83874658e-03 9.99988293e-01 1.13849728e-05 2.47306650e+00] [ 5.06279870e-03 1.31129265e-05 9.99987184e-01 5.72266875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:116.89, Y:2.47, Z:0.57 [[ 9.99985469e-01 1.85193604e-03 -5.06280370e-03 1.16885219e+02] [-1.85190405e-03 9.99998285e-01 1.10072401e-05 2.46832033e+00] [ 5.06281540e-03 -1.63125352e-06 9.99987184e-01 5.71429441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:116.91, Y:2.47, Z:0.57 [[ 9.99987141e-01 -2.91909905e-04 -5.06280449e-03 1.16914398e+02] [ 2.91967470e-04 9.99999957e-01 1.06311154e-05 2.46620450e+00] [ 5.06280117e-03 -1.21091529e-05 9.99987184e-01 5.72455142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37439141799999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:116.94, Y:2.46, Z:0.57 [[ 9.99984175e-01 -2.45296263e-03 -5.06280531e-03 1.16943034e+02] [ 2.45304584e-03 9.99996991e-01 1.02260767e-05 2.46408374e+00] [ 5.06276499e-03 -2.26452084e-05 9.99987184e-01 5.72787922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:116.97, Y:2.46, Z:0.57 [[ 9.99974078e-01 -5.11963794e-03 -5.06280610e-03 1.16971486e+02] [ 5.11975327e-03 9.99986894e-01 9.81979627e-06 2.46215131e+00] [ 5.06268947e-03 -3.57398598e-05 9.99987184e-01 5.72697853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43439141799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:117.00, Y:2.46, Z:0.57 [[ 9.99925367e-01 -1.11188666e-02 -5.06280651e-03 1.17001183e+02] [ 1.11190577e-02 9.99938181e-01 9.60105325e-06 2.45801791e+00] [ 5.06238678e-03 -6.58939746e-05 9.99987184e-01 5.73750906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:117.03, Y:2.46, Z:0.57 [[ 9.99885531e-01 -1.42580712e-02 -5.06280688e-03 1.17031975e+02] [ 1.42583015e-02 9.99898345e-01 9.39996218e-06 2.45568621e+00] [ 5.06215820e-03 -8.15859134e-05 9.99987184e-01 5.74329241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49439141799999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:117.06, Y:2.45, Z:0.58 [[ 9.99765483e-01 -2.10558282e-02 -5.06280670e-03 1.17063286e+02] [ 2.10561461e-02 9.99778295e-01 9.49983368e-06 2.45102403e+00] [ 5.06148422e-03 -1.16100803e-04 9.99987184e-01 5.75840356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:117.09, Y:2.45, Z:0.58 [[ 9.99699015e-01 -2.40051655e-02 -5.06280632e-03 1.17094724e+02] [ 2.40055223e-02 9.99711826e-01 9.69793326e-06 2.44873376e+00] [ 5.06111455e-03 -1.31230324e-04 9.99987184e-01 5.76849597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:117.13, Y:2.45, Z:0.58 [[ 9.99618243e-01 -2.71612875e-02 -5.06282652e-03 1.17128089e+02] [ 2.71616340e-02 9.99631055e-01 -3.20819289e-07 2.44673845e+00] [ 5.06096733e-03 -1.37193944e-04 9.99987184e-01 5.77826301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:117.16, Y:2.44, Z:0.58 [[ 9.99549769e-01 -2.95740904e-02 -5.06280206e-03 1.17160103e+02] [ 2.95745250e-02 9.99562578e-01 1.09694122e-05 2.44485431e+00] [ 5.06026307e-03 -1.60694439e-04 9.99987184e-01 5.77775949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:117.19, Y:2.44, Z:0.58 [[ 9.99425799e-01 -3.35028294e-02 -5.06280113e-03 1.17192563e+02] [ 3.35033164e-02 9.99438606e-01 1.13828141e-05 2.44149386e+00] [ 5.05957755e-03 -1.80996906e-04 9.99987184e-01 5.76885239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:117.22, Y:2.44, Z:0.58 [[ 9.99380484e-01 -3.48283932e-02 -5.06280016e-03 1.17224705e+02] [ 3.48288993e-02 9.99393290e-01 1.17970601e-05 2.43987139e+00] [ 5.05931764e-03 -1.88121508e-04 9.99987184e-01 5.76513799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:117.26, Y:2.44, Z:0.58 [[ 9.99323940e-01 -3.64147199e-02 -5.06279917e-03 1.17256968e+02] [ 3.64152483e-02 9.99336745e-01 1.22086814e-05 2.43816521e+00] [ 5.05899667e-03 -1.96563517e-04 9.99987184e-01 5.76715933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:117.29, Y:2.44, Z:0.58 [[ 9.99317771e-01 -3.65836008e-02 -5.06279815e-03 1.17288623e+02] [ 3.65841335e-02 9.99330576e-01 1.26177618e-05 2.43751547e+00] [ 5.05894739e-03 -1.97827237e-04 9.99987184e-01 5.76838810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73439141799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:117.32, Y:2.44, Z:0.58 [[ 9.99315153e-01 -3.66550674e-02 -5.06279737e-03 1.17321270e+02] [ 3.66556026e-02 9.99327958e-01 1.29222844e-05 2.43700322e+00] [ 5.05892129e-03 -1.98493323e-04 9.99987184e-01 5.77614784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:117.35, Y:2.44, Z:0.58 [[ 9.99333280e-01 -3.61574933e-02 -5.06279568e-03 1.17352569e+02] [ 3.61580253e-02 9.99346085e-01 1.35562730e-05 2.43657125e+00] [ 5.05899488e-03 -1.96607929e-04 9.99987184e-01 5.77787019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79439141799999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:117.39, Y:2.44, Z:0.58 [[ 9.99332315e-01 -3.61841567e-02 -5.06279482e-03 1.17385713e+02] [ 3.61846906e-02 9.99345120e-01 1.38695805e-05 2.43698667e+00] [ 5.05897743e-03 -1.97055984e-04 9.99987184e-01 5.78376351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:117.42, Y:2.44, Z:0.58 [[ 9.99376032e-01 -3.49559158e-02 -5.06275920e-03 1.17416486e+02] [ 3.49564976e-02 9.99388835e-01 2.64401215e-05 2.43633794e+00] [ 5.05874078e-03 -2.03399953e-04 9.99987184e-01 5.77534446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85439141799999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:117.45, Y:2.44, Z:0.58 [[ 9.99384383e-01 -3.47163300e-02 -5.06279325e-03 1.17447910e+02] [ 3.47168497e-02 9.99397188e-01 1.47732936e-05 2.43611946e+00] [ 5.05922846e-03 -1.90528431e-04 9.99987184e-01 5.76608352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:117.48, Y:2.44, Z:0.58 [[ 9.99407752e-01 -3.40369302e-02 -5.06279234e-03 1.17479700e+02] [ 3.40374427e-02 9.99420558e-01 1.50793658e-05 2.43534686e+00] [ 5.05934549e-03 -1.87394939e-04 9.99987184e-01 5.75621679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:117.51, Y:2.44, Z:0.58 [[ 9.99428047e-01 -3.34357278e-02 -5.06279109e-03 1.17510573e+02] [ 3.34362347e-02 9.99440853e-01 1.54876726e-05 2.43522418e+00] [ 5.05944240e-03 -1.84759485e-04 9.99987184e-01 5.75467835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:117.54, Y:2.44, Z:0.58 [[ 9.99484923e-01 -3.16899999e-02 -5.06279014e-03 1.17543270e+02] [ 3.16904859e-02 9.99497730e-01 1.57918715e-05 2.43592069e+00] [ 5.05974681e-03 -1.76226017e-04 9.99987184e-01 5.75572875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:117.58, Y:2.44, Z:0.58 [[ 9.99523804e-01 -3.04390269e-02 -5.06278848e-03 1.17575820e+02] [ 3.04394995e-02 9.99536611e-01 1.63071843e-05 2.43675560e+00] [ 5.05994606e-03 -1.70408166e-04 9.99987184e-01 5.76083737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:117.61, Y:2.44, Z:0.58 [[ 9.99571030e-01 -2.88465624e-02 -5.06278709e-03 1.17607977e+02] [ 2.88470168e-02 9.99583838e-01 1.67268774e-05 2.43760444e+00] [ 5.06019764e-03 -1.62766006e-04 9.99987184e-01 5.76878572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:117.64, Y:2.44, Z:0.58 [[ 9.99618630e-01 -2.71470540e-02 -5.06278568e-03 1.17639930e+02] [ 2.71474887e-02 9.99631439e-01 1.71439290e-05 2.43846551e+00] [ 5.06045433e-03 -1.54579308e-04 9.99987184e-01 5.77877079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:117.67, Y:2.44, Z:0.58 [[ 9.99718377e-01 -2.31847830e-02 -5.06278423e-03 1.17671118e+02] [ 2.31851690e-02 9.99731188e-01 1.75605785e-05 2.43927628e+00] [ 5.06101616e-03 -1.34937141e-04 9.99987184e-01 5.78355686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:117.70, Y:2.44, Z:0.58 [[ 9.99733316e-01 -2.25314127e-02 -5.06282742e-03 1.17704415e+02] [ 2.25317269e-02 9.99746128e-01 5.03260899e-06 2.43964565e+00] [ 5.06142872e-03 -1.19105512e-04 9.99987184e-01 5.80188825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:117.74, Y:2.44, Z:0.58 [[ 9.99756295e-01 -2.14876433e-02 -5.06278127e-03 1.17736101e+02] [ 2.14880099e-02 9.99769106e-01 1.80083108e-05 2.43977308e+00] [ 5.06122535e-03 -1.26793016e-04 9.99987184e-01 5.81313584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15439141799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:117.77, Y:2.44, Z:0.58 [[ 9.99770779e-01 -2.08028256e-02 -5.06278016e-03 1.17768409e+02] [ 2.08031849e-02 9.99783590e-01 1.83151438e-05 2.43993529e+00] [ 5.06130352e-03 -1.23632898e-04 9.99987184e-01 5.81962410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:117.80, Y:2.44, Z:0.58 [[ 9.99778054e-01 -2.04502041e-02 -5.06277863e-03 1.17799188e+02] [ 2.04505610e-02 9.99790865e-01 1.87289397e-05 2.44026155e+00] [ 5.06133682e-03 -1.22261446e-04 9.99987184e-01 5.81791882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21439141799999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:117.83, Y:2.44, Z:0.58 [[ 9.99787718e-01 -1.99721578e-02 -5.06277747e-03 1.17831100e+02] [ 1.99725101e-02 9.99800529e-01 1.90367616e-05 2.44006665e+00] [ 5.06138739e-03 -1.20149095e-04 9.99987184e-01 5.81479117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:117.86, Y:2.44, Z:0.58 [[ 9.99801922e-01 -1.92479913e-02 -5.06277587e-03 1.17863031e+02] [ 1.92483364e-02 9.99814733e-01 1.94531574e-05 2.43993161e+00] [ 5.06146347e-03 -1.16899317e-04 9.99987184e-01 5.81226336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:117.89, Y:2.44, Z:0.58 [[ 9.99844745e-01 -1.68776251e-02 -5.06277423e-03 1.17894725e+02] [ 1.68779420e-02 9.99857557e-01 1.98702081e-05 2.43982123e+00] [ 5.06171772e-03 -1.05316333e-04 9.99987184e-01 5.80310223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:117.93, Y:2.44, Z:0.58 [[ 9.99868851e-01 -1.53834033e-02 -5.06277258e-03 1.17925861e+02] [ 1.53837031e-02 9.99881664e-01 2.02831611e-05 2.43999470e+00] [ 5.06186145e-03 -9.81646913e-05 9.99987184e-01 5.80469019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:117.96, Y:2.44, Z:0.58 [[ 9.99911774e-01 -1.22805877e-02 -5.06277175e-03 1.17957138e+02] [ 1.22808488e-02 9.99924587e-01 2.04880927e-05 2.44047356e+00] [ 5.06213835e-03 -8.26614194e-05 9.99987184e-01 5.81906949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:117.99, Y:2.44, Z:0.58 [[ 9.99928524e-01 -1.08312545e-02 -5.06277090e-03 1.17987929e+02] [ 1.08314981e-02 9.99941337e-01 2.06965701e-05 2.44046395e+00] [ 5.06224973e-03 -7.55324841e-05 9.99987184e-01 5.82537341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:118.02, Y:2.44, Z:0.58 [[ 9.99928524e-01 -1.08312540e-02 -5.06277048e-03 1.18018927e+02] [ 1.08314981e-02 9.99941337e-01 2.07994342e-05 2.44033654e+00] [ 5.06224820e-03 -7.56353363e-05 9.99987184e-01 5.82694257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:118.05, Y:2.44, Z:0.58 [[ 9.99940013e-01 -9.71280360e-03 -5.06277048e-03 1.18049565e+02] [ 9.71303337e-03 9.99952827e-01 2.07994342e-05 2.43985892e+00] [ 5.06232963e-03 -6.99730451e-05 9.99987184e-01 5.83573193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45439141799999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:118.08, Y:2.44, Z:0.58 [[ 9.99953976e-01 -8.14946353e-03 -5.06277048e-03 1.18080347e+02] [ 8.14967327e-03 9.99966791e-01 2.07994342e-05 2.43829963e+00] [ 5.06243284e-03 -6.20584021e-05 9.99987184e-01 5.83341061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:118.11, Y:2.44, Z:0.58 [[ 9.99953772e-01 -8.17451321e-03 -5.06277005e-03 1.18110696e+02] [ 8.17472380e-03 9.99966586e-01 2.09024701e-05 2.43705283e+00] [ 5.06243002e-03 -6.22882506e-05 9.99987184e-01 5.81810050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:118.14, Y:2.44, Z:0.58 [[ 9.99948106e-01 -8.84049932e-03 -5.06277005e-03 1.18139958e+02] [ 8.84071844e-03 9.99960920e-01 2.09024701e-05 2.43673737e+00] [ 5.06238741e-03 -6.56599099e-05 9.99987184e-01 5.80444408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:118.17, Y:2.44, Z:0.58 [[ 9.99948106e-01 -8.84049920e-03 -5.06276996e-03 1.18170957e+02] [ 8.84071844e-03 9.99960920e-01 2.09246418e-05 2.43660924e+00] [ 5.06238712e-03 -6.56820797e-05 9.99987184e-01 5.80601345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:118.20, Y:2.44, Z:0.58 [[ 9.99922344e-01 -1.13874809e-02 -5.06276996e-03 1.18201352e+02] [ 1.13877328e-02 9.99935157e-01 2.09246418e-05 2.43548053e+00] [ 5.06220340e-03 -7.85764884e-05 9.99987184e-01 5.79155383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:118.23, Y:2.43, Z:0.58 [[ 9.99894822e-01 -1.35909331e-02 -5.06276996e-03 1.18231366e+02] [ 1.35912132e-02 9.99907635e-01 2.09246418e-05 2.43457781e+00] [ 5.06201795e-03 -8.97316268e-05 9.99987184e-01 5.79060063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:118.26, Y:2.43, Z:0.58 [[ 9.99859455e-01 -1.59824177e-02 -5.06276996e-03 1.18262974e+02] [ 1.59827284e-02 9.99872268e-01 2.09246418e-05 2.43335217e+00] [ 5.06178885e-03 -1.01838578e-04 9.99987184e-01 5.79111045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:118.29, Y:2.43, Z:0.58 [[ 9.99755419e-01 -2.15283441e-02 -5.06276911e-03 1.18293916e+02] [ 2.15287269e-02 9.99768230e-01 2.11271647e-05 2.43202541e+00] [ 5.06114088e-03 -1.30116971e-04 9.99987184e-01 5.78970184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:118.33, Y:2.43, Z:0.58 [[ 9.99694882e-01 -2.41766744e-02 -5.06276783e-03 1.18326459e+02] [ 2.41770927e-02 9.99707691e-01 2.14293710e-05 2.43169572e+00] [ 5.06076985e-03 -1.43825840e-04 9.99987184e-01 5.79478034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:118.36, Y:2.43, Z:0.58 [[ 9.99621577e-01 -2.70383323e-02 -5.06276607e-03 1.18357186e+02] [ 2.70387893e-02 9.99634385e-01 2.18383057e-05 2.43197983e+00] [ 5.06032458e-03 -1.58721107e-04 9.99987184e-01 5.78926341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:118.39, Y:2.43, Z:0.58 [[ 9.99496691e-01 -3.13166641e-02 -5.06276474e-03 1.18389655e+02] [ 3.13171775e-02 9.99509497e-01 2.21423607e-05 2.43226953e+00] [ 5.05958801e-03 -1.80682718e-04 9.99987184e-01 5.79307545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:118.42, Y:2.43, Z:0.58 [[ 9.99430179e-01 -3.33719352e-02 -5.06276298e-03 1.18420515e+02] [ 3.33724769e-02 9.99442984e-01 2.25384154e-05 2.43258512e+00] [ 5.05919079e-03 -1.91482513e-04 9.99987184e-01 5.79970557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:118.45, Y:2.43, Z:0.58 [[ 9.99331841e-01 -3.61972411e-02 -5.06275996e-03 1.18452891e+02] [ 3.61978223e-02 9.99344644e-01 2.31967137e-05 2.43171085e+00] [ 5.05860239e-03 -2.06442100e-04 9.99987184e-01 5.79509056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:118.48, Y:2.43, Z:0.58 [[ 9.99264768e-01 -3.80038289e-02 -5.06275814e-03 1.18484109e+02] [ 3.80044352e-02 9.99277570e-01 2.35882672e-05 2.43236539e+00] [ 5.05820421e-03 -2.15978188e-04 9.99987184e-01 5.79691215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87439141799999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:118.52, Y:2.43, Z:0.58 [[ 9.99258684e-01 -3.81634721e-02 -5.06275516e-03 1.18515968e+02] [ 3.81640836e-02 9.99271486e-01 2.42107310e-05 2.43344181e+00] [ 5.05814291e-03 -2.17408195e-04 9.99987184e-01 5.81021625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:118.55, Y:2.43, Z:0.58 [[ 9.99261709e-01 -3.80841880e-02 -5.06275321e-03 1.18548658e+02] [ 3.80848006e-02 9.99274511e-01 2.46122318e-05 2.43320402e+00] [ 5.05814290e-03 -2.17408007e-04 9.99987184e-01 5.81187026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93439141799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:118.58, Y:2.43, Z:0.58 [[ 9.99259983e-01 -3.81294582e-02 -5.06275122e-03 1.18580729e+02] [ 3.81300734e-02 9.99272784e-01 2.50139191e-05 2.43448883e+00] [ 5.05811574e-03 -2.18038484e-04 9.99987184e-01 5.81372460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:118.61, Y:2.44, Z:0.58 [[ 9.99268157e-01 -3.79146390e-02 -5.06274922e-03 1.18611902e+02] [ 3.79152535e-02 9.99280958e-01 2.54131381e-05 2.43571816e+00] [ 5.05814536e-03 -2.17349960e-04 9.99987184e-01 5.80987703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99439141799999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:118.64, Y:2.44, Z:0.58 [[ 9.99310683e-01 -3.67767328e-02 -5.06274771e-03 1.18643966e+02] [ 3.67773342e-02 9.99323485e-01 2.57106455e-05 2.43792709e+00] [ 5.05837713e-03 -2.11887287e-04 9.99987184e-01 5.83440550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:118.68, Y:2.44, Z:0.58 [[ 9.99350486e-01 -3.56787668e-02 -5.06274556e-03 1.18676001e+02] [ 3.56793563e-02 9.99363289e-01 2.61268383e-05 2.43851247e+00] [ 5.05858988e-03 -2.06745371e-04 9.99987184e-01 5.81977469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:118.71, Y:2.44, Z:0.58 [[ 9.99389736e-01 -3.45618931e-02 -5.06274283e-03 1.18707888e+02] [ 3.45624709e-02 9.99402539e-01 2.66459046e-05 2.43902241e+00] [ 5.05879711e-03 -2.01610545e-04 9.99987184e-01 5.83174316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:118.74, Y:2.44, Z:0.58 [[ 9.99424593e-01 -3.35388098e-02 -5.06274071e-03 1.18739967e+02] [ 3.35393765e-02 9.99437396e-01 2.70421391e-05 2.44021396e+00] [ 5.05898544e-03 -1.96827746e-04 9.99987184e-01 5.83937394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:118.77, Y:2.44, Z:0.58 [[ 9.99499270e-01 -3.12342447e-02 -5.06273850e-03 1.18772107e+02] [ 3.12347839e-02 9.99512075e-01 2.74497636e-05 2.44386578e+00] [ 5.05941089e-03 -1.85569562e-04 9.99987184e-01 5.84203451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:118.80, Y:2.45, Z:0.58 [[ 9.99396815e-01 -3.43565952e-02 -5.06273619e-03 1.18795876e+02] [ 3.43571765e-02 9.99409618e-01 2.78707856e-05 2.45246925e+00] [ 5.05878969e-03 -2.01795295e-04 9.99987184e-01 5.81156734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174391418 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:118.83, Y:2.45, Z:0.58 [[ 9.99622430e-01 -2.70066942e-02 -5.06328877e-03 1.18832545e+02] [ 2.70066272e-02 9.99635251e-01 -8.16066830e-05 2.44839983e+00] [ 5.06364587e-03 -5.51664815e-05 9.99987178e-01 5.82068325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:118.86, Y:2.45, Z:0.58 [[ 9.99653090e-01 -2.58470385e-02 -5.06265041e-03 1.18864742e+02] [ 2.58475173e-02 9.99665897e-01 2.91740932e-05 2.44930969e+00] [ 5.06020490e-03 -1.60020917e-04 9.99987184e-01 5.81417260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23439141799999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:118.90, Y:2.45, Z:0.58 [[ 9.99684263e-01 -2.46118469e-02 -5.06264800e-03 1.18897179e+02] [ 2.46123121e-02 9.99697071e-01 2.95863424e-05 2.45007521e+00] [ 5.06038620e-03 -1.54180473e-04 9.99987184e-01 5.81368989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:118.92, Y:2.46, Z:0.58 [[ 9.99659055e-01 -2.56152892e-02 -5.06264558e-03 1.18921073e+02] [ 2.56157693e-02 9.99671862e-01 2.99952674e-05 2.45933269e+00] [ 5.06021600e-03 -1.59668602e-04 9.99987184e-01 5.78701411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29439141799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:118.96, Y:2.46, Z:0.58 [[ 9.99760689e-01 -2.12821039e-02 -5.06319966e-03 1.18956403e+02] [ 2.12819955e-02 9.99773510e-01 -7.53015208e-05 2.45511723e+00] [ 5.06365547e-03 -3.24714920e-05 9.99987179e-01 5.83916154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:118.99, Y:2.46, Z:0.59 [[ 9.99807965e-01 -1.89315544e-02 -5.06256410e-03 1.18988303e+02] [ 1.89319511e-02 9.99820774e-01 3.04322780e-05 2.45877826e+00] [ 5.06108062e-03 -1.26270650e-04 9.99987185e-01 5.86421705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35439141799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:119.02, Y:2.46, Z:0.59 [[ 9.99829007e-01 -1.77856156e-02 -5.06256166e-03 1.19020454e+02] [ 1.77859996e-02 9.99841816e-01 3.08325029e-05 2.45960458e+00] [ 5.06121247e-03 -1.20869950e-04 9.99987185e-01 5.86995001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:119.05, Y:2.46, Z:0.59 [[ 9.99844675e-01 -1.68818192e-02 -5.06255920e-03 1.19052880e+02] [ 1.68821936e-02 9.99857485e-01 3.12309705e-05 2.46014853e+00] [ 5.06131048e-03 -1.16693224e-04 9.99987185e-01 5.87304146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:119.08, Y:2.46, Z:0.59 [[ 9.99863424e-01 -1.57322341e-02 -5.06255672e-03 1.19084272e+02] [ 1.57325958e-02 9.99876235e-01 3.16282435e-05 2.46146289e+00] [ 5.06143257e-03 -1.11271082e-04 9.99987185e-01 5.87634202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:119.12, Y:2.46, Z:0.59 [[ 9.99864630e-01 -1.56554275e-02 -5.06255486e-03 1.19116962e+02] [ 1.56557897e-02 9.99877440e-01 3.19238349e-05 2.46117682e+00] [ 5.06143461e-03 -1.11177808e-04 9.99987185e-01 5.87799622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:119.15, Y:2.46, Z:0.59 [[ 9.99864576e-01 -1.56589024e-02 -5.06255237e-03 1.19148530e+02] [ 1.56592667e-02 9.99877386e-01 3.23127224e-05 2.46273164e+00] [ 5.06142565e-03 -1.11584204e-04 9.99987185e-01 5.88053229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:119.18, Y:2.46, Z:0.59 [[ 9.99856036e-01 -1.61949927e-02 -5.06255051e-03 1.19180290e+02] [ 1.61953652e-02 9.99868846e-01 3.26022859e-05 2.46313031e+00] [ 5.06135854e-03 -1.14587447e-04 9.99987185e-01 5.87900600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:119.21, Y:2.46, Z:0.59 [[ 9.99832993e-01 -1.75601042e-02 -5.06254801e-03 1.19211440e+02] [ 1.75604962e-02 9.99845802e-01 3.29859345e-05 2.46381770e+00] [ 5.06118814e-03 -1.21881281e-04 9.99987185e-01 5.87405170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564391418 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:119.24, Y:2.46, Z:0.59 [[ 9.99831559e-01 -1.76415502e-02 -5.06254613e-03 1.19243449e+02] [ 1.76419447e-02 9.99844368e-01 3.32718769e-05 2.46359931e+00] [ 5.06117127e-03 -1.22579431e-04 9.99987185e-01 5.87331016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59439141799999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:119.27, Y:2.46, Z:0.59 [[ 9.99840322e-01 -1.71377052e-02 -5.06254363e-03 1.19274940e+02] [ 1.71380951e-02 9.99853132e-01 3.36487684e-05 2.46379595e+00] [ 5.06122343e-03 -1.20405750e-04 9.99987185e-01 5.86551089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:119.31, Y:2.46, Z:0.59 [[ 9.99857908e-01 -1.60790234e-02 -5.06254174e-03 1.19306823e+02] [ 1.60794012e-02 9.99870718e-01 3.39296157e-05 2.46412691e+00] [ 5.06134169e-03 -1.15327434e-04 9.99987185e-01 5.86707430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65439141799999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:119.34, Y:2.46, Z:0.59 [[ 9.99894446e-01 -1.36186259e-02 -5.06253925e-03 1.19338296e+02] [ 1.36189740e-02 9.99907257e-01 3.42972577e-05 2.46475085e+00] [ 5.06160266e-03 -1.03240228e-04 9.99987185e-01 5.89866361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:119.36, Y:2.47, Z:0.59 [[ 9.99896251e-01 -1.34854354e-02 -5.06266759e-03 1.19362032e+02] [ 1.34856859e-02 9.99909064e-01 1.53462367e-05 2.46981496e+00] [ 5.06200026e-03 -8.36181895e-05 9.99987184e-01 5.85306467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71439141799999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:119.40, Y:2.47, Z:0.59 [[ 9.99898362e-01 -1.33278345e-02 -5.06311407e-03 1.19399165e+02] [ 1.33275187e-02 9.99911180e-01 -9.60986252e-05 2.46651726e+00] [ 5.06394515e-03 2.86101105e-05 9.99987178e-01 5.87199934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:119.43, Y:2.47, Z:0.59 [[ 9.99940594e-01 -9.65291285e-03 -5.06255425e-03 1.19430930e+02] [ 9.65315636e-03 9.99953407e-01 2.36654500e-05 2.46683335e+00] [ 5.06208993e-03 -7.25336719e-05 9.99987185e-01 5.89496537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:119.46, Y:2.47, Z:0.59 [[ 9.99951023e-01 -8.50421828e-03 -5.06255330e-03 1.19461056e+02] [ 8.50444809e-03 9.99963836e-01 2.38666396e-05 2.46681287e+00] [ 5.06216726e-03 -6.69196925e-05 9.99987185e-01 5.90159393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:119.49, Y:2.47, Z:0.59 [[ 9.99932367e-01 -1.04705098e-02 -5.06255330e-03 1.19486685e+02] [ 1.04707648e-02 9.99945180e-01 2.38666396e-05 2.47131349e+00] [ 5.06202588e-03 -7.68738302e-05 9.99987185e-01 5.88289244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:119.52, Y:2.47, Z:0.59 [[ 9.99955514e-01 -7.95838785e-03 -5.06292850e-03 1.19521407e+02] [ 7.95816945e-03 9.99968331e-01 -6.32818391e-05 2.46551861e+00] [ 5.06327178e-03 2.29873811e-05 9.99987181e-01 5.90581753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:119.55, Y:2.47, Z:0.59 [[ 9.99948398e-01 -8.80753452e-03 -5.06250817e-03 1.19551290e+02] [ 8.80777039e-03 9.99961211e-01 2.42980119e-05 2.46500820e+00] [ 5.06209779e-03 -6.88861676e-05 9.99987185e-01 5.89880706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:119.58, Y:2.46, Z:0.59 [[ 9.99918535e-01 -1.17172900e-02 -5.06250866e-03 1.19581455e+02] [ 1.17175626e-02 9.99931347e-01 2.41956580e-05 2.46446000e+00] [ 5.06187759e-03 -8.35139490e-05 9.99987185e-01 5.91221346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924391418 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:119.61, Y:2.46, Z:0.59 [[ 9.99897038e-01 -1.34270046e-02 -5.06250866e-03 1.19612882e+02] [ 1.34272992e-02 9.99909849e-01 2.41956580e-05 2.46393454e+00] [ 5.06172739e-03 -9.21689851e-05 9.99987185e-01 5.91623983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95439141799999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:119.64, Y:2.46, Z:0.59 [[ 9.99865166e-01 -1.56211564e-02 -5.06250766e-03 1.19643645e+02] [ 1.56214801e-02 9.99877977e-01 2.44020762e-05 2.46331383e+00] [ 5.06150873e-03 -1.03482648e-04 9.99987185e-01 5.91301432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:119.68, Y:2.46, Z:0.59 [[ 9.99823605e-01 -1.80867584e-02 -5.06250615e-03 1.19675890e+02] [ 1.80871153e-02 9.99836414e-01 2.47112786e-05 2.46241273e+00] [ 5.06123105e-03 -1.16273052e-04 9.99987185e-01 5.91950736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01439141799999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:119.71, Y:2.46, Z:0.59 [[ 9.99719188e-01 -2.31498681e-02 -5.06250412e-03 1.19708425e+02] [ 2.31502919e-02 9.99731996e-01 2.51205795e-05 2.46106331e+00] [ 5.06056581e-03 -1.42311974e-04 9.99987185e-01 5.90989284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:119.74, Y:2.46, Z:0.59 [[ 9.99667920e-01 -2.52670092e-02 -5.06250207e-03 1.19739140e+02] [ 2.52674622e-02 9.99680726e-01 2.55282350e-05 2.46052952e+00] [ 5.06024072e-03 -1.53436337e-04 9.99987185e-01 5.90110294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07439141799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:119.77, Y:2.46, Z:0.59 [[ 9.99604234e-01 -2.76721116e-02 -5.06250052e-03 1.19770847e+02] [ 2.76725969e-02 9.99617040e-01 2.58319518e-05 2.46050132e+00] [ 5.05984696e-03 -1.65914264e-04 9.99987185e-01 5.90571812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:119.80, Y:2.46, Z:0.59 [[ 9.99560858e-01 -2.91969655e-02 -5.06249842e-03 1.19802429e+02] [ 2.91974725e-02 9.99573663e-01 2.62358797e-05 2.46013689e+00] [ 5.05957408e-03 -1.74036517e-04 9.99987185e-01 5.90907499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13439141799999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:119.83, Y:2.46, Z:0.59 [[ 9.99463774e-01 -3.23502099e-02 -5.06249684e-03 1.19834667e+02] [ 3.23507587e-02 9.99476577e-01 2.65369770e-05 2.46052805e+00] [ 5.05898854e-03 -1.90298361e-04 9.99987185e-01 5.91835119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:119.87, Y:2.46, Z:0.59 [[ 9.99443859e-01 -3.29597264e-02 -5.06249471e-03 1.19867276e+02] [ 3.29602850e-02 9.99456662e-01 2.69378501e-05 2.46055141e+00] [ 5.05885620e-03 -1.93784137e-04 9.99987185e-01 5.92444689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:119.90, Y:2.46, Z:0.59 [[ 9.99436349e-01 -3.31866726e-02 -5.06249255e-03 1.19900441e+02] [ 3.31872361e-02 9.99449152e-01 2.73386747e-05 2.46057792e+00] [ 5.05879660e-03 -1.95333401e-04 9.99987185e-01 5.92824077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224391418 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:119.93, Y:2.46, Z:0.59 [[ 9.99471599e-01 -3.21075290e-02 -5.06248922e-03 1.19931457e+02] [ 3.21080818e-02 9.99484402e-01 2.79412152e-05 2.46205721e+00] [ 5.05898189e-03 -1.90473269e-04 9.99987185e-01 5.93518173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:119.96, Y:2.46, Z:0.59 [[ 9.99517241e-01 -3.06538176e-02 -5.06248756e-03 1.19963112e+02] [ 3.06543533e-02 9.99530044e-01 2.82391532e-05 2.46322978e+00] [ 5.05924278e-03 -1.83412803e-04 9.99987185e-01 5.94096028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:120.00, Y:2.46, Z:0.59 [[ 9.99574660e-01 -2.87205655e-02 -5.06248590e-03 1.19995340e+02] [ 2.87210779e-02 9.99587464e-01 2.85336948e-05 2.46449323e+00] [ 5.05957794e-03 -1.73921610e-04 9.99987185e-01 5.94915087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:120.03, Y:2.46, Z:0.60 [[ 9.99576865e-01 -2.86437115e-02 -5.06248367e-03 1.20028032e+02] [ 2.86442249e-02 9.99589670e-01 2.89233240e-05 2.46422568e+00] [ 5.05957791e-03 -1.73922006e-04 9.99987185e-01 5.95080477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:120.06, Y:2.47, Z:0.60 [[ 9.99704327e-01 -2.37829886e-02 -5.06248142e-03 1.20060009e+02] [ 2.37834417e-02 9.99717134e-01 2.93125564e-05 2.46604453e+00] [ 5.06035227e-03 -1.49707121e-04 9.99987185e-01 5.96559396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37439141799999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:120.09, Y:2.47, Z:0.60 [[ 9.99800757e-01 -1.93084706e-02 -5.06247908e-03 1.20089767e+02] [ 1.93088685e-02 9.99813566e-01 2.97117540e-05 2.46620142e+00] [ 5.06096157e-03 -1.27456577e-04 9.99987185e-01 5.97448896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:120.12, Y:2.47, Z:0.60 [[ 9.99880743e-01 -1.45900471e-02 -5.06262280e-03 1.20123171e+02] [ 1.45902619e-02 9.99893556e-01 5.48453019e-06 2.46812265e+00] [ 5.06200389e-03 -7.93488685e-05 9.99987185e-01 5.96719077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43439141799999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:120.15, Y:2.47, Z:0.60 [[ 9.99923300e-01 -1.13033455e-02 -5.06247260e-03 1.20154551e+02] [ 1.13036445e-02 9.99936111e-01 3.04533846e-05 2.46898754e+00] [ 5.06180494e-03 -8.76754395e-05 9.99987185e-01 5.95911030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:120.19, Y:2.47, Z:0.60 [[ 9.99946284e-01 -9.04431784e-03 -5.06248153e-03 1.20185642e+02] [ 9.04458051e-03 9.99959097e-01 2.89932297e-05 2.47033807e+00] [ 5.06201223e-03 -7.47796941e-05 9.99987185e-01 5.95995552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49439141799999 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:120.22, Y:2.47, Z:0.60 [[ 9.99964259e-01 -6.77137746e-03 -5.06246931e-03 1.20216317e+02] [ 6.77162111e-03 9.99977072e-01 3.09889828e-05 2.47155141e+00] [ 5.06214340e-03 -6.52689992e-05 9.99987185e-01 5.95720726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:120.25, Y:2.47, Z:0.59 [[ 9.99982700e-01 -2.99504492e-03 -5.06246871e-03 1.20246033e+02] [ 2.99524069e-03 9.99995514e-01 3.10877596e-05 2.47366867e+00] [ 5.06235288e-03 -4.62505340e-05 9.99987185e-01 5.94115633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:120.28, Y:2.47, Z:0.59 [[ 9.99981750e-01 -3.29698547e-03 -5.06246871e-03 1.20275915e+02] [ 3.29718510e-03 9.99994564e-01 3.10877596e-05 2.47462224e+00] [ 5.06233869e-03 -4.77790886e-05 9.99987185e-01 5.94704258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:120.30, Y:2.48, Z:0.60 [[ 9.99981471e-01 -3.38059615e-03 -5.06246998e-03 1.20304638e+02] [ 3.38079580e-03 9.99994285e-01 3.08784484e-05 2.47597954e+00] [ 5.06233666e-03 -4.79930535e-05 9.99987185e-01 5.95134435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:120.33, Y:2.48, Z:0.60 [[ 9.99979420e-01 -3.94082433e-03 -5.06247171e-03 1.20333968e+02] [ 3.94102970e-03 9.99992234e-01 3.05928687e-05 2.47666168e+00] [ 5.06231183e-03 -5.05435904e-05 9.99987185e-01 5.96643013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:120.36, Y:2.48, Z:0.60 [[ 9.99976312e-01 -4.66330541e-03 -5.06247293e-03 1.20363684e+02] [ 4.66351901e-03 9.99989125e-01 3.03894398e-05 2.47753698e+00] [ 5.06227616e-03 -5.39976586e-05 9.99987185e-01 5.97274154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:120.39, Y:2.48, Z:0.60 [[ 9.99974003e-01 -5.13474814e-03 -5.06247415e-03 1.20393443e+02] [ 5.13496675e-03 9.99986816e-01 3.01841198e-05 2.47809418e+00] [ 5.06225242e-03 -5.61789715e-05 9.99987185e-01 5.97777162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:120.42, Y:2.48, Z:0.60 [[ 9.99971309e-01 -5.63492055e-03 -5.06247418e-03 1.20423277e+02] [ 5.63514554e-03 9.99984122e-01 3.01797344e-05 2.47877764e+00] [ 5.06222374e-03 -5.87066473e-05 9.99987185e-01 5.98460398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73439141799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:120.45, Y:2.48, Z:0.60 [[ 9.99964535e-01 -6.73058722e-03 -5.06247537e-03 1.20452884e+02] [ 6.73082523e-03 9.99977347e-01 2.99787732e-05 2.47937458e+00] [ 5.06215892e-03 -6.40523469e-05 9.99987185e-01 5.99582259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:120.48, Y:2.48, Z:0.60 [[ 9.99960494e-01 -7.30623289e-03 -5.06247661e-03 1.20482498e+02] [ 7.30647721e-03 9.99973307e-01 2.97677957e-05 2.47890735e+00] [ 5.06212399e-03 -6.67554896e-05 9.99987185e-01 5.99411438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79439141799999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:120.51, Y:2.48, Z:0.60 [[ 9.99944427e-01 -9.24735369e-03 -5.06247722e-03 1.20511822e+02] [ 9.24762235e-03 9.99957239e-01 2.96632311e-05 2.47763592e+00] [ 5.06198644e-03 -7.64774601e-05 9.99987185e-01 5.98630225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:120.54, Y:2.48, Z:0.60 [[ 9.99919544e-01 -1.16308658e-02 -5.06247783e-03 1.20540395e+02] [ 1.16311645e-02 9.99932355e-01 2.95600197e-05 2.47962193e+00] [ 5.06179157e-03 -8.84401535e-05 9.99987185e-01 5.99718990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85439141799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:120.57, Y:2.48, Z:0.60 [[ 9.99908197e-01 -1.25684307e-02 -5.06286667e-03 1.20572142e+02] [ 1.25683902e-02 9.99921014e-01 -3.98187495e-05 2.47589909e+00] [ 5.06296724e-03 -2.38169897e-05 9.99987183e-01 6.00214805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:120.60, Y:2.47, Z:0.60 [[ 9.99859779e-01 -1.59622385e-02 -5.06245178e-03 1.20602952e+02] [ 1.59625952e-02 9.99872589e-01 3.00586460e-05 2.47401702e+00] [ 5.06132697e-03 -1.10864300e-04 9.99987185e-01 6.00973428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:120.64, Y:2.47, Z:0.60 [[ 9.99835598e-01 -1.74111641e-02 -5.06244993e-03 1.20635182e+02] [ 1.74115409e-02 9.99848407e-01 3.03678449e-05 2.47286041e+00] [ 5.06115376e-03 -1.18507907e-04 9.99987185e-01 6.01116290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:120.67, Y:2.47, Z:0.60 [[ 9.99818863e-01 -1.83470168e-02 -5.06244746e-03 1.20667787e+02] [ 1.83474077e-02 9.99831672e-01 3.07736239e-05 2.47163524e+00] [ 5.06103071e-03 -1.23650837e-04 9.99987185e-01 6.00723449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:120.70, Y:2.47, Z:0.60 [[ 9.99805091e-01 -1.90827357e-02 -5.06244498e-03 1.20700060e+02] [ 1.90831381e-02 9.99817900e-01 3.11769329e-05 2.47049951e+00] [ 5.06092817e-03 -1.27778193e-04 9.99987185e-01 6.00717500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:120.73, Y:2.47, Z:0.60 [[ 9.99849907e-01 -1.65691289e-02 -5.06244238e-03 1.20732233e+02] [ 1.65695011e-02 9.99862716e-01 3.15935542e-05 2.46764456e+00] [ 5.06122391e-03 -1.15470957e-04 9.99987185e-01 5.97136158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:120.76, Y:2.47, Z:0.60 [[ 9.99828889e-01 -1.77923023e-02 -5.06237294e-03 1.20763043e+02] [ 1.77927456e-02 9.99841696e-01 4.25367836e-05 2.46763655e+00] [ 5.06081472e-03 -1.32603019e-04 9.99987185e-01 5.99570165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:120.79, Y:2.47, Z:0.60 [[ 9.99853065e-01 -1.63774516e-02 -5.06243848e-03 1.20793819e+02] [ 1.63778247e-02 9.99865874e-01 3.22476986e-05 2.46667673e+00] [ 5.06123134e-03 -1.15154690e-04 9.99987185e-01 5.99334280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09439141799999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:120.83, Y:2.47, Z:0.60 [[ 9.99908215e-01 -1.25671142e-02 -5.06243653e-03 1.20826170e+02] [ 1.25674400e-02 9.99921026e-01 3.25503075e-05 2.46570801e+00] [ 5.06162767e-03 -9.61691873e-05 9.99987185e-01 5.99690700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:120.86, Y:2.47, Z:0.60 [[ 9.99935598e-01 -1.01573253e-02 -5.06243388e-03 1.20857036e+02] [ 1.01576223e-02 9.99948409e-01 3.29577154e-05 2.46518797e+00] [ 5.06183795e-03 -8.43778843e-05 9.99987185e-01 6.00176193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15439141799999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:120.89, Y:2.46, Z:0.60 [[ 9.99974692e-01 -4.99879849e-03 -5.06243252e-03 1.20887308e+02] [ 4.99903044e-03 9.99987504e-01 3.31651998e-05 2.46429172e+00] [ 5.06220348e-03 -5.84716147e-05 9.99987185e-01 6.00873820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:120.92, Y:2.46, Z:0.60 [[ 9.99982751e-01 -2.97827593e-03 -5.06243028e-03 1.20916556e+02] [ 2.97848371e-03 9.99995564e-01 3.35046734e-05 2.46426538e+00] [ 5.06230803e-03 -4.85824615e-05 9.99987185e-01 6.01467588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21439141799999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:120.95, Y:2.46, Z:0.60 [[ 9.99987183e-01 -7.28165402e-05 -5.06243162e-03 1.20945128e+02] [ 7.29860596e-05 9.99999997e-01 3.33010300e-05 2.46349631e+00] [ 5.06242917e-03 -3.36700901e-05 9.99987185e-01 6.00701672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:120.97, Y:2.46, Z:0.60 [[ 9.99986589e-01 1.09206419e-03 -5.06249060e-03 1.20974391e+02] [-1.09195540e-03 9.99999404e-01 2.42536082e-05 2.46275474e+00] [ 5.06251406e-03 -1.87252690e-05 9.99987185e-01 6.02656643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:121.00, Y:2.46, Z:0.60 [[ 9.99986362e-01 1.28344704e-03 -5.06244323e-03 1.21001975e+02] [-1.28330252e-03 9.99999176e-01 3.17957391e-05 2.46175259e+00] [ 5.06247986e-03 -2.52986593e-05 9.99987185e-01 6.03016757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:121.03, Y:2.46, Z:0.60 [[ 9.99985735e-01 1.70337978e-03 -5.06244702e-03 1.21029863e+02] [-1.70324376e-03 9.99998549e-01 3.11803820e-05 2.46102685e+00] [ 5.06249278e-03 -2.25573559e-05 9.99987185e-01 6.03901340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:121.06, Y:2.46, Z:0.60 [[ 9.99987062e-01 -4.95096809e-04 -5.06258475e-03 1.21058211e+02] [ 4.95147032e-04 9.99999877e-01 8.66706314e-06 2.45802455e+00] [ 5.06257984e-03 -1.11736748e-05 9.99987185e-01 6.04490903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:121.09, Y:2.46, Z:0.60 [[ 9.99983763e-01 -2.61604185e-03 -5.06258182e-03 1.21086974e+02] [ 2.61612167e-03 9.99996578e-01 9.14582446e-06 2.45557495e+00] [ 5.06254057e-03 -2.23900060e-05 9.99987185e-01 6.03457514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:121.12, Y:2.45, Z:0.60 [[ 9.99976990e-01 -4.51558969e-03 -5.06244949e-03 1.21115507e+02] [ 4.51580377e-03 9.99989803e-01 3.08565640e-05 2.45367781e+00] [ 5.06225853e-03 -5.37168824e-05 9.99987185e-01 6.03546143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:121.15, Y:2.45, Z:0.60 [[ 9.99966476e-01 -6.43569302e-03 -5.06245195e-03 1.21145139e+02] [ 6.43592963e-03 9.99979289e-01 3.04471278e-05 2.45168937e+00] [ 5.06215115e-03 -6.30276916e-05 9.99987185e-01 6.04077271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45439141799999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:121.17, Y:2.45, Z:0.60 [[ 9.99930482e-01 -1.06490652e-02 -5.06245320e-03 1.21174598e+02] [ 1.06493547e-02 9.99943294e-01 3.02382490e-05 2.44785773e+00] [ 5.06184412e-03 -8.41480067e-05 9.99987185e-01 6.03716078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:121.21, Y:2.45, Z:0.60 [[ 9.99907206e-01 -1.26471771e-02 -5.06245382e-03 1.21205701e+02] [ 1.26474917e-02 9.99920017e-01 3.01348273e-05 2.44570839e+00] [ 5.06166778e-03 -9.41593735e-05 9.99987185e-01 6.03997617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51439141799999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:121.24, Y:2.44, Z:0.60 [[ 9.99893631e-01 -1.36784034e-02 -5.06245259e-03 1.21237181e+02] [ 1.36787323e-02 9.99906441e-01 3.03398437e-05 2.44344433e+00] [ 5.06156395e-03 -9.95845502e-05 9.99987185e-01 6.03390573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:121.27, Y:2.44, Z:0.60 [[ 9.99838597e-01 -1.72380959e-02 -5.06249752e-03 1.21268423e+02] [ 1.72384323e-02 9.99851407e-01 2.28071981e-05 2.43946568e+00] [ 5.06135211e-03 -1.10073037e-04 9.99987185e-01 6.02553847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57439141799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:121.30, Y:2.44, Z:0.60 [[ 9.99823654e-01 -1.80840199e-02 -5.06244840e-03 1.21300329e+02] [ 1.80844079e-02 9.99836463e-01 3.08640873e-05 2.43733356e+00] [ 5.06106235e-03 -1.22410026e-04 9.99987185e-01 6.02901262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:121.33, Y:2.43, Z:0.60 [[ 9.99818608e-01 -1.83608875e-02 -5.06244586e-03 1.21331219e+02] [ 1.83612810e-02 9.99831417e-01 3.12738221e-05 2.43417537e+00] [ 5.06101821e-03 -1.24221141e-04 9.99987185e-01 6.01761940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63439141799999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:121.36, Y:2.43, Z:0.60 [[ 9.99830750e-01 -1.76873927e-02 -5.06244396e-03 1.21362570e+02] [ 1.76877792e-02 9.99843559e-01 3.15790772e-05 2.43286448e+00] [ 5.06109343e-03 -1.21117123e-04 9.99987185e-01 6.01277928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:121.39, Y:2.43, Z:0.60 [[ 9.99871050e-01 -1.52398863e-02 -5.06243991e-03 1.21393932e+02] [ 1.52402446e-02 9.99883860e-01 3.22155421e-05 2.43078200e+00] [ 5.06136100e-03 -1.09364211e-04 9.99987185e-01 6.01715461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:121.43, Y:2.43, Z:0.60 [[ 9.99894564e-01 -1.36100540e-02 -5.06243859e-03 1.21426500e+02] [ 1.36103926e-02 9.99907374e-01 3.24209975e-05 2.42986669e+00] [ 5.06152843e-03 -1.01319356e-04 9.99987185e-01 6.02345478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:121.46, Y:2.43, Z:0.60 [[ 9.99918432e-01 -1.17260973e-02 -5.06243595e-03 1.21458307e+02] [ 1.17264137e-02 9.99931243e-01 3.28292756e-05 2.42880285e+00] [ 5.06170291e-03 -9.21908161e-05 9.99987185e-01 6.03141834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:121.49, Y:2.43, Z:0.60 [[ 9.99940044e-01 -9.70983560e-03 -5.06243460e-03 1.21488858e+02] [ 9.71012725e-03 9.99952855e-01 3.30352472e-05 2.42787856e+00] [ 5.06187517e-03 -8.21901508e-05 9.99987185e-01 6.03565938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:121.52, Y:2.43, Z:0.60 [[ 9.99957210e-01 -7.74273166e-03 -5.06243394e-03 1.21519850e+02] [ 7.74299862e-03 9.99970022e-01 3.31372154e-05 2.42686785e+00] [ 5.06202560e-03 -7.23342165e-05 9.99987185e-01 6.03609129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:121.55, Y:2.43, Z:0.60 [[ 9.99976093e-01 -4.71002357e-03 -5.06243394e-03 1.21549064e+02] [ 4.71025168e-03 9.99988906e-01 3.31372154e-05 2.42563339e+00] [ 5.06222170e-03 -5.69817612e-05 9.99987185e-01 6.03319347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:121.58, Y:2.42, Z:0.60 [[ 9.99974002e-01 -5.13472407e-03 -5.06252028e-03 1.21577588e+02] [ 5.13488854e-03 9.99986816e-01 1.94911902e-05 2.42497683e+00] [ 5.06235345e-03 -4.54861609e-05 9.99987185e-01 6.03364427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87439141799999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:121.61, Y:2.42, Z:0.60 [[ 9.99974428e-01 -5.05122974e-03 -5.06244430e-03 1.21606507e+02] [ 5.05145467e-03 9.99987241e-01 3.16458434e-05 2.42402293e+00] [ 5.06221985e-03 -5.72177421e-05 9.99987185e-01 6.03345457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:121.64, Y:2.42, Z:0.60 [[ 9.99971367e-01 -5.62471268e-03 -5.06244617e-03 1.21635122e+02] [ 5.62494343e-03 9.99984179e-01 3.13435993e-05 2.42114529e+00] [ 5.06218978e-03 -5.98186752e-05 9.99987185e-01 6.03963717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93439141799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:121.67, Y:2.42, Z:0.60 [[ 9.99953367e-01 -8.22411180e-03 -5.06243961e-03 1.21665030e+02] [ 8.22438130e-03 9.99966179e-01 3.24189905e-05 2.42025247e+00] [ 5.06200177e-03 -7.40529123e-05 9.99987185e-01 6.02171520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:121.70, Y:2.42, Z:0.60 [[ 9.99937995e-01 -9.91855712e-03 -5.06244881e-03 1.21695819e+02] [ 9.91884070e-03 9.99950807e-01 3.09118914e-05 2.41869173e+00] [ 5.06189317e-03 -8.11235980e-05 9.99987185e-01 6.02403399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99439141799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:121.73, Y:2.42, Z:0.60 [[ 9.99917528e-01 -1.18028779e-02 -5.06244881e-03 1.21726154e+02] [ 1.18031856e-02 9.99930340e-01 3.09118914e-05 2.41703745e+00] [ 5.06173131e-03 -9.06623649e-05 9.99987185e-01 6.02699462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:121.76, Y:2.42, Z:0.60 [[ 9.99893160e-01 -1.37127519e-02 -5.06244881e-03 1.21756099e+02] [ 1.37130841e-02 9.99905971e-01 3.09118914e-05 2.41550893e+00] [ 5.06154890e-03 -1.00330375e-04 9.99987185e-01 6.02624358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:121.79, Y:2.41, Z:0.60 [[ 9.99839242e-01 -1.72006293e-02 -5.06244819e-03 1.21787155e+02] [ 1.72010067e-02 9.99852051e-01 3.10135470e-05 2.41262950e+00] [ 5.06116575e-03 -1.18087766e-04 9.99987185e-01 6.03509704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:121.82, Y:2.41, Z:0.60 [[ 9.99810611e-01 -1.87913403e-02 -5.06244633e-03 1.21818747e+02] [ 1.87917396e-02 9.99823419e-01 3.13143624e-05 2.41129027e+00] [ 5.06096396e-03 -1.26440605e-04 9.99987185e-01 6.04006320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:121.85, Y:2.41, Z:0.61 [[ 9.99782100e-01 -2.02515228e-02 -5.06244222e-03 1.21851190e+02] [ 2.02519441e-02 9.99794908e-01 3.19644361e-05 2.41011975e+00] [ 5.06075663e-03 -1.34481768e-04 9.99987185e-01 6.05111953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:121.88, Y:2.41, Z:0.60 [[ 9.99728203e-01 -2.27572193e-02 -5.06243963e-03 1.21883756e+02] [ 2.27576748e-02 9.99741010e-01 3.23695941e-05 2.40765814e+00] [ 5.06039187e-03 -1.47570151e-04 9.99987185e-01 6.04842623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:121.92, Y:2.41, Z:0.61 [[ 9.99693980e-01 -2.42140005e-02 -5.06243699e-03 1.21916177e+02] [ 2.42144767e-02 9.99706786e-01 3.27774369e-05 2.40634815e+00] [ 5.06015894e-03 -1.55351669e-04 9.99987185e-01 6.05004889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:121.95, Y:2.41, Z:0.61 [[ 9.99695925e-01 -2.41335853e-02 -5.06243432e-03 1.21948868e+02] [ 2.41340625e-02 9.99708731e-01 3.31846528e-05 2.40605655e+00] [ 5.06015892e-03 -1.55351668e-04 9.99987185e-01 6.05170287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23439141799999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:121.98, Y:2.40, Z:0.60 [[ 9.99681800e-01 -2.47117526e-02 -5.06243162e-03 1.21981386e+02] [ 2.47122392e-02 9.99694605e-01 3.35918686e-05 2.40459668e+00] [ 5.06005547e-03 -1.58685201e-04 9.99987185e-01 6.04876815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:122.01, Y:2.40, Z:0.60 [[ 9.99658132e-01 -2.56513479e-02 -5.06242890e-03 1.22012791e+02] [ 2.56518487e-02 9.99670937e-01 3.39967865e-05 2.40252701e+00] [ 5.05989098e-03 -1.63845824e-04 9.99987185e-01 6.03983974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:122.04, Y:2.40, Z:0.60 [[ 9.99655401e-01 -2.57575482e-02 -5.06242685e-03 1.22044812e+02] [ 2.57580518e-02 9.99668206e-01 3.42985139e-05 2.40182311e+00] [ 5.05986373e-03 -1.64684948e-04 9.99987185e-01 6.04029211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:122.08, Y:2.40, Z:0.60 [[ 9.99661423e-01 -2.55227415e-02 -5.06242402e-03 1.22077029e+02] [ 2.55232442e-02 9.99674228e-01 3.47118850e-05 2.40117419e+00] [ 5.05988888e-03 -1.63909617e-04 9.99987185e-01 6.04362274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:122.11, Y:2.40, Z:0.60 [[ 9.99680714e-01 -2.47556577e-02 -5.06242115e-03 1.22108581e+02] [ 2.47561527e-02 9.99693519e-01 3.51254537e-05 2.40013990e+00] [ 5.06000006e-03 -1.60440310e-04 9.99987185e-01 6.04263166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:122.14, Y:2.40, Z:0.60 [[ 9.99777216e-01 -2.04912468e-02 -5.06241900e-03 1.22143360e+02] [ 2.04916887e-02 9.99790023e-01 3.54332147e-05 2.39501611e+00] [ 5.06062993e-03 -1.39162835e-04 9.99987185e-01 6.03400456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:122.17, Y:2.40, Z:0.60 [[ 9.99769580e-01 -2.08606298e-02 -5.06177407e-03 1.22174387e+02] [ 2.08615221e-02 9.99782367e-01 1.23539441e-04 2.39538657e+00] [ 5.05809535e-03 -2.29107287e-04 9.99987182e-01 6.03519430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:122.20, Y:2.40, Z:0.61 [[ 9.99750216e-01 -2.17688618e-02 -5.06193506e-03 1.22201783e+02] [ 2.17696626e-02 9.99763007e-01 1.03141148e-04 2.39728836e+00] [ 5.05849016e-03 -2.13312003e-04 9.99987183e-01 6.05295093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:122.23, Y:2.40, Z:0.60 [[ 9.99783303e-01 -2.01920370e-02 -5.06250812e-03 1.22233377e+02] [ 2.01924288e-02 9.99796112e-01 2.62825361e-05 2.39747770e+00] [ 5.06094524e-03 -1.28501176e-04 9.99987185e-01 6.04664293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:122.27, Y:2.40, Z:0.61 [[ 9.99807504e-01 -1.89559351e-02 -5.06241417e-03 1.22265949e+02] [ 1.89563734e-02 9.99820311e-01 3.86036290e-05 2.39737100e+00] [ 5.06077274e-03 -1.34561211e-04 9.99987185e-01 6.05142494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:122.30, Y:2.40, Z:0.60 [[ 9.99846242e-01 -1.67888195e-02 -5.06241108e-03 1.22297763e+02] [ 1.67892321e-02 9.99859050e-01 3.90044955e-05 2.39737040e+00] [ 5.06104269e-03 -1.23992493e-04 9.99987185e-01 6.04308242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:122.33, Y:2.40, Z:0.60 [[ 9.99865591e-01 -1.55939633e-02 -5.06240950e-03 1.22328164e+02] [ 1.55943616e-02 9.99878400e-01 3.92077440e-05 2.39696175e+00] [ 5.06118251e-03 -1.18147518e-04 9.99987185e-01 6.04103191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59439141799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:122.36, Y:2.40, Z:0.60 [[ 9.99876581e-01 -1.48726020e-02 -5.06240872e-03 1.22359559e+02] [ 1.48729915e-02 9.99889390e-01 3.93085189e-05 2.39676809e+00] [ 5.06126415e-03 -1.14596829e-04 9.99987185e-01 6.04192177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:122.39, Y:2.40, Z:0.61 [[ 9.99898463e-01 -1.33205021e-02 -5.06240642e-03 1.22390823e+02] [ 1.33208733e-02 9.99911272e-01 3.96026201e-05 2.39675028e+00] [ 5.06142972e-03 -1.07034273e-04 9.99987185e-01 6.05120988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65439141799999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:122.42, Y:2.40, Z:0.61 [[ 9.99908236e-01 -1.25654938e-02 -5.06240488e-03 1.22422551e+02] [ 1.25658563e-02 9.99921046e-01 3.97981851e-05 2.39670227e+00] [ 5.06150510e-03 -1.03407985e-04 9.99987185e-01 6.06000363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:122.45, Y:2.40, Z:0.61 [[ 9.99914904e-01 -1.20231427e-02 -5.06240330e-03 1.22453655e+02] [ 1.20234992e-02 9.99927714e-01 3.99979460e-05 2.39668233e+00] [ 5.06155646e-03 -1.00862344e-04 9.99987185e-01 6.06776099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71439141799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:122.48, Y:2.40, Z:0.61 [[ 9.99919933e-01 -1.15973620e-02 -5.06240169e-03 1.22483840e+02] [ 1.15977141e-02 9.99932743e-01 4.02016261e-05 2.39660970e+00] [ 5.06159497e-03 -9.89106946e-05 9.99987185e-01 6.07676115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:122.51, Y:2.40, Z:0.61 [[ 9.99928941e-01 -1.07927814e-02 -5.06240088e-03 1.22514648e+02] [ 1.07931237e-02 9.99941752e-01 4.03026133e-05 2.39673810e+00] [ 5.06167103e-03 -9.49388685e-05 9.99987185e-01 6.08063738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:122.55, Y:2.40, Z:0.61 [[ 9.99933877e-01 -1.03253553e-02 -5.06239821e-03 1.22545322e+02] [ 1.03256933e-02 9.99946688e-01 4.06357612e-05 2.39656973e+00] [ 5.06170874e-03 -9.29058457e-05 9.99987185e-01 6.07034132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:122.58, Y:2.40, Z:0.61 [[ 9.99931806e-01 -1.05240378e-02 -5.06239821e-03 1.22575645e+02] [ 1.05243784e-02 9.99944616e-01 4.06357612e-05 2.39644585e+00] [ 5.06169018e-03 -9.39115844e-05 9.99987185e-01 6.07206839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:122.61, Y:2.40, Z:0.61 [[ 9.99930760e-01 -1.06230079e-02 -5.06239739e-03 1.22605732e+02] [ 1.06233502e-02 9.99943570e-01 4.07376802e-05 2.39633083e+00] [ 5.06167896e-03 -9.45144800e-05 9.99987185e-01 6.06292338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:122.64, Y:2.40, Z:0.61 [[ 9.99928323e-01 -1.08499241e-02 -5.06239739e-03 1.22635989e+02] [ 1.08502694e-02 9.99941133e-01 4.07376802e-05 2.39637903e+00] [ 5.06165738e-03 -9.56631356e-05 9.99987185e-01 6.06284005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:122.67, Y:2.40, Z:0.61 [[ 9.99926394e-01 -1.10262882e-02 -5.06239739e-03 1.22666738e+02] [ 1.10266357e-02 9.99939204e-01 4.07376802e-05 2.39636429e+00] [ 5.06164043e-03 -9.65558936e-05 9.99987185e-01 6.06405971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:122.70, Y:2.40, Z:0.61 [[ 9.99923121e-01 -1.13192011e-02 -5.06239656e-03 1.22697311e+02] [ 1.13195529e-02 9.99935931e-01 4.08400717e-05 2.39584947e+00] [ 5.06160994e-03 -9.81409975e-05 9.99987185e-01 6.07304101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95439141799999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:122.73, Y:2.40, Z:0.61 [[ 9.99927292e-01 -1.09445644e-02 -5.06239656e-03 1.22727551e+02] [ 1.09449114e-02 9.99940102e-01 4.08400717e-05 2.39535416e+00] [ 5.06164636e-03 -9.62445842e-05 9.99987185e-01 6.07928307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:122.76, Y:2.39, Z:0.61 [[ 9.99939735e-01 -9.74158859e-03 -5.06239656e-03 1.22758545e+02] [ 9.74192015e-03 9.99952546e-01 4.08400717e-05 2.39490136e+00] [ 5.06175848e-03 -9.01550735e-05 9.99987185e-01 6.07935713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01439141799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:122.79, Y:2.39, Z:0.61 [[ 9.99948345e-01 -8.81362182e-03 -5.06239656e-03 1.22789430e+02] [ 8.81394150e-03 9.99961156e-01 4.08400717e-05 2.39497692e+00] [ 5.06183997e-03 -8.54576292e-05 9.99987185e-01 6.09063405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:122.82, Y:2.40, Z:0.61 [[ 9.99976399e-01 -4.64469439e-03 -5.06239656e-03 1.22820190e+02] [ 4.64496065e-03 9.99989211e-01 4.08400717e-05 2.39515773e+00] [ 5.06215226e-03 -6.43537407e-05 9.99987185e-01 6.09266217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:122.85, Y:2.40, Z:0.61 [[ 9.99984272e-01 -2.41423674e-03 -5.06239656e-03 1.22849740e+02] [ 2.41447442e-03 9.99997084e-01 4.08400717e-05 2.39556120e+00] [ 5.06228321e-03 -5.30624564e-05 9.99987185e-01 6.09413569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:122.88, Y:2.40, Z:0.61 [[ 9.99987162e-01 -2.21178616e-04 -5.06239819e-03 1.22877952e+02] [ 2.21387174e-04 9.99999975e-01 4.06372454e-05 2.39547489e+00] [ 5.06238907e-03 -4.17574737e-05 9.99987185e-01 6.09353596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:122.91, Y:2.40, Z:0.61 [[ 9.99986303e-01 1.32918349e-03 -5.06240059e-03 1.22907077e+02] [-1.32899632e-03 9.99999116e-01 4.03363764e-05 2.39515839e+00] [ 5.06244973e-03 -3.36079121e-05 9.99987185e-01 6.09034719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:122.93, Y:2.39, Z:0.61 [[ 9.99981538e-01 3.36093338e-03 -5.06241156e-03 1.22934613e+02] [-3.36077947e-03 9.99994352e-01 3.89092531e-05 2.39382612e+00] [ 5.06251374e-03 -2.18948860e-05 9.99987185e-01 6.07611373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:122.96, Y:2.39, Z:0.61 [[ 9.99981743e-01 3.29937641e-03 -5.06241728e-03 1.22963357e+02] [-3.29922555e-03 9.99994557e-01 3.81493418e-05 2.39295676e+00] [ 5.06251560e-03 -2.14465888e-05 9.99987185e-01 6.07226466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:122.99, Y:2.39, Z:0.61 [[ 9.99985523e-01 1.82380369e-03 -5.06242025e-03 1.22991199e+02] [-1.82363595e-03 9.99998336e-01 3.77509846e-05 2.39163781e+00] [ 5.06248068e-03 -2.85184265e-05 9.99987185e-01 6.06303856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:123.02, Y:2.39, Z:0.61 [[ 9.99987046e-01 5.28170462e-04 -5.06242434e-03 1.23020349e+02] [-5.27988934e-04 9.99999860e-01 3.71942850e-05 2.39129512e+00] [ 5.06244328e-03 -3.45208992e-05 9.99987185e-01 6.06303142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:123.05, Y:2.39, Z:0.61 [[ 9.99986834e-01 -8.38931251e-04 -5.06242719e-03 1.23048797e+02] [ 8.39128313e-04 9.99999647e-01 3.68026275e-05 2.39081226e+00] [ 5.06239453e-03 -4.10501689e-05 9.99987185e-01 6.07068525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:123.08, Y:2.39, Z:0.61 [[ 9.99984311e-01 -2.39780243e-03 -5.06243012e-03 1.23076129e+02] [ 2.39801740e-03 9.99997124e-01 3.63951281e-05 2.39013068e+00] [ 5.06232829e-03 -4.85343526e-05 9.99987185e-01 6.07327789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:123.11, Y:2.38, Z:0.61 [[ 9.99983400e-01 -2.75153512e-03 -5.06243416e-03 1.23108641e+02] [ 2.75175173e-03 9.99996213e-01 3.58240799e-05 2.38435090e+00] [ 5.06231642e-03 -4.97540472e-05 9.99987185e-01 6.05954082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:123.14, Y:2.39, Z:0.61 [[ 9.99962889e-01 -6.97121335e-03 -5.06195909e-03 1.23135693e+02] [ 6.97181752e-03 9.99975691e-01 1.01718343e-04 2.38647250e+00] [ 5.06112694e-03 -1.37005623e-04 9.99987183e-01 6.08051008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:123.17, Y:2.39, Z:0.61 [[ 9.99951131e-01 -8.49160172e-03 -5.06242356e-03 1.23165213e+02] [ 8.49189033e-03 9.99963943e-01 3.55179394e-05 2.38538647e+00] [ 5.06193942e-03 -7.85057493e-05 9.99987185e-01 6.08241054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43439141799999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:123.20, Y:2.38, Z:0.61 [[ 9.99925012e-01 -1.11509002e-02 -5.06242499e-03 1.23195441e+02] [ 1.11512218e-02 9.99937823e-01 3.53123029e-05 2.38314255e+00] [ 5.06171646e-03 -9.17618789e-05 9.99987185e-01 6.08405188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:123.23, Y:2.38, Z:0.61 [[ 9.99907053e-01 -1.26592971e-02 -5.06242499e-03 1.23225931e+02] [ 1.26596381e-02 9.99919863e-01 3.53123029e-05 2.38183490e+00] [ 5.06157228e-03 -9.93974890e-05 9.99987185e-01 6.08480937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:123.26, Y:2.38, Z:0.61 [[ 9.99886066e-01 -1.42206488e-02 -5.06242429e-03 1.23256955e+02] [ 1.42210103e-02 9.99898876e-01 3.54134446e-05 2.38048649e+00] [ 5.06140875e-03 -1.07402198e-04 9.99987185e-01 6.08903879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:123.29, Y:2.38, Z:0.61 [[ 9.99833957e-01 -1.75051791e-02 -5.06242286e-03 1.23288198e+02] [ 1.75055836e-02 9.99846765e-01 3.56155495e-05 2.37772073e+00] [ 5.06102367e-03 -1.24230303e-04 9.99987185e-01 6.08721322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:123.32, Y:2.38, Z:0.61 [[ 9.99803915e-01 -1.91442604e-02 -5.06242142e-03 1.23320503e+02] [ 1.91446871e-02 9.99816723e-01 3.58189178e-05 2.37615547e+00] [ 5.06080787e-03 -1.32730368e-04 9.99987185e-01 6.08669865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:123.35, Y:2.37, Z:0.61 [[ 9.99773486e-01 -2.06723941e-02 -5.06241851e-03 1.23353166e+02] [ 2.06728424e-02 9.99786293e-01 3.62267591e-05 2.37493444e+00] [ 5.06058774e-03 -1.40873133e-04 9.99987185e-01 6.08551419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:123.39, Y:2.37, Z:0.61 [[ 9.99723434e-01 -2.29657997e-02 -5.06241555e-03 1.23385443e+02] [ 2.29662794e-02 9.99736240e-01 3.66350356e-05 2.37354328e+00] [ 5.06023893e-03 -1.52889753e-04 9.99987185e-01 6.09113153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:123.42, Y:2.37, Z:0.61 [[ 9.99725251e-01 -2.28865516e-02 -5.06241247e-03 1.23415551e+02] [ 2.28870324e-02 9.99738057e-01 3.70564410e-05 2.37265328e+00] [ 5.06023831e-03 -1.52909858e-04 9.99987185e-01 6.10096370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:123.45, Y:2.37, Z:0.61 [[ 9.99693196e-01 -2.42463399e-02 -5.06253195e-03 1.23447945e+02] [ 2.42467548e-02 9.99706004e-01 2.05772190e-05 2.37206081e+00] [ 5.06054466e-03 -1.43320877e-04 9.99987185e-01 6.09377795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:123.48, Y:2.37, Z:0.61 [[ 9.99705900e-01 -2.37167970e-02 -5.06241505e-03 1.23479050e+02] [ 2.37172867e-02 9.99718705e-01 3.67016020e-05 2.37114418e+00] [ 5.06012057e-03 -1.56757557e-04 9.99987185e-01 6.09399059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:123.51, Y:2.37, Z:0.61 [[ 9.99720696e-01 -2.30846484e-02 -5.06241279e-03 1.23509861e+02] [ 2.30851315e-02 9.99733502e-01 3.70105047e-05 2.37082790e+00] [ 5.06020929e-03 -1.53866633e-04 9.99987185e-01 6.09714420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:123.54, Y:2.37, Z:0.61 [[ 9.99757724e-01 -2.14211261e-02 -5.06241060e-03 1.23541187e+02] [ 2.14215894e-02 9.99770531e-01 3.73074120e-05 2.37068274e+00] [ 5.06044977e-03 -1.45743255e-04 9.99987185e-01 6.09905585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79439141799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:123.57, Y:2.37, Z:0.61 [[ 9.99755440e-01 -2.15274692e-02 -5.06252984e-03 1.23573277e+02] [ 2.15278517e-02 9.99768249e-01 2.10511461e-05 2.37111329e+00] [ 5.06090341e-03 -1.30031389e-04 9.99987185e-01 6.09929297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:123.60, Y:2.37, Z:0.61 [[ 9.99793880e-01 -1.96613671e-02 -5.06241082e-03 1.23604647e+02] [ 1.96618075e-02 9.99806687e-01 3.72334636e-05 2.37198358e+00] [ 5.06070013e-03 -1.36761936e-04 9.99987185e-01 6.09324620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85439141799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:123.64, Y:2.37, Z:0.61 [[ 9.99815437e-01 -1.85327905e-02 -5.06240560e-03 1.23636313e+02] [ 1.85332200e-02 9.99828244e-01 3.79297146e-05 2.37234574e+00] [ 5.06083316e-03 -1.31745391e-04 9.99987185e-01 6.09428231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:123.67, Y:2.37, Z:0.61 [[ 9.99837598e-01 -1.72959599e-02 -5.06240406e-03 1.23666964e+02] [ 1.72963746e-02 9.99850406e-01 3.81349486e-05 2.37331666e+00] [ 5.06098717e-03 -1.25689992e-04 9.99987185e-01 6.09238443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:123.70, Y:2.37, Z:0.61 [[ 9.99847549e-01 -1.67108248e-02 -5.06240329e-03 1.23698110e+02] [ 1.67112325e-02 9.99860357e-01 3.82364476e-05 2.37356752e+00] [ 5.06105740e-03 -1.22829617e-04 9.99987185e-01 6.09842374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:123.73, Y:2.37, Z:0.61 [[ 9.99852741e-01 -1.63971783e-02 -5.06240176e-03 1.23729772e+02] [ 1.63975830e-02 9.99865550e-01 3.84386696e-05 2.37385780e+00] [ 5.06109083e-03 -1.21444162e-04 9.99987185e-01 6.10013828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:123.76, Y:2.37, Z:0.61 [[ 9.99856827e-01 -1.61461183e-02 -5.06239944e-03 1.23760858e+02] [ 1.61465213e-02 9.99869636e-01 3.87412763e-05 2.37419228e+00] [ 5.06111396e-03 -1.20475870e-04 9.99987185e-01 6.10076312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:123.79, Y:2.37, Z:0.61 [[ 9.99859907e-01 -1.59542796e-02 -5.06239790e-03 1.23791824e+02] [ 1.59546812e-02 9.99872715e-01 3.89419445e-05 2.37476001e+00] [ 5.06113224e-03 -1.19705433e-04 9.99987185e-01 6.09914179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:123.82, Y:2.38, Z:0.61 [[ 9.99852072e-01 -1.64379614e-02 -5.06239558e-03 1.23822826e+02] [ 1.64383707e-02 9.99864880e-01 3.92412227e-05 2.37518663e+00] [ 5.06106650e-03 -1.22452953e-04 9.99987185e-01 6.10247287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:123.85, Y:2.38, Z:0.61 [[ 9.99848121e-01 -1.66765228e-02 -5.06239405e-03 1.23854204e+02] [ 1.66769361e-02 9.99860929e-01 3.94376568e-05 2.37504291e+00] [ 5.06103233e-03 -1.23856889e-04 9.99987185e-01 6.10722739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:123.88, Y:2.37, Z:0.61 [[ 9.99859490e-01 -1.59803901e-02 -5.06239174e-03 1.23884288e+02] [ 1.59807960e-02 9.99872298e-01 3.97310574e-05 2.37458357e+00] [ 5.06111035e-03 -1.20626524e-04 9.99987185e-01 6.11923056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:123.92, Y:2.37, Z:0.61 [[ 9.99862746e-01 -1.57752305e-02 -5.06263985e-03 1.23916171e+02] [ 1.57754742e-02 9.99875559e-01 8.21500389e-06 2.37418102e+00] [ 5.06188026e-03 -8.80794208e-05 9.99987185e-01 6.12092266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15439141799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:123.95, Y:2.37, Z:0.61 [[ 9.99822978e-01 -1.81213050e-02 -5.06262435e-03 1.23947471e+02] [ 1.81215884e-02 9.99835790e-01 1.01110549e-05 2.37480312e+00] [ 5.06160979e-03 -1.01852060e-04 9.99987185e-01 6.13259129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:123.98, Y:2.37, Z:0.61 [[ 9.99812526e-01 -1.86891758e-02 -5.06235673e-03 1.23979261e+02] [ 1.86896289e-02 9.99825333e-01 4.22083861e-05 2.37479552e+00] [ 5.06068367e-03 -1.36814042e-04 9.99987185e-01 6.13624111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21439141799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:124.01, Y:2.38, Z:0.61 [[ 9.99786655e-01 -2.00253918e-02 -5.06235321e-03 1.24010070e+02] [ 2.00258642e-02 9.99799461e-01 4.26267185e-05 2.37566405e+00] [ 5.06048440e-03 -1.43995622e-04 9.99987185e-01 6.13313309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:124.04, Y:2.38, Z:0.61 [[ 9.99779469e-01 -2.03810257e-02 -5.06234719e-03 1.24041209e+02] [ 2.03815061e-02 9.99792275e-01 4.33297286e-05 2.37584554e+00] [ 5.06041251e-03 -1.46498433e-04 9.99987185e-01 6.12996222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:124.07, Y:2.38, Z:0.61 [[ 9.99768175e-01 -2.09277217e-02 -5.06234454e-03 1.24073196e+02] [ 2.09282107e-02 9.99780980e-01 4.36370484e-05 2.37620676e+00] [ 5.06032257e-03 -1.49572746e-04 9.99987185e-01 6.13093487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:124.11, Y:2.38, Z:0.61 [[ 9.99770692e-01 -2.08071158e-02 -5.06234102e-03 1.24105134e+02] [ 2.08076053e-02 9.99783497e-01 4.40425788e-05 2.37709393e+00] [ 5.06032861e-03 -1.49367673e-04 9.99987185e-01 6.13510697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:124.14, Y:2.38, Z:0.61 [[ 9.99785723e-01 -2.00718978e-02 -5.06233742e-03 1.24137651e+02] [ 2.00723800e-02 9.99798529e-01 4.44526937e-05 2.37740411e+00] [ 5.06042525e-03 -1.46056329e-04 9.99987185e-01 6.13740338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:124.17, Y:2.38, Z:0.61 [[ 9.99827430e-01 -1.78740672e-02 -5.06233378e-03 1.24167758e+02] [ 1.78745233e-02 9.99840237e-01 4.48632488e-05 2.37752003e+00] [ 5.06072311e-03 -1.35342310e-04 9.99987185e-01 6.13721685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:124.20, Y:2.38, Z:0.61 [[ 9.99836671e-01 -1.73494043e-02 -5.06254821e-03 1.24200180e+02] [ 1.73497302e-02 9.99849482e-01 2.04789133e-05 2.37803671e+00] [ 5.06143091e-03 -1.08309414e-04 9.99987185e-01 6.14505413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:124.23, Y:2.38, Z:0.62 [[ 9.99903988e-01 -1.28991128e-02 -5.06233119e-03 1.24231825e+02] [ 1.28995055e-02 9.99916797e-01 4.49307611e-05 2.37935316e+00] [ 5.06133042e-03 -1.10228016e-04 9.99987185e-01 6.15372949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45439141799999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:124.26, Y:2.38, Z:0.62 [[ 9.99960719e-01 -7.27549762e-03 -5.06232935e-03 1.24263493e+02] [ 7.27581933e-03 9.99973530e-01 4.51363340e-05 2.38049400e+00] [ 5.06186696e-03 -8.19671548e-05 9.99987185e-01 6.15183152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:124.29, Y:2.38, Z:0.62 [[ 9.99978024e-01 -4.28080513e-03 -5.06232752e-03 1.24293342e+02] [ 4.28108952e-03 9.99990835e-01 4.53415649e-05 2.38062955e+00] [ 5.06208702e-03 -6.70128457e-05 9.99987185e-01 6.15384116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51439141799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:124.32, Y:2.38, Z:0.61 [[ 9.99985745e-01 -1.69802956e-03 -5.06232934e-03 1.24322498e+02] [ 1.69827982e-03 9.99998557e-01 4.51371774e-05 2.38062025e+00] [ 5.06224539e-03 -5.37337857e-05 9.99987185e-01 6.14664381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:124.35, Y:2.38, Z:0.61 [[ 9.99987163e-01 -2.17989150e-04 -5.06233114e-03 1.24350627e+02] [ 2.18219420e-04 9.99999975e-01 4.49346866e-05 2.38209207e+00] [ 5.06232121e-03 -4.60388087e-05 9.99987185e-01 6.13322372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57439141799999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:124.38, Y:2.38, Z:0.62 [[ 9.99984034e-01 2.51042215e-03 -5.06259918e-03 1.24380604e+02] [-2.51038378e-03 9.99996849e-01 1.39346956e-05 2.37979836e+00] [ 5.06261821e-03 -1.22540623e-06 9.99987185e-01 6.15800957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:124.41, Y:2.38, Z:0.62 [[ 9.99984137e-01 2.46950311e-03 -5.06233127e-03 1.24407664e+02] [-2.46930974e-03 9.99996950e-01 4.44479919e-05 2.38222206e+00] [ 5.06242560e-03 -3.19468229e-05 9.99987185e-01 6.15647879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63439141799999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:124.44, Y:2.38, Z:0.62 [[ 9.99971032e-01 5.68357572e-03 -5.06274625e-03 1.24437244e+02] [-5.68367022e-03 9.99983848e-01 -4.27838591e-06 2.37805251e+00] [ 5.06264016e-03 3.30532421e-05 9.99987184e-01 6.15812520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:124.47, Y:2.38, Z:0.62 [[ 9.99979913e-01 3.81348872e-03 -5.06262035e-03 1.24467207e+02] [-3.81348235e-03 9.99992729e-01 1.09112705e-05 2.37733104e+00] [ 5.06262514e-03 8.39516197e-06 9.99987185e-01 6.15719171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:124.50, Y:2.38, Z:0.62 [[ 9.99983034e-01 2.88161999e-03 -5.06234719e-03 1.24496383e+02] [-2.88143903e-03 9.99995848e-01 4.30397807e-05 2.37623524e+00] [ 5.06245020e-03 -2.84522057e-05 9.99987185e-01 6.15799425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:124.53, Y:2.37, Z:0.61 [[ 9.99985659e-01 1.74750074e-03 -5.06235060e-03 1.24525703e+02] [-1.74730729e-03 9.99998473e-01 4.26359668e-05 2.37477641e+00] [ 5.06241737e-03 -3.37898733e-05 9.99987185e-01 6.14906646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:124.55, Y:2.37, Z:0.62 [[ 9.99984966e-01 -2.10709260e-03 -5.06235314e-03 1.24554033e+02] [ 2.10733390e-03 9.99997779e-01 4.23314728e-05 2.37239356e+00] [ 5.06225270e-03 -5.29989047e-05 9.99987185e-01 6.15293782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:124.58, Y:2.37, Z:0.62 [[ 9.99977173e-01 -4.47499667e-03 -5.06235651e-03 1.24582594e+02] [ 4.47526625e-03 9.99989985e-01 4.19250362e-05 2.37110790e+00] [ 5.06211819e-03 -6.45794724e-05 9.99987185e-01 6.15179192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:124.61, Y:2.37, Z:0.62 [[ 9.99960804e-01 -7.26385393e-03 -5.06235982e-03 1.24612310e+02] [ 7.26415719e-03 9.99973615e-01 4.15206510e-05 2.36964982e+00] [ 5.06192465e-03 -7.82928011e-05 9.99987185e-01 6.15755980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:124.64, Y:2.37, Z:0.62 [[ 9.99891566e-01 -1.38285354e-02 -5.06236149e-03 1.24641266e+02] [ 1.38289217e-02 9.99904375e-01 4.13168907e-05 2.36834730e+00] [ 5.06130605e-03 -1.11319411e-04 9.99987185e-01 6.15068539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87439141799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:124.67, Y:2.37, Z:0.62 [[ 9.99851415e-01 -1.64778442e-02 -5.06250400e-03 1.24672279e+02] [ 1.64781736e-02 9.99864225e-01 2.33687425e-05 2.36607112e+00] [ 5.06143158e-03 -1.06786090e-04 9.99987185e-01 6.16975760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:124.70, Y:2.36, Z:0.62 [[ 9.99785353e-01 -2.00903118e-02 -5.06235753e-03 1.24703227e+02] [ 2.00907783e-02 9.99798159e-01 4.13158191e-05 2.36466642e+00] [ 5.06050569e-03 -1.43013654e-04 9.99987185e-01 6.18189414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:124.74, Y:2.36, Z:0.62 [[ 9.99600387e-01 -2.78107653e-02 -5.06235586e-03 1.24735511e+02] [ 2.78113318e-02 9.99613189e-01 4.15189462e-05 2.36082501e+00] [ 5.05924302e-03 -1.82293213e-04 9.99987185e-01 6.18723039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:124.77, Y:2.36, Z:0.62 [[ 9.99468463e-01 -3.22050169e-02 -5.06235249e-03 1.24767679e+02] [ 3.22056417e-02 9.99481263e-01 4.19259139e-05 2.35895587e+00] [ 5.05837624e-03 -2.04939939e-04 9.99987185e-01 6.18270811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99439141799999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:124.80, Y:2.36, Z:0.62 [[ 9.99324662e-01 -3.63949470e-02 -5.06234908e-03 1.24799168e+02] [ 3.63956275e-02 9.99337459e-01 4.23336993e-05 2.35709130e+00] [ 5.05745434e-03 -2.26552481e-04 9.99987185e-01 6.18370684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:124.83, Y:2.35, Z:0.62 [[ 9.98964555e-01 -4.52127227e-02 -5.06234365e-03 1.24831272e+02] [ 4.52135194e-02 9.98977345e-01 4.29735837e-05 2.35441761e+00] [ 5.05522367e-03 -2.71815460e-04 9.99987185e-01 6.18477050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:124.86, Y:2.35, Z:0.62 [[ 9.98763664e-01 -4.94521607e-02 -5.06234015e-03 1.24862948e+02] [ 4.94530137e-02 9.98776450e-01 4.33826776e-05 2.35325966e+00] [ 5.05400075e-03 -2.93677019e-04 9.99987185e-01 6.18046280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:124.89, Y:2.35, Z:0.62 [[ 9.98384332e-01 -5.65959188e-02 -5.06233571e-03 1.24894567e+02] [ 5.65968658e-02 9.98397112e-01 4.38937670e-05 2.35237431e+00] [ 5.05173715e-03 -3.30335184e-04 9.99987185e-01 6.17555406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:124.93, Y:2.35, Z:0.62 [[ 9.98241714e-01 -5.90580515e-02 -5.06233010e-03 1.24927371e+02] [ 5.90590332e-02 9.98254491e-01 4.45325310e-05 2.35194940e+00] [ 5.05086375e-03 -3.43430551e-04 9.99987185e-01 6.18245818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:124.96, Y:2.35, Z:0.62 [[ 9.98142847e-01 -6.07060971e-02 -5.06232473e-03 1.24959958e+02] [ 6.07071029e-02 9.98155622e-01 4.51341402e-05 2.35164920e+00] [ 5.05024797e-03 -3.52369388e-04 9.99987185e-01 6.19052716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:124.99, Y:2.35, Z:0.62 [[ 9.98084910e-01 -6.16513201e-02 -5.06231902e-03 1.24992065e+02] [ 6.16523412e-02 9.98097684e-01 4.57664466e-05 2.35176583e+00] [ 5.04986732e-03 -3.57782619e-04 9.99987185e-01 6.17987538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:125.03, Y:2.35, Z:0.62 [[ 9.98077102e-01 -6.17775949e-02 -5.06230939e-03 1.25025445e+02] [ 6.17786229e-02 9.98089875e-01 4.68071578e-05 2.35391837e+00] [ 5.04974812e-03 -3.59459655e-04 9.99987185e-01 6.18653211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:125.06, Y:2.35, Z:0.62 [[ 9.98138790e-01 -6.07727668e-02 -5.06230369e-03 1.25058651e+02] [ 6.07737851e-02 9.98151564e-01 4.74161361e-05 2.35495977e+00] [ 5.05006473e-03 -3.54983241e-04 9.99987185e-01 6.19160015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:125.09, Y:2.36, Z:0.62 [[ 9.98221807e-01 -5.93935746e-02 -5.06229776e-03 1.25090913e+02] [ 5.93945783e-02 9.98234583e-01 4.80404963e-05 2.35609333e+00] [ 5.05050740e-03 -3.48628112e-04 9.99987185e-01 6.19004413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:125.12, Y:2.36, Z:0.62 [[ 9.98323247e-01 -5.76634066e-02 -5.06229281e-03 1.25123239e+02] [ 5.76643908e-02 9.98336023e-01 4.85568443e-05 2.35749180e+00] [ 5.05106932e-03 -3.40389458e-04 9.99987185e-01 6.18913859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:125.16, Y:2.36, Z:0.62 [[ 9.98565203e-01 -5.33095480e-02 -5.06239171e-03 1.25155153e+02] [ 5.33104248e-02 9.98577988e-01 3.83336096e-05 2.35981399e+00] [ 5.05314938e-03 -3.08156862e-04 9.99987185e-01 6.19120187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:125.19, Y:2.36, Z:0.62 [[ 9.98702043e-01 -5.06813744e-02 -5.06228140e-03 1.25186761e+02] [ 5.06822745e-02 9.98714826e-01 4.95937702e-05 2.36121995e+00] [ 5.05326201e-03 -3.06097335e-04 9.99987185e-01 6.17431430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:125.22, Y:2.36, Z:0.62 [[ 9.98845585e-01 -4.77689349e-02 -5.06227099e-03 1.25220070e+02] [ 4.77698030e-02 9.98858370e-01 5.06344597e-05 2.36258956e+00] [ 5.05407300e-03 -2.92399694e-04 9.99987185e-01 6.19153227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:125.25, Y:2.37, Z:0.62 [[ 9.99100098e-01 -4.21113823e-02 -5.06226469e-03 1.25251988e+02] [ 4.21121810e-02 9.99112887e-01 5.12571582e-05 2.36672199e+00] [ 5.05561538e-03 -2.64394039e-04 9.99987185e-01 6.19910600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:125.29, Y:2.37, Z:0.62 [[ 9.99319821e-01 -3.65276516e-02 -5.06226047e-03 1.25286399e+02] [ 3.65283810e-02 9.99332615e-01 5.16704644e-05 2.36589449e+00] [ 5.05699459e-03 -2.36551498e-04 9.99987185e-01 6.18393902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:125.32, Y:2.37, Z:0.62 [[ 9.99497876e-01 -3.12789650e-02 -5.06186274e-03 1.25315914e+02] [ 3.12798185e-02 9.99510663e-01 8.95112681e-05 2.37240331e+00] [ 5.05658597e-03 -2.47800470e-04 9.99987185e-01 6.20243994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:125.35, Y:2.37, Z:0.62 [[ 9.99639352e-01 -2.63730982e-02 -5.06224608e-03 1.25349068e+02] [ 2.63737026e-02 9.99652152e-01 5.26624978e-05 2.37257632e+00] [ 5.05909632e-03 -1.86153678e-04 9.99987185e-01 6.18237848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:125.38, Y:2.38, Z:0.62 [[ 9.99706066e-01 -2.37098683e-02 -5.06199016e-03 1.25378087e+02] [ 2.37105621e-02 9.99718862e-01 7.70835292e-05 2.37544664e+00] [ 5.05873940e-03 -1.97083504e-04 9.99987185e-01 6.20560755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:125.41, Y:2.38, Z:0.62 [[ 9.99856277e-01 -1.61801770e-02 -5.06224472e-03 1.25410192e+02] [ 1.61806504e-02 9.99869083e-01 5.25707614e-05 2.37904673e+00] [ 5.06073139e-03 -1.34473618e-04 9.99987185e-01 6.21171383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59439141799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:125.44, Y:2.38, Z:0.62 [[ 9.99907463e-01 -1.26269498e-02 -5.06224056e-03 1.25441787e+02] [ 1.26273797e-02 9.99920270e-01 5.29689727e-05 2.38022550e+00] [ 5.06116811e-03 -1.16886905e-04 9.99987185e-01 6.21754858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:125.47, Y:2.38, Z:0.62 [[ 9.99945238e-01 -9.15946054e-03 -5.06223840e-03 1.25473571e+02] [ 9.15984707e-03 9.99958046e-01 5.31746167e-05 2.38126957e+00] [ 5.06153896e-03 -9.95410343e-05 9.99987185e-01 6.21373733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65439141799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:125.50, Y:2.38, Z:0.62 [[ 9.99979101e-01 -4.02133881e-03 -5.06223624e-03 1.25504193e+02] [ 4.02166054e-03 9.99991912e-01 5.33785805e-05 2.38231847e+00] [ 5.06198065e-03 -7.37360607e-05 9.99987185e-01 6.20577270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:125.53, Y:2.38, Z:0.62 [[ 9.99984145e-01 -2.46639894e-03 -5.06223624e-03 1.25532361e+02] [ 2.46670076e-03 9.99996956e-01 5.33785805e-05 2.38268103e+00] [ 5.06208918e-03 -6.58647561e-05 9.99987185e-01 6.20206025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:125.56, Y:2.38, Z:0.62 [[ 9.99985788e-01 -1.67259788e-03 -5.06223940e-03 1.25561402e+02] [ 1.67288800e-03 9.99998599e-01 5.30775804e-05 2.38310496e+00] [ 5.06214353e-03 -6.15453856e-05 9.99987185e-01 6.20381292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:125.59, Y:2.38, Z:0.62 [[ 9.99986383e-01 -1.26778899e-03 -5.06225363e-03 1.25589756e+02] [ 1.26806688e-03 9.99999195e-01 5.16837442e-05 2.38361058e+00] [ 5.06218403e-03 -5.81023166e-05 9.99987185e-01 6.20690715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:125.62, Y:2.38, Z:0.62 [[ 9.99986316e-01 -1.31930700e-03 -5.06226744e-03 1.25618974e+02] [ 1.31957851e-03 9.99999128e-01 5.02940803e-05 2.38461088e+00] [ 5.06219667e-03 -5.69734514e-05 9.99987185e-01 6.21364536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:125.65, Y:2.38, Z:0.62 [[ 9.99985292e-01 -1.94676375e-03 -5.06228090e-03 1.25646990e+02] [ 1.94703625e-03 9.99998103e-01 4.88998897e-05 2.38472136e+00] [ 5.06217611e-03 -5.87556148e-05 9.99987185e-01 6.21726923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:125.68, Y:2.38, Z:0.62 [[ 9.99983617e-01 -2.67204965e-03 -5.06228562e-03 1.25675321e+02] [ 2.67232894e-03 9.99996428e-01 4.84069271e-05 2.38435355e+00] [ 5.06213819e-03 -6.19342264e-05 9.99987185e-01 6.21577842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:125.70, Y:2.38, Z:0.62 [[ 9.99975099e-01 -4.91668566e-03 -5.06228836e-03 1.25704364e+02] [ 4.91699224e-03 9.99987910e-01 4.81182965e-05 2.38387005e+00] [ 5.06199058e-03 -7.30083309e-05 9.99987185e-01 6.21933223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:125.73, Y:2.38, Z:0.62 [[ 9.99969351e-01 -5.97243931e-03 -5.06229224e-03 1.25733563e+02] [ 5.97275734e-03 9.99982162e-01 4.77070143e-05 2.38314359e+00] [ 5.06191701e-03 -7.79413952e-05 9.99987185e-01 6.22034785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:125.76, Y:2.38, Z:0.62 [[ 9.99961198e-01 -7.20940282e-03 -5.06229416e-03 1.25763152e+02] [ 7.20973566e-03 9.99974008e-01 4.75021170e-05 2.38248381e+00] [ 5.06182012e-03 -8.39980766e-05 9.99987185e-01 6.22373973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95439141799999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:125.79, Y:2.38, Z:0.62 [[ 9.99953105e-01 -8.25600058e-03 -5.06229406e-03 1.25792806e+02] [ 8.25634689e-03 9.99965915e-01 4.75132824e-05 2.38192360e+00] [ 5.06172924e-03 -8.93071100e-05 9.99987185e-01 6.22876351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:125.82, Y:2.38, Z:0.62 [[ 9.99933773e-01 -1.03355056e-02 -5.06229499e-03 1.25823793e+02] [ 1.03358780e-02 9.99946582e-01 4.74140458e-05 2.38087723e+00] [ 5.06153452e-03 -9.97341691e-05 9.99987185e-01 6.23076745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:125.85, Y:2.38, Z:0.62 [[ 9.99933773e-01 -1.03355056e-02 -5.06229499e-03 1.25854791e+02] [ 1.03358780e-02 9.99946582e-01 4.74140458e-05 2.38058690e+00] [ 5.06153452e-03 -9.97341691e-05 9.99987185e-01 6.23233683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:125.89, Y:2.38, Z:0.62 [[ 9.99918500e-01 -1.17203267e-02 -5.06229499e-03 1.25885593e+02] [ 1.17207168e-02 9.99931309e-01 4.74140458e-05 2.38004173e+00] [ 5.06139154e-03 -1.06743908e-04 9.99987185e-01 6.24242939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07439141799999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:125.92, Y:2.38, Z:0.62 [[ 9.99898889e-01 -1.32884987e-02 -5.06229403e-03 1.25916442e+02] [ 1.32889094e-02 9.99911697e-01 4.75161081e-05 2.37830813e+00] [ 5.06121560e-03 -1.14783671e-04 9.99987185e-01 6.23574759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:125.95, Y:2.38, Z:0.62 [[ 9.99899306e-01 -1.32571080e-02 -5.06229216e-03 1.25948169e+02] [ 1.32575194e-02 9.99912114e-01 4.77142789e-05 2.37701132e+00] [ 5.06121470e-03 -1.14822911e-04 9.99987185e-01 6.23013289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13439141799999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:125.98, Y:2.38, Z:0.62 [[ 9.99900103e-01 -1.31968577e-02 -5.06229023e-03 1.25979301e+02] [ 1.31972694e-02 9.99912911e-01 4.79182448e-05 2.37591154e+00] [ 5.06121699e-03 -1.14721866e-04 9.99987185e-01 6.22906475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:126.01, Y:2.37, Z:0.62 [[ 9.99915647e-01 -1.19612746e-02 -5.06228826e-03 1.26010764e+02] [ 1.19616715e-02 9.99928455e-01 4.81249761e-05 2.37448245e+00] [ 5.06135045e-03 -1.08674346e-04 9.99987185e-01 6.22591037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:126.04, Y:2.37, Z:0.62 [[ 9.99930195e-01 -1.06760777e-02 -5.06228530e-03 1.26041897e+02] [ 1.06764597e-02 9.99943004e-01 4.84351695e-05 2.37369895e+00] [ 5.06147967e-03 -1.02479073e-04 9.99987185e-01 6.22495032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:126.07, Y:2.37, Z:0.62 [[ 9.99947993e-01 -8.85352185e-03 -5.06228333e-03 1.26072358e+02] [ 8.85388151e-03 9.99960802e-01 4.86401047e-05 2.37294343e+00] [ 5.06165426e-03 -9.34584318e-05 9.99987185e-01 6.22126346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:126.10, Y:2.37, Z:0.62 [[ 9.99962225e-01 -7.06554327e-03 -5.06228333e-03 1.26102526e+02] [ 7.06588002e-03 9.99975035e-01 4.86401047e-05 2.37229310e+00] [ 5.06181328e-03 -8.44077540e-05 9.99987185e-01 6.21890765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:126.13, Y:2.37, Z:0.62 [[ 9.99981807e-01 -3.28022139e-03 -5.06228333e-03 1.26132060e+02] [ 3.28050964e-03 9.99994618e-01 4.86401047e-05 2.37108660e+00] [ 5.06209653e-03 -6.52460891e-05 9.99987185e-01 6.20608993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:126.16, Y:2.37, Z:0.62 [[ 9.99986297e-01 -1.33384168e-03 -5.06228532e-03 1.26160793e+02] [ 1.33410394e-03 9.99999109e-01 4.84319901e-05 2.37076939e+00] [ 5.06221621e-03 -5.51849413e-05 9.99987185e-01 6.20569867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:126.19, Y:2.37, Z:0.62 [[ 9.99986484e-01 1.18515746e-03 -5.06228827e-03 1.26189003e+02] [-1.18492903e-03 9.99999297e-01 4.81218856e-05 2.37036922e+00] [ 5.06234174e-03 -4.21227829e-05 9.99987185e-01 6.19905864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37439141799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:126.22, Y:2.37, Z:0.62 [[ 9.99982715e-01 2.99046842e-03 -5.06229302e-03 1.26217128e+02] [-2.99026569e-03 9.99995528e-01 4.76161293e-05 2.37045311e+00] [ 5.06241278e-03 -3.24777052e-05 9.99987185e-01 6.21058001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:126.25, Y:2.37, Z:0.62 [[ 9.99953520e-01 8.20550486e-03 -5.06230831e-03 1.26245345e+02] [-8.20537748e-03 9.99966334e-01 4.59314418e-05 2.36978413e+00] [ 5.06251477e-03 -4.39115640e-06 9.99987185e-01 6.20589051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43439141799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:126.27, Y:2.37, Z:0.62 [[ 9.99937093e-01 1.00091409e-02 -5.06232297e-03 1.26273561e+02] [-1.00090451e-02 9.99949907e-01 4.42542566e-05 2.36932523e+00] [ 5.06251233e-03 6.41754613e-06 9.99987185e-01 6.21270114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:126.30, Y:2.37, Z:0.62 [[ 9.99895380e-01 1.35499593e-02 -5.06232744e-03 1.26300084e+02] [-1.35499115e-02 9.99908195e-01 4.37365845e-05 2.36727953e+00] [ 5.06245532e-03 2.48620800e-05 9.99987185e-01 6.21320027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49439141799999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:126.33, Y:2.37, Z:0.62 [[ 9.99884443e-01 1.43343260e-02 -5.06233349e-03 1.26328332e+02] [-1.43342919e-02 9.99897258e-01 4.30244760e-05 2.36569657e+00] [ 5.06243011e-03 2.95454618e-05 9.99987185e-01 6.21618041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:126.36, Y:2.36, Z:0.62 [[ 9.99878296e-01 1.47569039e-02 -5.06233867e-03 1.26356563e+02] [-1.47568784e-02 9.99891110e-01 4.24064871e-05 2.36392145e+00] [ 5.06241322e-03 3.23029900e-05 9.99987185e-01 6.21728620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:126.39, Y:2.36, Z:0.62 [[ 9.99900637e-01 1.31563569e-02 -5.06234289e-03 1.26385572e+02] [-1.31563134e-02 9.99913451e-01 4.18967775e-05 2.36093052e+00] [ 5.06245596e-03 2.47091552e-05 9.99987185e-01 6.21870014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:126.41, Y:2.36, Z:0.62 [[ 9.99921618e-01 1.14511874e-02 -5.06234623e-03 1.26413172e+02] [-1.14511241e-02 9.99934433e-01 4.14892386e-05 2.35907424e+00] [ 5.06248941e-03 1.64835682e-05 9.99987185e-01 6.21683774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:126.44, Y:2.35, Z:0.62 [[ 9.99962951e-01 6.96198680e-03 -5.06235114e-03 1.26440786e+02] [-6.96186906e-03 9.99975765e-01 4.08807760e-05 2.35421635e+00] [ 5.06251307e-03 -5.63583561e-06 9.99987185e-01 6.20986608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:126.47, Y:2.35, Z:0.62 [[ 9.99977184e-01 4.47260000e-03 -5.06235515e-03 1.26469693e+02] [-4.47245290e-03 9.99989998e-01 4.03780830e-05 2.35121991e+00] [ 5.06248511e-03 -1.77360168e-05 9.99987185e-01 6.20936509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:126.50, Y:2.35, Z:0.62 [[ 9.99985306e-01 1.93928796e-03 -5.06235837e-03 1.26497346e+02] [-1.93911046e-03 9.99998119e-01 3.99703495e-05 2.34793784e+00] [ 5.06242636e-03 -3.01532901e-05 9.99987185e-01 6.20733883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:126.53, Y:2.34, Z:0.62 [[ 9.99987023e-01 -5.71386598e-04 -5.06236232e-03 1.26525668e+02] [ 5.71593701e-04 9.99999836e-01 3.94638130e-05 2.34497933e+00] [ 5.06233894e-03 -4.23569153e-05 9.99987185e-01 6.21244684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73439141799999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:126.55, Y:2.34, Z:0.62 [[ 9.99970887e-01 -5.70951029e-03 -5.06236547e-03 1.26553157e+02] [ 5.70978116e-03 9.99983698e-01 3.90554973e-05 2.34032489e+00] [ 5.06205996e-03 -6.79593593e-05 9.99987185e-01 6.22737510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:126.58, Y:2.34, Z:0.62 [[ 9.99953116e-01 -8.25458769e-03 -5.06236932e-03 1.26582825e+02] [ 8.25488860e-03 9.99965927e-01 3.85494376e-05 2.33831093e+00] [ 5.06187863e-03 -8.03369251e-05 9.99987185e-01 6.23098631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:126.61, Y:2.34, Z:0.62 [[ 9.99927464e-01 -1.09287878e-02 -5.06237085e-03 1.26612160e+02] [ 1.09291219e-02 9.99940275e-01 3.83474673e-05 2.33625431e+00] [ 5.06164941e-03 -9.36719540e-05 9.99987185e-01 6.23356117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:126.64, Y:2.33, Z:0.62 [[ 9.99865620e-01 -1.55921558e-02 -5.06237239e-03 1.26641774e+02] [ 1.55925486e-02 9.99878428e-01 3.81436330e-05 2.33110176e+00] [ 5.06116221e-03 -1.17073795e-04 9.99987185e-01 6.22761002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:126.67, Y:2.33, Z:0.62 [[ 9.99831553e-01 -1.76419579e-02 -5.06237172e-03 1.26673085e+02] [ 1.76423775e-02 9.99844360e-01 3.82318942e-05 2.32809524e+00] [ 5.06090933e-03 -1.27537727e-04 9.99987185e-01 6.22773944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:126.70, Y:2.33, Z:0.62 [[ 9.99734451e-01 -2.24811204e-02 -5.06237022e-03 1.26702909e+02] [ 2.24816030e-02 9.99747256e-01 3.84303649e-05 2.32512475e+00] [ 5.06022678e-03 -1.52230357e-04 9.99987185e-01 6.24015259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:126.74, Y:2.32, Z:0.62 [[ 9.99722032e-01 -2.30266895e-02 -5.06257829e-03 1.26735448e+02] [ 2.30270368e-02 9.99734843e-01 1.03140379e-05 2.32180917e+00] [ 5.06099841e-03 -1.26887348e-04 9.99987185e-01 6.23912876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:126.77, Y:2.32, Z:0.62 [[ 9.99693277e-01 -2.42430444e-02 -5.06235497e-03 1.26766745e+02] [ 2.42435533e-02 9.99706081e-01 3.91734571e-05 2.32027137e+00] [ 5.05991737e-03 -1.61890914e-04 9.99987185e-01 6.24079762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:126.80, Y:2.32, Z:0.62 [[ 9.99666478e-01 -2.53240053e-02 -5.06235253e-03 1.26799087e+02] [ 2.53245296e-02 9.99679282e-01 3.94863950e-05 2.31898504e+00] [ 5.05972899e-03 -1.67674922e-04 9.99987185e-01 6.24401378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:126.83, Y:2.32, Z:0.62 [[ 9.99572172e-01 -2.88070327e-02 -5.06234921e-03 1.26829081e+02] [ 2.88076037e-02 9.99584974e-01 3.99073848e-05 2.31897126e+00] [ 5.05909859e-03 -1.85724461e-04 9.99987185e-01 6.24166445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:126.86, Y:2.32, Z:0.62 [[ 9.99588681e-01 -2.82283368e-02 -5.06260847e-03 1.26860982e+02] [ 2.82287327e-02 9.99601490e-01 6.74669429e-06 2.31583454e+00] [ 5.06040052e-03 -1.49654940e-04 9.99987185e-01 6.23603594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:126.89, Y:2.31, Z:0.62 [[ 9.99564963e-01 -2.90561193e-02 -5.06232998e-03 1.26892884e+02] [ 2.90566995e-02 9.99577764e-01 4.10724334e-05 2.31487239e+00] [ 5.05899907e-03 -1.88149166e-04 9.99987185e-01 6.23126258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09439141799999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:126.93, Y:2.31, Z:0.62 [[ 9.99537731e-01 -2.99782700e-02 -5.06232663e-03 1.26925359e+02] [ 2.99788640e-02 9.99550532e-01 4.14814757e-05 2.31338183e+00] [ 5.05880773e-03 -1.93225102e-04 9.99987185e-01 6.20493636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:126.96, Y:2.31, Z:0.62 [[ 9.99509051e-01 -3.09197220e-02 -5.06232324e-03 1.26956471e+02] [ 3.09203302e-02 9.99521851e-01 4.18910064e-05 2.31325446e+00] [ 5.05860744e-03 -1.98399146e-04 9.99987185e-01 6.22265648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15439141799999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:126.99, Y:2.31, Z:0.62 [[ 9.99492513e-01 -3.14498061e-02 -5.06232069e-03 1.26988989e+02] [ 3.14504225e-02 9.99505312e-01 4.21959675e-05 2.31313587e+00] [ 5.05848937e-03 -2.01386678e-04 9.99987185e-01 6.22271785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:127.02, Y:2.31, Z:0.62 [[ 9.99491355e-01 -3.14865741e-02 -5.06231730e-03 1.27020229e+02] [ 3.14871931e-02 9.99504155e-01 4.25994547e-05 2.31300162e+00] [ 5.05846586e-03 -2.01975949e-04 9.99987185e-01 6.21184698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:127.05, Y:2.31, Z:0.62 [[ 9.99511340e-01 -3.08456516e-02 -5.06231476e-03 1.27052717e+02] [ 3.08462639e-02 9.99524140e-01 4.28993547e-05 2.31390698e+00] [ 5.05858255e-03 -1.99031889e-04 9.99987185e-01 6.23476086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:127.08, Y:2.31, Z:0.62 [[ 9.99545103e-01 -2.97314754e-02 -5.06231130e-03 1.27084188e+02] [ 2.97320755e-02 9.99557903e-01 4.33040242e-05 2.31457131e+00] [ 5.05878577e-03 -1.93797347e-04 9.99987185e-01 6.23910654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:127.12, Y:2.32, Z:0.62 [[ 9.99574034e-01 -2.87423530e-02 -5.06230549e-03 1.27116137e+02] [ 2.87429437e-02 9.99586835e-01 4.39719763e-05 2.31546359e+00] [ 5.05895007e-03 -1.89458808e-04 9.99987185e-01 6.24464549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:127.15, Y:2.32, Z:0.62 [[ 9.99614850e-01 -2.72859702e-02 -5.06230198e-03 1.27146985e+02] [ 2.72865444e-02 9.99627652e-01 4.43733928e-05 2.31617751e+00] [ 5.05920627e-03 -1.82489030e-04 9.99987185e-01 6.24445364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:127.18, Y:2.32, Z:0.62 [[ 9.99705799e-01 -2.37210697e-02 -5.06229934e-03 1.27177918e+02] [ 2.37215997e-02 9.99718602e-01 4.46723529e-05 2.31881359e+00] [ 5.05981514e-03 -1.64745049e-04 9.99987185e-01 6.23569692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:127.21, Y:2.32, Z:0.62 [[ 9.99750679e-01 -2.17474657e-02 -5.06229673e-03 1.27210137e+02] [ 2.17479719e-02 9.99763484e-01 4.49660133e-05 2.32031465e+00] [ 5.06012152e-03 -1.55049489e-04 9.99987185e-01 6.23569382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:127.24, Y:2.32, Z:0.63 [[ 9.99839682e-01 -1.71751056e-02 -5.06229326e-03 1.27241625e+02] [ 1.71755553e-02 9.99852488e-01 4.53535693e-05 2.32306627e+00] [ 5.06076756e-03 -1.32293996e-04 9.99987185e-01 6.25042694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:127.27, Y:2.32, Z:0.63 [[ 9.99873439e-01 -1.50824129e-02 -5.06229139e-03 1.27272673e+02] [ 1.50828368e-02 9.99886247e-01 4.55613973e-05 2.32409486e+00] [ 5.06102836e-03 -1.21909346e-04 9.99987185e-01 6.25382168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:127.30, Y:2.33, Z:0.63 [[ 9.99899496e-01 -1.32427925e-02 -5.06228952e-03 1.27304265e+02] [ 1.32431938e-02 9.99912304e-01 4.57678066e-05 2.32517041e+00] [ 5.06123948e-03 -1.12804088e-04 9.99987185e-01 6.25957924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:127.33, Y:2.33, Z:0.63 [[ 9.99933159e-01 -1.03947046e-02 -5.06228766e-03 1.27334541e+02] [ 1.03950705e-02 9.99945969e-01 4.59728399e-05 2.32706987e+00] [ 5.06153626e-03 -9.85926039e-05 9.99987185e-01 6.26966375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:127.36, Y:2.33, Z:0.63 [[ 9.99939730e-01 -9.74218617e-03 -5.06228673e-03 1.27364960e+02] [ 9.74254423e-03 9.99952539e-01 4.60745404e-05 2.32773651e+00] [ 5.06159761e-03 -9.53913159e-05 9.99987185e-01 6.26958192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:127.40, Y:2.33, Z:0.63 [[ 9.99944556e-01 -9.23354750e-03 -5.06228673e-03 1.27395591e+02] [ 9.23389905e-03 9.99957366e-01 4.60745404e-05 2.32816619e+00] [ 5.06164547e-03 -9.28166305e-05 9.99987185e-01 6.26826050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57439141799999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:127.43, Y:2.33, Z:0.63 [[ 9.99950482e-01 -8.56776195e-03 -5.06228673e-03 1.27425221e+02] [ 8.56810496e-03 9.99963292e-01 4.60745404e-05 2.32920791e+00] [ 5.06170615e-03 -8.94464630e-05 9.99987185e-01 6.26688731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:127.46, Y:2.33, Z:0.63 [[ 9.99953061e-01 -8.26124249e-03 -5.06228655e-03 1.27455646e+02] [ 8.26158168e-03 9.99965871e-01 4.60943622e-05 2.32922359e+00] [ 5.06173299e-03 -8.79146925e-05 9.99987185e-01 6.26195486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:127.49, Y:2.33, Z:0.63 [[ 9.99956200e-01 -7.87216308e-03 -5.06228655e-03 1.27485141e+02] [ 7.87249728e-03 9.99969010e-01 4.60943622e-05 2.32897601e+00] [ 5.06176681e-03 -8.59451804e-05 9.99987185e-01 6.25435838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:127.51, Y:2.33, Z:0.63 [[ 9.99964487e-01 -6.73781708e-03 -5.06228831e-03 1.27514524e+02] [ 6.73813576e-03 9.99977297e-01 4.59000719e-05 2.32906756e+00] [ 5.06186412e-03 -8.00088278e-05 9.99987185e-01 6.25175821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:127.54, Y:2.33, Z:0.63 [[ 9.99967965e-01 -6.20021930e-03 -5.06229007e-03 1.27543922e+02] [ 6.20053011e-03 9.99980775e-01 4.57056935e-05 2.32913010e+00] [ 5.06190936e-03 -7.70931114e-05 9.99987185e-01 6.25744518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:127.57, Y:2.33, Z:0.63 [[ 9.99973744e-01 -5.18493654e-03 -5.06229185e-03 1.27572983e+02] [ 5.18523335e-03 9.99986556e-01 4.55072399e-05 2.32898103e+00] [ 5.06198784e-03 -7.17552096e-05 9.99987185e-01 6.25310575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:127.60, Y:2.33, Z:0.63 [[ 9.99979715e-01 -3.86559001e-03 -5.06229448e-03 1.27602850e+02] [ 3.86586842e-03 9.99992526e-01 4.52129215e-05 2.32887116e+00] [ 5.06208187e-03 -6.47821688e-05 9.99987185e-01 6.27245249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:127.63, Y:2.33, Z:0.63 [[ 9.99981031e-01 -3.50856375e-03 -5.06229622e-03 1.27631680e+02] [ 3.50883660e-03 9.99993843e-01 4.50178825e-05 2.32861115e+00] [ 5.06210710e-03 -6.27797988e-05 9.99987185e-01 6.27168519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:127.66, Y:2.33, Z:0.63 [[ 9.99980437e-01 -3.67416991e-03 -5.06229877e-03 1.27660025e+02] [ 3.67444341e-03 9.99993248e-01 4.47288315e-05 2.32805734e+00] [ 5.06210025e-03 -6.33290869e-05 9.99987185e-01 6.27482672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:127.69, Y:2.33, Z:0.63 [[ 9.99977952e-01 -4.29753959e-03 -5.06231023e-03 1.27688785e+02] [ 4.29781432e-03 9.99990763e-01 4.33915724e-05 2.32622434e+00] [ 5.06207700e-03 -6.51474851e-05 9.99987185e-01 6.27774592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:127.72, Y:2.33, Z:0.63 [[ 9.99974683e-01 -5.00061642e-03 -5.06232208e-03 1.27717324e+02] [ 5.00089292e-03 9.99987495e-01 4.19619108e-05 2.32550963e+00] [ 5.06204894e-03 -6.72769792e-05 9.99987185e-01 6.28129965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:127.75, Y:2.32, Z:0.63 [[ 9.99971246e-01 -5.64618125e-03 -5.06229656e-03 1.27746488e+02] [ 5.64648179e-03 9.99984057e-01 4.50788499e-05 2.32453654e+00] [ 5.06196133e-03 -7.36617191e-05 9.99987185e-01 6.28028986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:127.78, Y:2.32, Z:0.63 [[ 9.99971023e-01 -5.68554566e-03 -5.06233343e-03 1.27776642e+02] [ 5.68582336e-03 9.99983835e-01 4.04664656e-05 2.32433660e+00] [ 5.06202153e-03 -6.92488267e-05 9.99987185e-01 6.28182721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:127.81, Y:2.32, Z:0.63 [[ 9.99969426e-01 -5.95978952e-03 -5.06233502e-03 1.27806437e+02] [ 5.96006973e-03 9.99982238e-01 4.02672997e-05 2.32378062e+00] [ 5.06200512e-03 -7.04379383e-05 9.99987185e-01 6.27999677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99439141799999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:127.84, Y:2.32, Z:0.63 [[ 9.99969622e-01 -5.92682715e-03 -5.06233658e-03 1.27836225e+02] [ 5.92710594e-03 9.99982434e-01 4.00693239e-05 2.32321426e+00] [ 5.06201017e-03 -7.00731119e-05 9.99987185e-01 6.27897712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:127.87, Y:2.32, Z:0.63 [[ 9.99972843e-01 -5.35587551e-03 -5.06233814e-03 1.27865550e+02] [ 5.35614598e-03 9.99985655e-01 3.98724554e-05 2.32234110e+00] [ 5.06205196e-03 -6.69859946e-05 9.99987185e-01 6.28415582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:127.89, Y:2.32, Z:0.63 [[ 9.99980061e-01 -3.77496743e-03 -5.06233974e-03 1.27893780e+02] [ 3.77521661e-03 9.99992873e-01 3.96679934e-05 2.32085290e+00] [ 5.06215391e-03 -5.87786316e-05 9.99987185e-01 6.28332014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:127.92, Y:2.32, Z:0.63 [[ 9.99983086e-01 -2.86356779e-03 -5.06234210e-03 1.27922037e+02] [ 2.86380375e-03 9.99995899e-01 3.93642275e-05 2.31975992e+00] [ 5.06220861e-03 -5.38611160e-05 9.99987185e-01 6.28342652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:127.95, Y:2.32, Z:0.63 [[ 9.99986039e-01 -1.51460853e-03 -5.06235263e-03 1.27950944e+02] [ 1.51482011e-03 9.99998852e-01 3.79601651e-05 2.31871434e+00] [ 5.06228932e-03 -4.56281887e-05 9.99987185e-01 6.27908083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:127.98, Y:2.32, Z:0.63 [[ 9.99986766e-01 9.16257679e-04 -5.06235484e-03 1.27978370e+02] [-9.16078757e-04 9.99999580e-01 3.76623153e-05 2.31724817e+00] [ 5.06238722e-03 -3.30243012e-05 9.99987185e-01 6.27465763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:128.01, Y:2.32, Z:0.63 [[ 9.99985617e-01 1.77181321e-03 -5.06235838e-03 1.28006808e+02] [-1.77164768e-03 9.99998430e-01 3.71814559e-05 2.31649316e+00] [ 5.06241631e-03 -2.82122057e-05 9.99987185e-01 6.26434221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:128.03, Y:2.32, Z:0.63 [[ 9.99983891e-01 2.56723347e-03 -5.06234153e-03 1.28034940e+02] [-2.56706635e-03 9.99996704e-01 3.95104815e-05 2.31520842e+00] [ 5.06242628e-03 -2.65144784e-05 9.99987185e-01 6.26707903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:128.06, Y:2.31, Z:0.63 [[ 9.99982014e-01 3.21610479e-03 -5.06236422e-03 1.28064083e+02] [-3.21596198e-03 9.99994828e-01 3.63512321e-05 2.31393026e+00] [ 5.06245494e-03 -2.00702075e-05 9.99987185e-01 6.26529881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:128.09, Y:2.31, Z:0.63 [[ 9.99979172e-01 4.00354631e-03 -5.06236689e-03 1.28093352e+02] [-4.00341549e-03 9.99991986e-01 3.59754691e-05 2.31129134e+00] [ 5.06247034e-03 -1.57079618e-05 9.99987185e-01 6.26383693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:128.12, Y:2.31, Z:0.63 [[ 9.99979416e-01 3.94198317e-03 -5.06236965e-03 1.28121295e+02] [-3.94185355e-03 9.99992230e-01 3.55824754e-05 2.31021438e+00] [ 5.06247058e-03 -1.56266232e-05 9.99987185e-01 6.26104494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:128.15, Y:2.31, Z:0.63 [[ 9.99981630e-01 3.33334072e-03 -5.06237302e-03 1.28150055e+02] [-3.33320576e-03 9.99994444e-01 3.50962390e-05 2.30823497e+00] [ 5.06246188e-03 -1.82216633e-05 9.99987185e-01 6.27917937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35439141799999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:128.18, Y:2.31, Z:0.63 [[ 9.99984245e-01 2.42537351e-03 -5.06237580e-03 1.28179347e+02] [-2.42522897e-03 9.99997059e-01 3.46899470e-05 2.30719445e+00] [ 5.06244505e-03 -2.24119800e-05 9.99987185e-01 6.28327693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:128.21, Y:2.31, Z:0.63 [[ 9.99986747e-01 9.36856283e-04 -5.06237857e-03 1.28207523e+02] [-9.36694738e-04 9.99999561e-01 3.42817779e-05 2.30585763e+00] [ 5.06240846e-03 -2.95394202e-05 9.99987185e-01 6.28674992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:128.24, Y:2.30, Z:0.63 [[ 9.99981319e-01 -3.42544915e-03 -5.06238194e-03 1.28236374e+02] [ 3.42566403e-03 9.99994132e-01 3.37760126e-05 2.30201351e+00] [ 5.06223654e-03 -5.11174014e-05 9.99987185e-01 6.29071853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:128.26, Y:2.30, Z:0.63 [[ 9.99968291e-01 -6.14732556e-03 -5.06238460e-03 1.28264685e+02] [ 6.14757328e-03 9.99981103e-01 3.33728103e-05 2.29969023e+00] [ 5.06208378e-03 -6.44931324e-05 9.99987185e-01 6.29357138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:128.29, Y:2.30, Z:0.63 [[ 9.99942724e-01 -9.42974162e-03 -5.06238723e-03 1.28293517e+02] [ 9.43002934e-03 9.99955536e-01 3.29686133e-05 2.29767889e+00] [ 5.06185125e-03 -8.07051852e-05 9.99987185e-01 6.30108665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:128.32, Y:2.30, Z:0.63 [[ 9.99905498e-01 -1.27815012e-02 -5.06238917e-03 1.28322935e+02] [ 1.27818304e-02 9.99918309e-01 3.26678854e-05 2.29606058e+00] [ 5.06155807e-03 -9.73713979e-05 9.99987185e-01 6.30420163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:128.35, Y:2.29, Z:0.63 [[ 9.99794249e-01 -1.96426121e-02 -5.06238904e-03 1.28353869e+02] [ 1.96430293e-02 9.99807057e-01 3.26885360e-05 2.29324780e+00] [ 5.06077020e-03 -1.32122466e-04 9.99987185e-01 6.30142425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:128.39, Y:2.29, Z:0.63 [[ 9.99726912e-01 -2.28138932e-02 -5.06238904e-03 1.28385170e+02] [ 2.28143510e-02 9.99739718e-01 3.26885360e-05 2.29130488e+00] [ 5.06032564e-03 -1.48174730e-04 9.99987185e-01 6.29373980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59439141799999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:128.42, Y:2.29, Z:0.63 [[ 9.99650060e-01 -2.59640121e-02 -5.06238707e-03 1.28417087e+02] [ 2.59645117e-02 9.99662865e-01 3.29902235e-05 2.28964611e+00] [ 5.05982381e-03 -1.64421087e-04 9.99987185e-01 6.29132369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:128.45, Y:2.29, Z:0.63 [[ 9.99505189e-01 -3.10443247e-02 -5.06238441e-03 1.28448030e+02] [ 3.10448914e-02 9.99517991e-01 3.33945203e-05 2.28756394e+00] [ 5.05890758e-03 -1.90539171e-04 9.99987185e-01 6.28573054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65439141799999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:128.48, Y:2.29, Z:0.63 [[ 9.99461174e-01 -3.24304407e-02 -5.06237985e-03 1.28480253e+02] [ 3.24310286e-02 9.99473975e-01 3.40715031e-05 2.28641149e+00] [ 5.05861196e-03 -1.98231330e-04 9.99987185e-01 6.28612216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:128.51, Y:2.29, Z:0.63 [[ 9.99404425e-01 -3.41345425e-02 -5.06237715e-03 1.28512785e+02] [ 3.41351543e-02 9.99417225e-01 3.44675748e-05 2.28564620e+00] [ 5.05825039e-03 -2.07252072e-04 9.99987185e-01 6.30222256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71439141799999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:128.54, Y:2.29, Z:0.63 [[ 9.99417534e-01 -3.37485707e-02 -5.06237434e-03 1.28544270e+02] [ 3.37491796e-02 9.99430334e-01 3.48760410e-05 2.28534131e+00] [ 5.05831346e-03 -2.05706708e-04 9.99987185e-01 6.30496761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:128.58, Y:2.29, Z:0.63 [[ 9.99464964e-01 -3.23134494e-02 -5.06237223e-03 1.28575973e+02] [ 3.23140414e-02 9.99477764e-01 3.51802148e-05 2.28568590e+00] [ 5.05859168e-03 -1.98747098e-04 9.99987185e-01 6.31596666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:128.61, Y:2.29, Z:0.63 [[ 9.99510166e-01 -3.08836702e-02 -5.06236939e-03 1.28607723e+02] [ 3.08842460e-02 9.99522967e-01 3.55830439e-05 2.28530855e+00] [ 5.05885554e-03 -1.91913076e-04 9.99987185e-01 6.31973331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:128.64, Y:2.29, Z:0.63 [[ 9.99548265e-01 -2.96249771e-02 -5.06236644e-03 1.28639464e+02] [ 2.96255388e-02 9.99561067e-01 3.59985530e-05 2.28564746e+00] [ 5.05907794e-03 -1.85957625e-04 9.99987185e-01 6.32151724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:128.67, Y:2.29, Z:0.63 [[ 9.99616531e-01 -2.72243052e-02 -5.06236343e-03 1.28671170e+02] [ 2.72248384e-02 9.99629335e-01 3.64166839e-05 2.28713101e+00] [ 5.05949557e-03 -1.74224745e-04 9.99987185e-01 6.31479275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:128.70, Y:2.29, Z:0.63 [[ 9.99618792e-01 -2.71411750e-02 -5.06236037e-03 1.28703855e+02] [ 2.71417092e-02 9.99631595e-01 3.68374161e-05 2.28681755e+00] [ 5.05949556e-03 -1.74224486e-04 9.99987185e-01 6.31644670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:128.74, Y:2.29, Z:0.63 [[ 9.99657410e-01 -2.56794615e-02 -5.06235727e-03 1.28735154e+02] [ 2.56799791e-02 9.99670214e-01 3.72584066e-05 2.28830038e+00] [ 5.05973100e-03 -1.67246871e-04 9.99987185e-01 6.30451776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:128.77, Y:2.29, Z:0.63 [[ 9.99669155e-01 -2.52181138e-02 -5.06235495e-03 1.28767153e+02] [ 2.52186270e-02 9.99681959e-01 3.75716869e-05 2.28880622e+00] [ 5.05979742e-03 -1.65224898e-04 9.99987185e-01 6.30079950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95439141799999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:128.80, Y:2.29, Z:0.63 [[ 9.99666803e-01 -2.53111862e-02 -5.06235191e-03 1.28798939e+02] [ 2.53117027e-02 9.99679607e-01 3.79768379e-05 2.28966869e+00] [ 5.05976873e-03 -1.66100931e-04 9.99987185e-01 6.30009073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:128.83, Y:2.29, Z:0.63 [[ 9.99640329e-01 -2.63360210e-02 -5.06235036e-03 1.28830955e+02] [ 2.63365516e-02 9.99653132e-01 3.81825101e-05 2.29140300e+00] [ 5.05958881e-03 -1.71493629e-04 9.99987185e-01 6.30598245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:128.86, Y:2.29, Z:0.63 [[ 9.99589766e-01 -2.81899429e-02 -5.06234716e-03 1.28862214e+02] [ 2.81904994e-02 9.99602568e-01 3.86015033e-05 2.29347837e+00] [ 5.05924705e-03 -1.81295762e-04 9.99987185e-01 6.30973595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:128.89, Y:2.29, Z:0.63 [[ 9.99561323e-01 -2.91810710e-02 -5.06234476e-03 1.28894051e+02] [ 2.91816418e-02 9.99574124e-01 3.89134586e-05 2.29443021e+00] [ 5.05905330e-03 -1.86623920e-04 9.99987185e-01 6.31713059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.074391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:128.93, Y:2.30, Z:0.63 [[ 9.99536084e-01 -3.00331248e-02 -5.06234151e-03 1.28925359e+02] [ 3.00337087e-02 9.99548886e-01 3.93324512e-05 2.29525311e+00] [ 5.05887654e-03 -1.91355094e-04 9.99987185e-01 6.31579901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:128.96, Y:2.30, Z:0.63 [[ 9.99507097e-01 -3.09828374e-02 -5.06233906e-03 1.28957975e+02] [ 3.09834349e-02 9.99519897e-01 3.96445962e-05 2.29778203e+00] [ 5.05868032e-03 -1.96473708e-04 9.99987185e-01 6.32074352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.134391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:128.99, Y:2.30, Z:0.63 [[ 9.99516075e-01 -3.06918283e-02 -5.06233583e-03 1.28989996e+02] [ 3.06924243e-02 9.99528876e-01 4.00530090e-05 2.29870878e+00] [ 5.05872154e-03 -1.95408985e-04 9.99987185e-01 6.32262451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:129.02, Y:2.30, Z:0.63 [[ 9.99537128e-01 -2.99983826e-02 -5.06233257e-03 1.29021528e+02] [ 2.99989717e-02 9.99549929e-01 4.04608433e-05 2.29982712e+00] [ 5.05884040e-03 -1.92306887e-04 9.99987185e-01 6.32485791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:129.05, Y:2.30, Z:0.63 [[ 9.99566632e-01 -2.89986440e-02 -5.06233013e-03 1.29053725e+02] [ 2.89992218e-02 9.99579433e-01 4.07645498e-05 2.30119337e+00] [ 5.05901896e-03 -1.87550518e-04 9.99987185e-01 6.32745940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:129.09, Y:2.30, Z:0.63 [[ 9.99638129e-01 -2.64194024e-02 -5.06232683e-03 1.29085658e+02] [ 2.64199493e-02 9.99650931e-01 4.11702695e-05 2.30492014e+00] [ 5.05947203e-03 -1.74901789e-04 9.99987185e-01 6.32671089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:129.12, Y:2.31, Z:0.63 [[ 9.99676836e-01 -2.49117928e-02 -5.06232349e-03 1.29116956e+02] [ 2.49123224e-02 9.99689639e-01 4.15768020e-05 2.30649368e+00] [ 5.05971659e-03 -1.67677601e-04 9.99987185e-01 6.32386563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:129.15, Y:2.31, Z:0.63 [[ 9.99741834e-01 -2.21503774e-02 -5.06232099e-03 1.29148243e+02] [ 2.21508732e-02 9.99754638e-01 4.18792632e-05 2.30971905e+00] [ 5.06015125e-03 -1.54003282e-04 9.99987185e-01 6.31670894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:129.18, Y:2.31, Z:0.63 [[ 9.99771030e-01 -2.07908816e-02 -5.06231849e-03 1.29179860e+02] [ 2.07913615e-02 9.99783835e-01 4.21789880e-05 2.31111703e+00] [ 5.06034726e-03 -1.47421824e-04 9.99987185e-01 6.31983166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34439141800001 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:129.21, Y:2.31, Z:0.63 [[ 9.99797127e-01 -1.94955943e-02 -5.06231679e-03 1.29211113e+02] [ 1.94960586e-02 9.99809933e-01 4.23817299e-05 2.31234344e+00] [ 5.06052835e-03 -1.41068357e-04 9.99987185e-01 6.31823902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37439141800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:129.24, Y:2.31, Z:0.63 [[ 9.99859310e-01 -1.59916824e-02 -5.06231509e-03 1.29242334e+02] [ 1.59921029e-02 9.99872117e-01 4.25837354e-05 2.31428088e+00] [ 5.06098672e-03 -1.23534808e-04 9.99987185e-01 6.31291821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40439141800002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:129.27, Y:2.32, Z:0.63 [[ 9.99875692e-01 -1.49323060e-02 -5.06231332e-03 1.29274102e+02] [ 1.49327139e-02 9.99888500e-01 4.27928519e-05 2.31602540e+00] [ 5.06110988e-03 -1.18381609e-04 9.99987185e-01 6.32824040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43439141800002 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:129.31, Y:2.32, Z:0.63 [[ 9.99900412e-01 -1.31734017e-02 -5.06231156e-03 1.29305886e+02] [ 1.31737881e-02 9.99913221e-01 4.30001310e-05 2.31762974e+00] [ 5.06130580e-03 -1.09685669e-04 9.99987185e-01 6.32576580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46439141800002 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:129.34, Y:2.32, Z:0.63 [[ 9.99923913e-01 -1.12490771e-02 -5.06235544e-03 1.29336953e+02] [ 1.12494126e-02 9.99936723e-01 3.77999535e-05 2.31890685e+00] [ 5.06160989e-03 -9.47456025e-05 9.99987185e-01 6.32321598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49439141800002 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:129.37, Y:2.32, Z:0.63 [[ 9.99945992e-01 -9.07663013e-03 -5.06239268e-03 1.29367279e+02] [ 9.07691521e-03 9.99958803e-01 3.33412103e-05 2.32152745e+00] [ 5.06188150e-03 -7.92903187e-05 9.99987185e-01 6.31320862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:129.40, Y:2.32, Z:0.63 [[ 9.99955984e-01 -7.89953210e-03 -5.06232596e-03 1.29397387e+02] [ 7.89984332e-03 9.99968795e-01 4.14839294e-05 2.32228165e+00] [ 5.06184028e-03 -8.14736853e-05 9.99987185e-01 6.31337583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:129.43, Y:2.32, Z:0.63 [[ 9.99966805e-01 -6.38448214e-03 -5.06232596e-03 1.29426685e+02] [ 6.38477395e-03 9.99979616e-01 4.14839294e-05 2.32445445e+00] [ 5.06195791e-03 -7.38043592e-05 9.99987185e-01 6.31879991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:129.46, Y:2.33, Z:0.63 [[ 9.99968389e-01 -6.13138486e-03 -5.06232679e-03 1.29456125e+02] [ 6.13167291e-03 9.99981200e-01 4.13816884e-05 2.32542219e+00] [ 5.06197789e-03 -7.24209123e-05 9.99987185e-01 6.32388853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:129.49, Y:2.33, Z:0.63 [[ 9.99966359e-01 -6.45401158e-03 -5.06232845e-03 1.29485775e+02] [ 6.45430274e-03 9.99979170e-01 4.11781457e-05 2.32652884e+00] [ 5.06195724e-03 -7.38505608e-05 9.99987185e-01 6.32757799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:129.52, Y:2.33, Z:0.63 [[ 9.99963950e-01 -6.81693071e-03 -5.06233008e-03 1.29515507e+02] [ 6.81722549e-03 9.99976762e-01 4.09761541e-05 2.32700777e+00] [ 5.06193311e-03 -7.54857226e-05 9.99987185e-01 6.33124017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:129.55, Y:2.33, Z:0.63 [[ 9.99947474e-01 -8.91187142e-03 -5.06233173e-03 1.29545042e+02] [ 8.91219200e-03 9.99960285e-01 4.07716925e-05 2.32695913e+00] [ 5.06176733e-03 -8.58860233e-05 9.99987185e-01 6.33559279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:129.57, Y:2.33, Z:0.63 [[ 9.99933078e-01 -1.04024961e-02 -5.06233335e-03 1.29574680e+02] [ 1.04028348e-02 9.99945888e-01 4.05688918e-05 2.32644051e+00] [ 5.06163741e-03 -9.32287943e-05 9.99987185e-01 6.34013804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:129.60, Y:2.33, Z:0.63 [[ 9.99903392e-01 -1.29452695e-02 -5.06233416e-03 1.29603679e+02] [ 1.29456402e-02 9.99916201e-01 4.04681457e-05 2.32558491e+00] [ 5.06138607e-03 -1.05999393e-04 9.99987185e-01 6.33456069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:129.64, Y:2.33, Z:0.63 [[ 9.99891553e-01 -1.38294774e-02 -5.06240301e-03 1.29635130e+02] [ 1.38298155e-02 9.99904363e-01 3.17792161e-05 2.32506984e+00] [ 5.06147937e-03 -1.01787870e-04 9.99987185e-01 6.33087242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.794391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:129.67, Y:2.33, Z:0.63 [[ 9.99871573e-01 -1.52055881e-02 -5.06233156e-03 1.29666409e+02] [ 1.52059888e-02 9.99884381e-01 4.06723107e-05 2.32522059e+00] [ 5.06112782e-03 -1.17644844e-04 9.99987185e-01 6.34522866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:129.70, Y:2.33, Z:0.63 [[ 9.99860485e-01 -1.59180053e-02 -5.06232998e-03 1.29697470e+02] [ 1.59184161e-02 9.99873293e-01 4.08679404e-05 2.32505971e+00] [ 5.06103802e-03 -1.21446514e-04 9.99987185e-01 6.34966847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.854391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:129.73, Y:2.32, Z:0.64 [[ 9.99861095e-01 -1.58796276e-02 -5.06232841e-03 1.29729313e+02] [ 1.58800389e-02 9.99873903e-01 4.10625311e-05 2.32476136e+00] [ 5.06103801e-03 -1.21446799e-04 9.99987185e-01 6.35128011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.884391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:129.76, Y:2.32, Z:0.64 [[ 9.99865929e-01 -1.55722918e-02 -5.06232682e-03 1.29760136e+02] [ 1.55727001e-02 9.99878737e-01 4.12568364e-05 2.32414293e+00] [ 5.06107049e-03 -1.20085403e-04 9.99987185e-01 6.36672039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:129.79, Y:2.32, Z:0.63 [[ 9.99874645e-01 -1.50021924e-02 -5.06240804e-03 1.29791706e+02] [ 1.50025432e-02 9.99887455e-01 3.13178175e-05 2.32306509e+00] [ 5.06136845e-03 -1.07262887e-04 9.99987185e-01 6.34962782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:129.82, Y:2.32, Z:0.63 [[ 9.99890894e-01 -1.38770476e-02 -5.06231701e-03 1.29821842e+02] [ 1.38774392e-02 9.99903703e-01 4.22302328e-05 2.32208038e+00] [ 5.06124349e-03 -1.12477622e-04 9.99987185e-01 6.34837930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:129.85, Y:2.32, Z:0.63 [[ 9.99932613e-01 -1.04471612e-02 -5.06231622e-03 1.29852310e+02] [ 1.04475094e-02 9.99945422e-01 4.23247786e-05 2.32176299e+00] [ 5.06159775e-03 -9.52105224e-05 9.99987185e-01 6.34545787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:129.88, Y:2.32, Z:0.63 [[ 9.99955212e-01 -7.99672116e-03 -5.06231543e-03 1.29882600e+02] [ 7.99703836e-03 9.99968022e-01 4.24183894e-05 2.32167509e+00] [ 5.06181434e-03 -8.29000202e-05 9.99987185e-01 6.34346722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:129.91, Y:2.32, Z:0.64 [[ 9.99973109e-01 -5.30608545e-03 -5.06231543e-03 1.29913448e+02] [ 5.30636817e-03 9.99985920e-01 4.24183894e-05 2.32174715e+00] [ 5.06201908e-03 -6.92797581e-05 9.99987185e-01 6.35590010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:129.94, Y:2.32, Z:0.63 [[ 9.99987102e-01 4.11351795e-04 -5.06231543e-03 1.29941686e+02] [-4.11142327e-04 9.99999915e-01 4.24183894e-05 2.32200190e+00] [ 5.06233245e-03 -4.03365101e-05 9.99987185e-01 6.34146606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09439141800001 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:129.97, Y:2.32, Z:0.64 [[ 9.99982972e-01 2.90326457e-03 -5.06231863e-03 1.29969384e+02] [-2.90308898e-03 9.99995785e-01 4.20335595e-05 2.32164701e+00] [ 5.06241932e-03 -2.73364823e-05 9.99987185e-01 6.35397867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12439141800002 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:130.00, Y:2.32, Z:0.64 [[ 9.99959804e-01 7.40017964e-03 -5.06233166e-03 1.29996379e+02] [-7.40006994e-03 9.99972618e-01 4.03998340e-05 2.32142565e+00] [ 5.06249202e-03 -2.93660174e-06 9.99987186e-01 6.35753548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15439141800002 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:130.02, Y:2.32, Z:0.64 [[ 9.99942939e-01 9.40698020e-03 -5.06233720e-03 1.30024862e+02] [-9.40689980e-03 9.99955753e-01 3.96934820e-05 2.32133036e+00] [ 5.06248661e-03 7.92968179e-06 9.99987186e-01 6.36011034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18439141800002 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:130.05, Y:2.32, Z:0.64 [[ 9.99928161e-01 1.08649093e-02 -5.06234031e-03 1.30053723e+02] [-1.08648496e-02 9.99940975e-01 3.92925346e-05 2.32105064e+00] [ 5.06246842e-03 1.57118543e-05 9.99987186e-01 6.36150302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21439141800002 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:130.08, Y:2.32, Z:0.64 [[ 9.99904003e-01 1.28979893e-02 -5.06234339e-03 1.30081645e+02] [-1.28979577e-02 9.99916817e-01 3.88924239e-05 2.31973701e+00] [ 5.06242392e-03 2.64052008e-05 9.99987186e-01 6.36199475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24439141800002 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:130.11, Y:2.32, Z:0.64 [[ 9.99897627e-01 1.33831084e-02 -5.06234790e-03 1.30109483e+02] [-1.33830860e-02 9.99910442e-01 3.82961076e-05 2.31882324e+00] [ 5.06240705e-03 2.94576503e-05 9.99987186e-01 6.36266087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:130.14, Y:2.32, Z:0.64 [[ 9.99895869e-01 1.35138417e-02 -5.06235157e-03 1.30138383e+02] [-1.35138235e-02 9.99908683e-01 3.78046013e-05 2.31605803e+00] [ 5.06240018e-03 3.06110610e-05 9.99987186e-01 6.37169369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:130.17, Y:2.31, Z:0.64 [[ 9.99901304e-01 1.31055603e-02 -5.06235456e-03 1.30166104e+02] [-1.31055389e-02 9.99914118e-01 3.73995986e-05 2.31396148e+00] [ 5.06240994e-03 2.89489771e-05 9.99987186e-01 6.36832354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:130.19, Y:2.31, Z:0.64 [[ 9.99916772e-01 1.18668498e-02 -5.06235895e-03 1.30194035e+02] [-1.18668156e-02 9.99929586e-01 3.67954047e-05 2.31037136e+00] [ 5.06243914e-03 2.32817379e-05 9.99987186e-01 6.36120909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:130.22, Y:2.31, Z:0.64 [[ 9.99927772e-01 1.09005724e-02 -5.06236253e-03 1.30222606e+02] [-1.09005284e-02 9.99940587e-01 3.62959759e-05 2.30894205e+00] [ 5.06245741e-03 1.88890721e-05 9.99987186e-01 6.36018155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:130.25, Y:2.31, Z:0.64 [[ 9.99938285e-01 9.88929542e-03 -5.06236536e-03 1.30251127e+02] [-9.88924041e-03 9.99951100e-01 3.58974381e-05 2.30718051e+00] [ 5.06247281e-03 1.41677254e-05 9.99987186e-01 6.35997901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:130.28, Y:2.31, Z:0.64 [[ 9.99949320e-01 8.70233245e-03 -5.06236817e-03 1.30279680e+02] [-8.70226427e-03 9.99962134e-01 3.54970941e-05 2.30526569e+00] [ 5.06248538e-03 8.55877049e-06 9.99987186e-01 6.36173970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:130.31, Y:2.30, Z:0.64 [[ 9.99959731e-01 7.41009794e-03 -5.06237104e-03 1.30307504e+02] [-7.41001529e-03 9.99972545e-01 3.50830372e-05 2.30310149e+00] [ 5.06249202e-03 2.43062232e-06 9.99987186e-01 6.35954506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:130.34, Y:2.30, Z:0.64 [[ 9.99972350e-01 5.44724455e-03 -5.06237481e-03 1.30336665e+02] [-5.44713955e-03 9.99985164e-01 3.45300062e-05 2.29852587e+00] [ 5.06248780e-03 -6.95358940e-06 9.99987186e-01 6.35703016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:130.36, Y:2.30, Z:0.64 [[ 9.99977955e-01 4.29677203e-03 -5.06237987e-03 1.30364025e+02] [-4.29665612e-03 9.99990769e-01 3.37716230e-05 2.29605533e+00] [ 5.06247825e-03 -1.20195731e-05 9.99987186e-01 6.35566701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:130.39, Y:2.29, Z:0.64 [[ 9.99982115e-01 3.18465528e-03 -5.06238379e-03 1.30392333e+02] [-3.18452815e-03 9.99994929e-01 3.31727277e-05 2.29383938e+00] [ 5.06246376e-03 -1.70508307e-05 9.99987186e-01 6.36682246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.574391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:130.42, Y:2.29, Z:0.64 [[ 9.99986700e-01 9.85639796e-04 -5.06238662e-03 1.30419672e+02] [-9.85486700e-04 9.99999514e-01 3.27361637e-05 2.28976195e+00] [ 5.06241642e-03 -2.77468136e-05 9.99987186e-01 6.38038759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:130.45, Y:2.29, Z:0.64 [[ 9.99986946e-01 -6.93272448e-04 -5.06239005e-03 1.30448279e+02] [ 6.93444322e-04 9.99999759e-01 3.21960207e-05 2.28762859e+00] [ 5.06236651e-03 -3.57060861e-05 9.99987186e-01 6.38246125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.634391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:130.48, Y:2.28, Z:0.64 [[ 9.99976752e-01 -4.56813420e-03 -5.06239263e-03 1.30477449e+02] [ 4.56835364e-03 9.99989565e-01 3.17851240e-05 2.28247475e+00] [ 5.06219460e-03 -5.49111848e-05 9.99987186e-01 6.38956824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:130.51, Y:2.28, Z:0.64 [[ 9.99963441e-01 -6.89119645e-03 -5.06239539e-03 1.30506352e+02] [ 6.89144340e-03 9.99976253e-01 3.13392383e-05 2.27951612e+00] [ 5.06205921e-03 -6.62253039e-05 9.99987186e-01 6.38165086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:130.54, Y:2.28, Z:0.64 [[ 9.99940168e-01 -9.69704098e-03 -5.06239812e-03 1.30535159e+02] [ 9.69732162e-03 9.99952979e-01 3.08916141e-05 2.27654895e+00] [ 5.06186053e-03 -7.99814686e-05 9.99987186e-01 6.38266256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:130.56, Y:2.27, Z:0.64 [[ 9.99857253e-01 -1.61197211e-02 -5.06240013e-03 1.30564760e+02] [ 1.61200823e-02 9.99870063e-01 3.05588612e-05 2.27137683e+00] [ 5.06124974e-03 -1.12160806e-04 9.99987186e-01 6.35297375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:130.59, Y:2.27, Z:0.64 [[ 9.99803307e-01 -1.91760185e-02 -5.06240074e-03 1.30594855e+02] [ 1.91764184e-02 9.99816115e-01 3.04576043e-05 2.26890745e+00] [ 5.06088579e-03 -1.27530328e-04 9.99987186e-01 6.35988361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:130.63, Y:2.26, Z:0.64 [[ 9.99672854e-01 -2.50710498e-02 -5.06240009e-03 1.30626465e+02] [ 2.50715257e-02 9.99685659e-01 3.05648612e-05 2.26445107e+00] [ 5.06004248e-03 -1.57476956e-04 9.99987186e-01 6.37427301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814391418 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:130.66, Y:2.26, Z:0.64 [[ 9.99608589e-01 -2.75143911e-02 -5.06239875e-03 1.30657711e+02] [ 2.75148994e-02 9.99621393e-01 3.07852424e-05 2.26204246e+00] [ 5.05963506e-03 -1.70064585e-04 9.99987186e-01 6.37954169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84439141800001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:130.69, Y:2.26, Z:0.64 [[ 9.99554663e-01 -2.94083072e-02 -5.06239686e-03 1.30688922e+02] [ 2.94088413e-02 9.99567466e-01 3.10930021e-05 2.25964431e+00] [ 5.05929281e-03 -1.79958381e-04 9.99987186e-01 6.38732258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87439141800002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:130.72, Y:2.26, Z:0.64 [[ 9.99504705e-01 -3.10598948e-02 -5.06239560e-03 1.30721241e+02] [ 3.10604511e-02 9.99517507e-01 3.12967787e-05 2.25741674e+00] [ 5.05898096e-03 -1.88521569e-04 9.99987186e-01 6.39227384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90439141800002 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:130.75, Y:2.25, Z:0.64 [[ 9.99400727e-01 -3.42426419e-02 -5.06239306e-03 1.30752511e+02] [ 3.42432411e-02 9.99413528e-01 3.17033168e-05 2.25393101e+00] [ 5.05833850e-03 -2.05037064e-04 9.99987186e-01 6.38367525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93439141800002 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:130.78, Y:2.25, Z:0.64 [[ 9.99368937e-01 -3.51582011e-02 -5.06239037e-03 1.30784170e+02] [ 3.51588141e-02 9.99381737e-01 3.21267942e-05 2.25231166e+00] [ 5.05813096e-03 -2.10094162e-04 9.99987186e-01 6.37870716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96439141800002 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:130.82, Y:2.25, Z:0.64 [[ 9.99317732e-01 -3.65847358e-02 -5.06238583e-03 1.30816511e+02] [ 3.65853706e-02 9.99330531e-01 3.28267268e-05 2.25139217e+00] [ 5.05779576e-03 -2.18013592e-04 9.99987186e-01 6.38759428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:130.85, Y:2.25, Z:0.64 [[ 9.99265464e-01 -3.79855753e-02 -5.06238308e-03 1.30848561e+02] [ 3.79862302e-02 9.99278262e-01 3.32461827e-05 2.24960880e+00] [ 5.05746649e-03 -2.25522611e-04 9.99987186e-01 6.38456620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:130.88, Y:2.25, Z:0.64 [[ 9.99248030e-01 -3.84414800e-02 -5.06237949e-03 1.30880896e+02] [ 3.84421435e-02 9.99260827e-01 3.37837711e-05 2.24874633e+00] [ 5.05733882e-03 -2.28367086e-04 9.99987186e-01 6.38784463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:130.91, Y:2.25, Z:0.64 [[ 9.99269803e-01 -3.78712611e-02 -5.06237653e-03 1.30914437e+02] [ 3.78719195e-02 9.99282601e-01 3.42210045e-05 2.24675350e+00] [ 5.05744880e-03 -2.25917933e-04 9.99987186e-01 6.41189050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:130.94, Y:2.25, Z:0.64 [[ 9.99241153e-01 -3.86198435e-02 -5.06226506e-03 1.30944603e+02] [ 3.86205970e-02 9.99253945e-01 5.11437316e-05 2.24726369e+00] [ 5.05651317e-03 -2.46612620e-04 9.99987185e-01 6.40590157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:130.98, Y:2.25, Z:0.64 [[ 9.99252305e-01 -3.83301788e-02 -5.06238343e-03 1.30975816e+02] [ 3.83308367e-02 9.99265103e-01 3.29674547e-05 2.24717118e+00] [ 5.05739945e-03 -2.26988198e-04 9.99987186e-01 6.40591300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:131.01, Y:2.25, Z:0.64 [[ 9.99276510e-01 -3.76938812e-02 -5.06238131e-03 1.31007062e+02] [ 3.76945326e-02 9.99289308e-01 3.32902398e-05 2.24718132e+00] [ 5.05752867e-03 -2.24090252e-04 9.99987186e-01 6.40293096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:131.04, Y:2.25, Z:0.64 [[ 9.99297998e-01 -3.71198561e-02 -5.06238811e-03 1.31038685e+02] [ 3.71204950e-02 9.99310796e-01 3.22729927e-05 2.24752377e+00] [ 5.05770112e-03 -2.20168690e-04 9.99987186e-01 6.40663595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:131.07, Y:2.25, Z:0.64 [[ 9.99349961e-01 -3.56935155e-02 -5.06237620e-03 1.31069749e+02] [ 3.56941451e-02 9.99362760e-01 3.40433062e-05 2.24824498e+00] [ 5.05793513e-03 -2.14718367e-04 9.99987186e-01 6.40021511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:131.10, Y:2.25, Z:0.64 [[ 9.99392889e-01 -3.44706647e-02 -5.06237463e-03 1.31101470e+02] [ 3.44712798e-02 9.99405688e-01 3.42760417e-05 2.24831428e+00] [ 5.05818448e-03 -2.08761765e-04 9.99987186e-01 6.39897580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:131.13, Y:2.25, Z:0.64 [[ 9.99429489e-01 -3.33926441e-02 -5.06237165e-03 1.31133825e+02] [ 3.33932476e-02 9.99442289e-01 3.47104085e-05 2.24876223e+00] [ 5.05838924e-03 -2.03739636e-04 9.99987186e-01 6.40145348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.294391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:131.17, Y:2.25, Z:0.64 [[ 9.99515074e-01 -3.07244194e-02 -5.06236864e-03 1.31165051e+02] [ 3.07249909e-02 9.99527875e-01 3.51440644e-05 2.25064378e+00] [ 5.05889879e-03 -1.90668252e-04 9.99987186e-01 6.40291844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:131.20, Y:2.25, Z:0.64 [[ 9.99566407e-01 -2.90063778e-02 -5.06236714e-03 1.31196996e+02] [ 2.90069284e-02 9.99579210e-01 3.53586253e-05 2.25148646e+00] [ 5.05921132e-03 -1.82187015e-04 9.99987186e-01 6.40426383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.354391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:131.23, Y:2.25, Z:0.64 [[ 9.99613618e-01 -2.73310531e-02 -5.06236411e-03 1.31228384e+02] [ 2.73315844e-02 9.99626422e-01 3.57868902e-05 2.25258172e+00] [ 5.05949483e-03 -1.74135495e-04 9.99987186e-01 6.40306152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.384391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:131.26, Y:2.26, Z:0.64 [[ 9.99712426e-01 -2.34400708e-02 -5.06235902e-03 1.31259876e+02] [ 2.34405559e-02 9.99725232e-01 3.64929740e-05 2.25505226e+00] [ 5.06011265e-03 -1.55146989e-04 9.99987186e-01 6.40338527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:131.29, Y:2.26, Z:0.64 [[ 9.99756288e-01 -2.14880566e-02 -5.06235747e-03 1.31290506e+02] [ 2.14885177e-02 9.99769094e-01 3.67069486e-05 2.25634732e+00] [ 5.06039979e-03 -1.45480561e-04 9.99987186e-01 6.40509874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:131.32, Y:2.26, Z:0.64 [[ 9.99798773e-01 -1.94110004e-02 -5.06235492e-03 1.31322103e+02] [ 1.94114366e-02 9.99811580e-01 3.70550137e-05 2.25748456e+00] [ 5.06068180e-03 -1.35315139e-04 9.99987186e-01 6.41246954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:131.35, Y:2.26, Z:0.64 [[ 9.99832188e-01 -1.76059365e-02 -5.06235337e-03 1.31353666e+02] [ 1.76063507e-02 9.99844996e-01 3.72662345e-05 2.25881321e+00] [ 5.06091258e-03 -1.26389550e-04 9.99987186e-01 6.41938073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:131.39, Y:2.26, Z:0.64 [[ 9.99884144e-01 -1.43551989e-02 -5.06235178e-03 1.31385370e+02] [ 1.43555726e-02 9.99896953e-01 3.74811168e-05 2.26067795e+00] [ 5.06129207e-03 -1.10149733e-04 9.99987186e-01 6.43530025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:131.42, Y:2.26, Z:0.64 [[ 9.99900112e-01 -1.31961467e-02 -5.06235016e-03 1.31415986e+02] [ 1.31965066e-02 9.99912922e-01 3.76988496e-05 2.26117731e+00] [ 5.06141186e-03 -1.04500421e-04 9.99987186e-01 6.43751533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:131.45, Y:2.26, Z:0.64 [[ 9.99939777e-01 -9.73733193e-03 -5.06234941e-03 1.31445688e+02] [ 9.73764804e-03 9.99952587e-01 3.77993648e-05 2.26212841e+00] [ 5.06174132e-03 -8.70924652e-05 9.99987186e-01 6.43908596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59439141800001 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:131.48, Y:2.26, Z:0.64 [[ 9.99937967e-01 -9.92133358e-03 -5.06253302e-03 1.31475765e+02] [ 9.92152547e-03 9.99950780e-01 1.27912335e-05 2.26305102e+00] [ 5.06215694e-03 -6.30184903e-05 9.99987185e-01 6.43701998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62439141800002 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:131.51, Y:2.26, Z:0.64 [[ 9.99948680e-01 -8.77553734e-03 -5.06234949e-03 1.31505433e+02] [ 8.77583982e-03 9.99961491e-01 3.75402891e-05 2.26338555e+00] [ 5.06182511e-03 -8.19647307e-05 9.99987186e-01 6.43379567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65439141800002 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:131.53, Y:2.26, Z:0.64 [[ 9.99967119e-01 -6.33503472e-03 -5.06235103e-03 1.31534573e+02] [ 6.33530487e-03 9.99979931e-01 3.73313129e-05 2.26415196e+00] [ 5.06201294e-03 -6.94016226e-05 9.99987186e-01 6.43419593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68439141800002 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:131.56, Y:2.26, Z:0.64 [[ 9.99975095e-01 -4.91756288e-03 -5.06235101e-03 1.31564515e+02] [ 4.91781489e-03 9.99987907e-01 3.73345183e-05 2.26416443e+00] [ 5.06210619e-03 -6.22292936e-05 9.99987186e-01 6.43019935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71439141800002 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:131.59, Y:2.26, Z:0.64 [[ 9.99979690e-01 -3.87208552e-03 -5.06235251e-03 1.31594430e+02] [ 3.87232310e-03 9.99992502e-01 3.71296187e-05 2.26421509e+00] [ 5.06217078e-03 -5.67319291e-05 9.99987186e-01 6.44533876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74439141800002 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:131.62, Y:2.26, Z:0.64 [[ 9.99983237e-01 -2.81034404e-03 -5.06235411e-03 1.31623197e+02] [ 2.81056690e-03 9.99996050e-01 3.69099018e-05 2.26400161e+00] [ 5.06223039e-03 -5.11373680e-05 9.99987186e-01 6.44209869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:131.65, Y:2.26, Z:0.64 [[ 9.99982347e-01 -3.11089616e-03 -5.06236478e-03 1.31652455e+02] [ 3.11111515e-03 9.99995160e-01 3.53833834e-05 2.26395100e+00] [ 5.06223021e-03 -5.11323585e-05 9.99987186e-01 6.44358294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:131.68, Y:2.26, Z:0.65 [[ 9.99985674e-01 -1.73890815e-03 -5.06237496e-03 1.31681655e+02] [ 1.73910185e-03 9.99998487e-01 3.38618692e-05 2.26384045e+00] [ 5.06230842e-03 -4.26653698e-05 9.99987186e-01 6.45676582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:131.71, Y:2.26, Z:0.65 [[ 9.99986084e-01 -1.48486408e-03 -5.06238486e-03 1.31709466e+02] [ 1.48504668e-03 9.99998897e-01 3.23106643e-05 2.26335997e+00] [ 5.06233130e-03 -3.98280925e-05 9.99987186e-01 6.45891809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:131.74, Y:2.26, Z:0.65 [[ 9.99986143e-01 -1.44450075e-03 -5.06239001e-03 1.31737243e+02] [ 1.44467864e-03 9.99998956e-01 3.14823851e-05 2.26245606e+00] [ 5.06233925e-03 -3.87954755e-05 9.99987186e-01 6.46183670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:131.77, Y:2.26, Z:0.64 [[ 9.99983806e-01 -2.59999030e-03 -5.06239331e-03 1.31765560e+02] [ 2.60018026e-03 9.99996619e-01 3.09427848e-05 2.26079892e+00] [ 5.06229574e-03 -4.41054189e-05 9.99987186e-01 6.44396574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:131.79, Y:2.26, Z:0.65 [[ 9.99976973e-01 -4.51937036e-03 -5.06239595e-03 1.31793955e+02] [ 4.51958269e-03 9.99989786e-01 3.05042223e-05 2.25992294e+00] [ 5.06220639e-03 -5.33834370e-05 9.99987186e-01 6.46050752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:131.82, Y:2.26, Z:0.65 [[ 9.99943285e-01 -9.37006994e-03 -5.06239790e-03 1.31823049e+02] [ 9.37034278e-03 9.99956097e-01 3.01780219e-05 2.25681385e+00] [ 5.06189287e-03 -7.76127139e-05 9.99987186e-01 6.45561248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:131.85, Y:2.26, Z:0.65 [[ 9.99904668e-01 -1.28462678e-02 -5.06240039e-03 1.31852539e+02] [ 1.28465830e-02 9.99917479e-01 2.97535577e-05 2.25507218e+00] [ 5.06160042e-03 -9.47852681e-05 9.99987186e-01 6.45715344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:131.88, Y:2.25, Z:0.65 [[ 9.99852563e-01 -1.64080662e-02 -5.06240110e-03 1.31881864e+02] [ 1.64084265e-02 9.99865372e-01 2.96327369e-05 2.25308260e+00] [ 5.06123334e-03 -1.12694404e-04 9.99987186e-01 6.45746963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:131.91, Y:2.25, Z:0.64 [[ 9.99726239e-01 -2.28433792e-02 -5.06240245e-03 1.31912118e+02] [ 2.28438207e-02 9.99739045e-01 2.94000671e-05 2.24879376e+00] [ 5.06040979e-03 -1.45036632e-04 9.99987186e-01 6.44495336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.074391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:131.94, Y:2.25, Z:0.65 [[ 9.99575853e-01 -2.86789924e-02 -5.06253406e-03 1.31943820e+02] [ 2.86793896e-02 9.99588662e-01 5.87468264e-06 2.24773600e+00] [ 5.06028317e-03 -1.51062578e-04 9.99987185e-01 6.46043236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.104391418 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:131.97, Y:2.25, Z:0.65 [[ 9.99526464e-01 -3.03515969e-02 -5.06240388e-03 1.31971764e+02] [ 3.03521314e-02 9.99539268e-01 2.87768497e-05 2.24507208e+00] [ 5.05919804e-03 -1.82417971e-04 9.99987186e-01 6.47900482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.134391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:132.00, Y:2.24, Z:0.65 [[ 9.99359780e-01 -3.54175229e-02 -5.06259585e-03 1.32004870e+02] [ 3.54179643e-02 9.99372587e-01 -2.45817209e-06 2.24387020e+00] [ 5.05950657e-03 -1.76850241e-04 9.99987185e-01 6.47639223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:132.04, Y:2.24, Z:0.65 [[ 9.99079196e-01 -4.26043832e-02 -5.06237658e-03 1.32036269e+02] [ 4.26050915e-02 9.99091990e-01 3.21104019e-05 2.24134526e+00] [ 5.05641185e-03 -2.47763852e-04 9.99987186e-01 6.45679860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194391418 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:132.07, Y:2.24, Z:0.65 [[ 9.98988911e-01 -4.46713192e-02 -5.06241123e-03 1.32067345e+02] [ 4.46720261e-02 9.99001706e-01 2.65923077e-05 2.23922142e+00] [ 5.05616955e-03 -2.52713587e-04 9.99987186e-01 6.46641388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:132.10, Y:2.24, Z:0.65 [[ 9.98939731e-01 -4.57579160e-02 -5.06237186e-03 1.32098058e+02] [ 4.57586677e-02 9.98952523e-01 3.26897594e-05 2.23770211e+00] [ 5.05557333e-03 -2.64302491e-04 9.99987186e-01 6.47965842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254391418 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:132.13, Y:2.24, Z:0.65 [[ 9.98782400e-01 -4.90722750e-02 -5.06250232e-03 1.32130409e+02] [ 4.90729667e-02 9.98795196e-01 1.24281791e-05 2.23672937e+00] [ 5.05579312e-03 -2.60845054e-04 9.99987185e-01 6.46188694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:132.16, Y:2.24, Z:0.65 [[ 9.98756743e-01 -4.95917498e-02 -5.06235820e-03 1.32162426e+02] [ 4.95925568e-02 9.98769532e-01 3.39308648e-05 2.23632220e+00] [ 5.05444643e-03 -2.84943967e-04 9.99987186e-01 6.46876057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:132.19, Y:2.24, Z:0.65 [[ 9.98748798e-01 -4.97514986e-02 -5.06235524e-03 1.32193951e+02] [ 4.97523098e-02 9.98761586e-01 3.43666011e-05 2.23628702e+00] [ 5.05437616e-03 -2.86187468e-04 9.99987186e-01 6.46865122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34439141800001 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:132.23, Y:2.24, Z:0.65 [[ 9.98757628e-01 -4.95739122e-02 -5.06235302e-03 1.32226207e+02] [ 4.95747228e-02 9.98770417e-01 3.46902376e-05 2.23660006e+00] [ 5.05440871e-03 -2.85611887e-04 9.99987186e-01 6.46740580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37439141800002 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:132.26, Y:2.24, Z:0.65 [[ 9.98838944e-01 -4.79075786e-02 -5.06235027e-03 1.32258597e+02] [ 4.79083699e-02 9.98851734e-01 3.50868527e-05 2.23744117e+00] [ 5.05485642e-03 -2.77575064e-04 9.99987186e-01 6.46190933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40439141800002 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:132.29, Y:2.24, Z:0.65 [[ 9.98878554e-01 -4.70744927e-02 -5.06234743e-03 1.32290593e+02] [ 4.70752754e-02 9.98891344e-01 3.54917641e-05 2.23819861e+00] [ 5.05506428e-03 -2.73763361e-04 9.99987186e-01 6.47252471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43439141800002 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:132.32, Y:2.24, Z:0.65 [[ 9.98977950e-01 -4.49157854e-02 -5.06234456e-03 1.32322394e+02] [ 4.49165424e-02 9.98990742e-01 3.58966754e-05 2.24003988e+00] [ 5.05562302e-03 -2.63243001e-04 9.99987186e-01 6.47241657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46439141800002 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:132.35, Y:2.24, Z:0.65 [[ 9.99025285e-01 -4.38503338e-02 -5.06234158e-03 1.32353493e+02] [ 4.38510793e-02 9.99038078e-01 3.63119308e-05 2.24091453e+00] [ 5.05587972e-03 -2.58265679e-04 9.99987186e-01 6.46615058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49439141800002 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:132.39, Y:2.24, Z:0.65 [[ 9.99083867e-01 -4.24947045e-02 -5.06233935e-03 1.32385369e+02] [ 4.24954342e-02 9.99096660e-01 3.66206821e-05 2.24167230e+00] [ 5.05621015e-03 -2.51713441e-04 9.99987186e-01 6.46931335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:132.42, Y:2.24, Z:0.65 [[ 9.99209076e-01 -3.94410413e-02 -5.06233635e-03 1.32416979e+02] [ 3.94417340e-02 9.99221871e-01 3.70310425e-05 2.24413964e+00] [ 5.05693666e-03 -2.36669077e-04 9.99987186e-01 6.45803824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:132.45, Y:2.25, Z:0.65 [[ 9.99269993e-01 -3.78662520e-02 -5.06233154e-03 1.32449242e+02] [ 3.78669278e-02 9.99282790e-01 3.76770029e-05 2.24559201e+00] [ 5.05727410e-03 -2.29344441e-04 9.99987186e-01 6.46874461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:132.48, Y:2.25, Z:0.65 [[ 9.99341639e-01 -3.59257672e-02 -5.06232849e-03 1.32480396e+02] [ 3.59264202e-02 9.99354437e-01 3.80829629e-05 2.24693123e+00] [ 5.05769228e-03 -2.19929231e-04 9.99987186e-01 6.46247454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:132.51, Y:2.25, Z:0.65 [[ 9.99496554e-01 -3.13211141e-02 -5.06232527e-03 1.32512720e+02] [ 3.13217103e-02 9.99509354e-01 3.85054987e-05 2.25025762e+00] [ 5.05863543e-03 -1.97046799e-04 9.99987186e-01 6.47301504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:132.54, Y:2.25, Z:0.65 [[ 9.99575126e-01 -2.87043554e-02 -5.06232199e-03 1.32544576e+02] [ 2.87049202e-02 9.99587928e-01 3.89328578e-05 2.25191145e+00] [ 5.05911840e-03 -1.84229865e-04 9.99987186e-01 6.47364858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:132.58, Y:2.25, Z:0.65 [[ 9.99651842e-01 -2.58953205e-02 -5.06231787e-03 1.32575323e+02] [ 2.58958520e-02 9.99664645e-01 3.94610129e-05 2.25358622e+00] [ 5.05959834e-03 -1.70540308e-04 9.99987186e-01 6.47543707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:132.61, Y:2.25, Z:0.65 [[ 9.99734458e-01 -2.24807964e-02 -5.06231537e-03 1.32605788e+02] [ 2.24812858e-02 9.99747263e-01 3.97789534e-05 2.25485793e+00] [ 5.06014168e-03 -1.53575749e-04 9.99987186e-01 6.48534133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:132.64, Y:2.26, Z:0.65 [[ 9.99818880e-01 -1.83460587e-02 -5.06245291e-03 1.32636653e+02] [ 1.83464056e-02 9.99831690e-01 2.21002209e-05 2.25761457e+00] [ 5.06119540e-03 -1.14974033e-04 9.99987185e-01 6.49673703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:132.67, Y:2.26, Z:0.65 [[ 9.99856127e-01 -1.61894233e-02 -5.06230805e-03 1.32667680e+02] [ 1.61898347e-02 9.99868935e-01 4.02986845e-05 2.25860033e+00] [ 5.06099214e-03 -1.22250817e-04 9.99987186e-01 6.50593369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.794391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:132.70, Y:2.26, Z:0.65 [[ 9.99884493e-01 -1.43308700e-02 -5.06230642e-03 1.32697871e+02] [ 1.43312587e-02 9.99897301e-01 4.05019289e-05 2.25954686e+00] [ 5.06120610e-03 -1.13046473e-04 9.99987186e-01 6.50444309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:132.73, Y:2.26, Z:0.65 [[ 9.99919574e-01 -1.16283607e-02 -5.06230470e-03 1.32727954e+02] [ 1.16287158e-02 9.99932383e-01 4.07155307e-05 2.26193805e+00] [ 5.06148895e-03 -9.95803588e-05 9.99987186e-01 6.52230721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.854391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:132.76, Y:2.26, Z:0.65 [[ 9.99932179e-01 -1.04886317e-02 -5.06230470e-03 1.32757615e+02] [ 1.04889722e-02 9.99944988e-01 4.07155307e-05 2.26250131e+00] [ 5.06159917e-03 -9.38111427e-05 9.99987186e-01 6.51090917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.884391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:132.79, Y:2.26, Z:0.65 [[ 9.99941619e-01 -9.54629093e-03 -5.06230470e-03 1.32787804e+02] [ 9.54661935e-03 9.99954429e-01 4.07155307e-05 2.26300337e+00] [ 5.06168533e-03 -8.90410497e-05 9.99987186e-01 6.51150857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:132.82, Y:2.26, Z:0.65 [[ 9.99950932e-01 -8.51503931e-03 -5.06230470e-03 1.32817149e+02] [ 8.51535452e-03 9.99963743e-01 4.07155307e-05 2.26398604e+00] [ 5.06177446e-03 -8.38208521e-05 9.99987186e-01 6.50579507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:132.85, Y:2.26, Z:0.65 [[ 9.99951563e-01 -8.44067649e-03 -5.06230557e-03 1.32846460e+02] [ 8.44099020e-03 9.99964373e-01 4.06073859e-05 2.26399059e+00] [ 5.06178246e-03 -8.33362907e-05 9.99987186e-01 6.49993759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:132.88, Y:2.26, Z:0.65 [[ 9.99948408e-01 -8.80644792e-03 -5.06230535e-03 1.32876162e+02] [ 8.80676646e-03 9.99961219e-01 4.06345132e-05 2.26387665e+00] [ 5.06175118e-03 -8.52149578e-05 9.99987186e-01 6.50069185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:132.91, Y:2.26, Z:0.65 [[ 9.99940865e-01 -9.62491157e-03 -5.06230704e-03 1.32905481e+02] [ 9.62523952e-03 9.99953675e-01 4.04236215e-05 2.26350163e+00] [ 5.06168345e-03 -8.91471488e-05 9.99987186e-01 6.50519972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:132.94, Y:2.26, Z:0.65 [[ 9.99920473e-01 -1.15507563e-02 -5.06230875e-03 1.32935251e+02] [ 1.15511078e-02 9.99933283e-01 4.02082747e-05 2.26295317e+00] [ 5.06150657e-03 -9.86803513e-05 9.99987186e-01 6.51564285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:132.97, Y:2.26, Z:0.65 [[ 9.99904590e-01 -1.28523758e-02 -5.06230869e-03 1.32965576e+02] [ 1.28527440e-02 9.99917399e-01 4.02151405e-05 2.26244401e+00] [ 5.06137368e-03 -1.05275861e-04 9.99987186e-01 6.52541248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09439141800001 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:133.00, Y:2.26, Z:0.65 [[ 9.99888607e-01 -1.40408929e-02 -5.06230869e-03 1.32995924e+02] [ 1.40412763e-02 9.99901416e-01 4.02151405e-05 2.26175886e+00] [ 5.06124497e-03 -1.11291936e-04 9.99987186e-01 6.52965034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12439141800002 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:133.03, Y:2.26, Z:0.65 [[ 9.99871904e-01 -1.51838232e-02 -5.06230869e-03 1.33026413e+02] [ 1.51842213e-02 9.99884712e-01 4.02151405e-05 2.26118551e+00] [ 5.06111445e-03 -1.17077205e-04 9.99987186e-01 6.53070154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15439141800002 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:133.06, Y:2.26, Z:0.65 [[ 9.99852448e-01 -1.64150737e-02 -5.06230869e-03 1.33057177e+02] [ 1.64154876e-02 9.99865256e-01 4.02151405e-05 2.26023837e+00] [ 5.06096644e-03 -1.23309472e-04 9.99987186e-01 6.52292442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18439141800002 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:133.09, Y:2.26, Z:0.65 [[ 9.99853547e-01 -1.63480413e-02 -5.06230788e-03 1.33087783e+02] [ 1.63484549e-02 9.99866354e-01 4.03174209e-05 2.25968448e+00] [ 5.06097221e-03 -1.23072428e-04 9.99987186e-01 6.50449884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21439141800002 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:133.12, Y:2.26, Z:0.65 [[ 9.99860600e-01 -1.59108156e-02 -5.06230708e-03 1.33119036e+02] [ 1.59112241e-02 9.99873408e-01 4.04175378e-05 2.25917781e+00] [ 5.06102315e-03 -1.20959406e-04 9.99987186e-01 6.51407065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24439141800002 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:133.15, Y:2.26, Z:0.65 [[ 9.99893224e-01 -1.37081942e-02 -5.06230551e-03 1.33150320e+02] [ 1.37085754e-02 9.99906032e-01 4.06133879e-05 2.25856843e+00] [ 5.06127308e-03 -1.10006048e-04 9.99987186e-01 6.52471992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:133.18, Y:2.26, Z:0.65 [[ 9.99916149e-01 -1.19192605e-02 -5.06230386e-03 1.33180984e+02] [ 1.19196199e-02 9.99928958e-01 4.08173776e-05 2.25844539e+00] [ 5.06145771e-03 -1.01154693e-04 9.99987186e-01 6.52577924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:133.21, Y:2.26, Z:0.65 [[ 9.99955066e-01 -8.01498973e-03 -5.06230304e-03 1.33211604e+02] [ 8.01529957e-03 9.99967876e-01 4.09188150e-05 2.25834508e+00] [ 5.06181246e-03 -8.14928517e-05 9.99987186e-01 6.53502334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:133.24, Y:2.26, Z:0.65 [[ 9.99969562e-01 -5.93698607e-03 -5.06230304e-03 1.33241751e+02] [ 5.93726928e-03 9.99982373e-01 4.09188150e-05 2.25754422e+00] [ 5.06197088e-03 -7.09738259e-05 9.99987186e-01 6.52784271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:133.27, Y:2.26, Z:0.65 [[ 9.99977584e-01 -4.38221143e-03 -5.06230392e-03 1.33271677e+02] [ 4.38247417e-03 9.99990396e-01 4.08100064e-05 2.25682077e+00] [ 5.06207646e-03 -6.29945078e-05 9.99987186e-01 6.52665745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:133.30, Y:2.26, Z:0.65 [[ 9.99984248e-01 -2.42429044e-03 -5.06230567e-03 1.33300429e+02] [ 2.42452699e-03 9.99997060e-01 4.05917124e-05 2.25616993e+00] [ 5.06219238e-03 -5.28647698e-05 9.99987186e-01 6.51929916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:133.33, Y:2.26, Z:0.65 [[ 9.99984577e-01 -2.28454048e-03 -5.06230826e-03 1.33328780e+02] [ 2.28477359e-03 9.99997389e-01 4.02655178e-05 2.25590146e+00] [ 5.06220306e-03 -5.18311250e-05 9.99987186e-01 6.52469591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:133.36, Y:2.26, Z:0.65 [[ 9.99983793e-01 -2.60493708e-03 -5.06232013e-03 1.33356511e+02] [ 2.60516644e-03 9.99996606e-01 3.87134734e-05 2.25568596e+00] [ 5.06220210e-03 -5.19010325e-05 9.99987186e-01 6.52181713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:133.39, Y:2.25, Z:0.65 [[ 9.99979539e-01 -3.91078060e-03 -5.06232429e-03 1.33385025e+02] [ 3.91102390e-03 9.99992351e-01 3.81625596e-05 2.25496750e+00] [ 5.06213632e-03 -5.79606500e-05 9.99987186e-01 6.51691524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:133.41, Y:2.25, Z:0.65 [[ 9.99970895e-01 -5.70803458e-03 -5.06232754e-03 1.33414262e+02] [ 5.70829870e-03 9.99983707e-01 3.77261692e-05 2.25485382e+00] [ 5.06202971e-03 -6.66223489e-05 9.99987186e-01 6.51072767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:133.44, Y:2.25, Z:0.65 [[ 9.99957891e-01 -7.65437095e-03 -5.06233837e-03 1.33444164e+02] [ 7.65465234e-03 9.99970702e-01 3.62117065e-05 2.25437067e+00] [ 5.06191288e-03 -7.49606219e-05 9.99987186e-01 6.51878523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.574391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:133.47, Y:2.25, Z:0.65 [[ 9.99937137e-01 -1.00047643e-02 -5.06233994e-03 1.33473690e+02] [ 1.00050747e-02 9.99949947e-01 3.59911188e-05 2.25380339e+00] [ 5.06172647e-03 -8.66379456e-05 9.99987186e-01 6.51574738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.604391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:133.50, Y:2.25, Z:0.65 [[ 9.99862002e-01 -1.58224359e-02 -5.06234148e-03 1.33502760e+02] [ 1.58228197e-02 9.99874811e-01 3.57736767e-05 2.25288638e+00] [ 5.06114170e-03 -1.15869256e-04 9.99987186e-01 6.51394099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.634391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:133.53, Y:2.25, Z:0.65 [[ 9.99807517e-01 -1.89552718e-02 -5.06234224e-03 1.33533591e+02] [ 1.89556953e-02 9.99820324e-01 3.56658289e-05 2.25256550e+00] [ 5.06075660e-03 -1.31619180e-04 9.99987186e-01 6.54440580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:133.57, Y:2.25, Z:0.65 [[ 9.99808273e-01 -1.89153512e-02 -5.06233970e-03 1.33565430e+02] [ 1.89157759e-02 9.99821080e-01 3.60221176e-05 2.25230031e+00] [ 5.06075258e-03 -1.31773294e-04 9.99987186e-01 6.54601699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:133.60, Y:2.25, Z:0.66 [[ 9.99740116e-01 -2.22277531e-02 -5.06233825e-03 1.33596291e+02] [ 2.22282213e-02 9.99752922e-01 3.62242419e-05 2.25209724e+00] [ 5.06028228e-03 -1.48741603e-04 9.99987186e-01 6.55441487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:133.63, Y:2.25, Z:0.66 [[ 9.99668138e-01 -2.52584146e-02 -5.06233678e-03 1.33627261e+02] [ 2.52589226e-02 9.99680942e-01 3.64290581e-05 2.25156695e+00] [ 5.05980146e-03 -1.64286142e-04 9.99987186e-01 6.55742788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:133.66, Y:2.25, Z:0.66 [[ 9.99465696e-01 -3.22907833e-02 -5.06233456e-03 1.33659932e+02] [ 3.22913830e-02 9.99478497e-01 3.67354300e-05 2.25075052e+00] [ 5.05850832e-03 -2.00185586e-04 9.99987186e-01 6.55791314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:133.69, Y:2.25, Z:0.66 [[ 9.99335727e-01 -3.60898452e-02 -5.06233160e-03 1.33692058e+02] [ 3.60904955e-02 9.99348525e-01 3.71388692e-05 2.25079961e+00] [ 5.05769328e-03 -2.19816255e-04 9.99987186e-01 6.56276960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:133.72, Y:2.25, Z:0.66 [[ 9.99035820e-01 -4.36096721e-02 -5.06232859e-03 1.33723209e+02] [ 4.36104207e-02 9.99048612e-01 3.75448293e-05 2.25226738e+00] [ 5.05587503e-03 -2.58278909e-04 9.99987186e-01 6.57282634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84439141800001 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:133.76, Y:2.25, Z:0.66 [[ 9.98893244e-01 -4.67617430e-02 -5.06232633e-03 1.33755275e+02] [ 4.67625336e-02 9.98906034e-01 3.78469717e-05 2.25263719e+00] [ 5.05501852e-03 -2.74532289e-04 9.99987186e-01 6.57651168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87439141800002 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:133.79, Y:2.25, Z:0.66 [[ 9.98753476e-01 -4.96574931e-02 -5.06232329e-03 1.33786825e+02] [ 4.96583227e-02 9.98766264e-01 3.82489988e-05 2.25358521e+00] [ 5.05417837e-03 -2.89587804e-04 9.99987186e-01 6.57945107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90439141800002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:133.82, Y:2.26, Z:0.66 [[ 9.98487445e-01 -5.47466445e-02 -5.06231827e-03 1.33818228e+02] [ 5.47475426e-02 9.98500228e-01 3.89017919e-05 2.25670149e+00] [ 5.05259621e-03 -3.15992436e-04 9.99987186e-01 6.58458444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93439141800002 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:133.85, Y:2.26, Z:0.66 [[ 9.98365677e-01 -5.69240497e-02 -5.06231600e-03 1.33850318e+02] [ 5.69249772e-02 9.98378458e-01 3.91953207e-05 2.25817021e+00] [ 5.05187609e-03 -3.27303486e-04 9.99987186e-01 6.58742397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96439141800002 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:133.88, Y:2.26, Z:0.66 [[ 9.98264046e-01 -5.86793530e-02 -5.06231297e-03 1.33882642e+02] [ 5.86803049e-02 9.98276825e-01 3.95832713e-05 2.25969215e+00] [ 5.05126700e-03 -3.36572625e-04 9.99987186e-01 6.58829080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99439141800002 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:133.91, Y:2.27, Z:0.66 [[ 9.97777045e-01 -6.64480327e-02 -5.06230993e-03 1.33907710e+02] [ 6.64490860e-02 9.97789816e-01 3.99685750e-05 2.27089875e+00] [ 5.04846546e-03 -3.76265594e-04 9.99987186e-01 6.57641262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:133.94, Y:2.27, Z:0.66 [[ 9.98108234e-01 -6.12725003e-02 -5.06301850e-03 1.33943612e+02] [ 6.12730007e-02 9.98121043e-01 -5.63582887e-05 2.26660672e+00] [ 5.05695852e-03 -2.53974664e-04 9.99987181e-01 6.59973141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:133.97, Y:2.28, Z:0.66 [[ 9.97767501e-01 -6.65911972e-02 -5.06222570e-03 1.33970109e+02] [ 6.65922583e-02 9.97780271e-01 4.11573604e-05 2.27507499e+00] [ 5.04824821e-03 -3.78170518e-04 9.99987186e-01 6.58681255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:134.01, Y:2.27, Z:0.66 [[ 9.98139077e-01 -6.07680091e-02 -5.06288987e-03 1.34005971e+02] [ 6.07685661e-02 9.98151882e-01 -4.38852175e-05 2.27465579e+00] [ 5.05619987e-03 -2.63861007e-04 9.99987183e-01 6.59476005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:134.04, Y:2.28, Z:0.66 [[ 9.98201941e-01 -5.97265400e-02 -5.06214897e-03 1.34038549e+02] [ 5.97275231e-02 9.98214717e-01 4.31123782e-05 2.27740491e+00] [ 5.05053665e-03 -3.45384479e-04 9.99987186e-01 6.61170659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:134.07, Y:2.28, Z:0.66 [[ 9.98290299e-01 -5.82310377e-02 -5.06214362e-03 1.34070734e+02] [ 5.82320047e-02 9.98303076e-01 4.37311025e-05 2.27998865e+00] [ 5.05100704e-03 -3.38435107e-04 9.99987186e-01 6.59372109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:134.10, Y:2.28, Z:0.66 [[ 9.98386663e-01 -5.65548113e-02 -5.06213915e-03 1.34104216e+02] [ 5.65557595e-02 9.98399441e-01 4.42428920e-05 2.28279082e+00] [ 5.05153475e-03 -3.30464637e-04 9.99987186e-01 6.60912188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:134.14, Y:2.29, Z:0.66 [[ 9.98511626e-01 -5.43038390e-02 -5.06213385e-03 1.34137382e+02] [ 5.43047614e-02 9.98524407e-01 4.48414852e-05 2.28587755e+00] [ 5.05222913e-03 -3.19672715e-04 9.99987186e-01 6.61803080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:134.17, Y:2.29, Z:0.66 [[ 9.98778007e-01 -4.91616483e-02 -5.06212833e-03 1.34168729e+02] [ 4.91625080e-02 9.98790792e-01 4.54555120e-05 2.29376947e+00] [ 5.05377250e-03 -2.94266890e-04 9.99987186e-01 6.61667213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:134.20, Y:2.30, Z:0.66 [[ 9.98923115e-01 -4.61192439e-02 -5.06212559e-03 1.34202177e+02] [ 4.61200662e-02 9.98935903e-01 4.57588846e-05 2.29719999e+00] [ 5.05462863e-03 -2.79175175e-04 9.99987186e-01 6.62630226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.294391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:134.23, Y:2.30, Z:0.66 [[ 9.99194989e-01 -3.97963419e-02 -5.06211993e-03 1.34234625e+02] [ 3.97970863e-02 9.99207781e-01 4.63773952e-05 2.30412265e+00] [ 5.05626397e-03 -2.47797685e-04 9.99987186e-01 6.62806937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:134.27, Y:2.31, Z:0.66 [[ 9.99316691e-01 -3.66131854e-02 -5.06211519e-03 1.34266585e+02] [ 3.66138917e-02 9.99329486e-01 4.68887021e-05 2.30725072e+00] [ 5.05700422e-03 -2.32200400e-04 9.99987186e-01 6.64055677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.354391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:134.30, Y:2.31, Z:0.67 [[ 9.99434173e-01 -3.32522018e-02 -5.06211149e-03 1.34299232e+02] [ 3.32528671e-02 9.99446969e-01 4.72847530e-05 2.31026290e+00] [ 5.05773967e-03 -2.15587719e-04 9.99987186e-01 6.65517738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.384391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:134.33, Y:2.32, Z:0.66 [[ 9.99505316e-01 -3.10402637e-02 -5.06210759e-03 1.34325232e+02] [ 3.10409028e-02 9.99518114e-01 4.76984941e-05 2.32189331e+00] [ 5.05818766e-03 -2.04807288e-04 9.99987186e-01 6.64288039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:134.36, Y:2.32, Z:0.67 [[ 9.99709283e-01 -2.35736587e-02 -5.06290699e-03 1.34360207e+02] [ 2.35737510e-02 9.99722100e-01 -4.14595054e-05 2.31893718e+00] [ 5.06247736e-03 -7.79042562e-05 9.99987183e-01 6.66852744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444391418 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:134.39, Y:2.32, Z:0.67 [[ 9.99832643e-01 -1.75801405e-02 -5.06205275e-03 1.34392412e+02] [ 1.75806097e-02 9.99845448e-01 4.82199691e-05 2.32423223e+00] [ 5.06042268e-03 -1.37205873e-04 9.99987187e-01 6.67241967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:134.42, Y:2.33, Z:0.67 [[ 9.99875316e-01 -1.49575448e-02 -5.06204876e-03 1.34423356e+02] [ 1.49579826e-02 9.99888122e-01 4.86345509e-05 2.32629813e+00] [ 5.06075498e-03 -1.24346524e-04 9.99987187e-01 6.67280634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:134.45, Y:2.33, Z:0.67 [[ 9.99908243e-01 -1.25650978e-02 -5.06204578e-03 1.34453901e+02] [ 1.25655065e-02 9.99921050e-01 4.89426203e-05 2.32813948e+00] [ 5.06103117e-03 -1.12545299e-04 9.99987187e-01 6.66834686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:134.49, Y:2.33, Z:0.67 [[ 9.99951505e-01 -8.44772165e-03 -5.06204481e-03 1.34485318e+02] [ 8.44807813e-03 9.99964313e-01 4.90432349e-05 2.33163726e+00] [ 5.06144986e-03 -9.18054066e-05 9.99987187e-01 6.67690106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:134.52, Y:2.33, Z:0.67 [[ 9.99964979e-01 -6.66449964e-03 -5.06204285e-03 1.34515966e+02] [ 6.66483430e-03 9.99977789e-01 4.92450169e-05 2.33284692e+00] [ 5.06160222e-03 -8.29809691e-05 9.99987187e-01 6.67570844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59439141800001 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:134.55, Y:2.33, Z:0.67 [[ 9.99971755e-01 -5.55565278e-03 -5.06204285e-03 1.34546230e+02] [ 5.55597323e-03 9.99984564e-01 4.92450169e-05 2.33418894e+00] [ 5.06169112e-03 -7.73682005e-05 9.99987187e-01 6.67556448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62439141800002 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:134.58, Y:2.34, Z:0.67 [[ 9.99981689e-01 -3.31611291e-03 -5.06204285e-03 1.34575544e+02] [ 3.31640467e-03 9.99994500e-01 4.92450169e-05 2.33665668e+00] [ 5.06185170e-03 -6.60318978e-05 9.99987187e-01 6.69986489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65439141800002 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:134.60, Y:2.34, Z:0.67 [[ 9.99973492e-01 -5.23342990e-03 -5.06226410e-03 1.34604267e+02] [ 5.23362842e-03 9.99986304e-01 2.59693578e-05 2.33717531e+00] [ 5.06205886e-03 -5.24626787e-05 9.99987186e-01 6.67233677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68439141800002 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:134.63, Y:2.34, Z:0.67 [[ 9.99968979e-01 -6.03456943e-03 -5.06204312e-03 1.34634090e+02] [ 6.03489408e-03 9.99981789e-01 4.88628840e-05 2.33785549e+00] [ 5.06165607e-03 -7.94102623e-05 9.99987187e-01 6.68265244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71439141800002 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:134.66, Y:2.34, Z:0.67 [[ 9.99946530e-01 -9.01735500e-03 -5.06204506e-03 1.34664159e+02] [ 9.01771684e-03 9.99959338e-01 4.86605955e-05 2.33913650e+00] [ 5.06140044e-03 -9.43060826e-05 9.99987187e-01 6.69118522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74439141800002 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:134.69, Y:2.34, Z:0.67 [[ 9.99935426e-01 -1.01744636e-02 -5.06204701e-03 1.34693781e+02] [ 1.01748393e-02 9.99948234e-01 4.84575915e-05 2.34009198e+00] [ 5.06129193e-03 -9.99599770e-05 9.99987187e-01 6.70380221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774391418 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:134.72, Y:2.34, Z:0.67 [[ 9.99890567e-01 -1.39005378e-02 -5.06247602e-03 1.34724663e+02] [ 1.39007269e-02 9.99903380e-01 2.17900231e-06 2.33928559e+00] [ 5.06195659e-03 -7.25508605e-05 9.99987186e-01 6.68558898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:134.75, Y:2.34, Z:0.67 [[ 9.99839713e-01 -1.71733254e-02 -5.06205337e-03 1.34752597e+02] [ 1.71737851e-02 9.99852519e-01 4.73567922e-05 2.34139427e+00] [ 5.06049354e-03 -1.34283818e-04 9.99987187e-01 6.69312694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:134.79, Y:2.34, Z:0.67 [[ 9.99702536e-01 -2.38581153e-02 -5.06267053e-03 1.34785215e+02] [ 2.38583144e-02 9.99715350e-01 -2.10622344e-05 2.33838804e+00] [ 5.06173195e-03 -9.97308163e-05 9.99987184e-01 6.68434549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:134.82, Y:2.34, Z:0.67 [[ 9.99615103e-01 -2.72767465e-02 -5.06202541e-03 1.34816131e+02] [ 2.72773367e-02 9.99627903e-01 4.75774173e-05 2.33772483e+00] [ 5.05884409e-03 -1.85637676e-04 9.99987187e-01 6.68475727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:134.85, Y:2.34, Z:0.67 [[ 9.99520047e-01 -3.05622657e-02 -5.06202257e-03 1.34848256e+02] [ 3.05628995e-02 9.99532844e-01 4.78777159e-05 2.33727400e+00] [ 5.05819456e-03 -2.02564824e-04 9.99987187e-01 6.68853349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:134.88, Y:2.34, Z:0.67 [[ 9.99339071e-01 -3.59971884e-02 -5.06201880e-03 1.34880625e+02] [ 3.59978937e-02 9.99351865e-01 4.82733026e-05 2.33646335e+00] [ 5.05700022e-03 -2.30463412e-04 9.99987187e-01 6.69855165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:134.91, Y:2.34, Z:0.67 [[ 9.99252517e-01 -3.83247027e-02 -5.06201486e-03 1.34913130e+02] [ 3.83254400e-02 9.99265309e-01 4.86825640e-05 2.33626053e+00] [ 5.05643010e-03 -2.42650121e-04 9.99987187e-01 6.70200901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:134.95, Y:2.34, Z:0.67 [[ 9.99184440e-01 -4.00603334e-02 -5.06201086e-03 1.34945021e+02] [ 4.00610949e-02 9.99197231e-01 4.90952063e-05 2.33606892e+00] [ 5.05598046e-03 -2.51844864e-04 9.99987187e-01 6.70279185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:134.98, Y:2.34, Z:0.67 [[ 9.99153324e-01 -4.08290399e-02 -5.06200681e-03 1.34976978e+02] [ 4.08298133e-02 9.99166114e-01 4.95093356e-05 2.33570570e+00] [ 5.05576425e-03 -2.56148210e-04 9.99987187e-01 6.70184873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:135.01, Y:2.34, Z:0.67 [[ 9.99140837e-01 -4.11334891e-02 -5.06200273e-03 1.35008877e+02] [ 4.11342686e-02 9.99153627e-01 4.99226207e-05 2.33582291e+00] [ 5.05566489e-03 -2.58101509e-04 9.99987187e-01 6.70676133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.074391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:135.04, Y:2.34, Z:0.67 [[ 9.99162062e-01 -4.06146515e-02 -5.06199859e-03 1.35040362e+02] [ 4.06154264e-02 9.99174852e-01 5.03389525e-05 2.33589326e+00] [ 5.05577719e-03 -2.55892003e-04 9.99987187e-01 6.70579529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.104391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:135.07, Y:2.34, Z:0.67 [[ 9.99200470e-01 -3.96585089e-02 -5.06199549e-03 1.35073242e+02] [ 3.96592732e-02 9.99213260e-01 5.06489405e-05 2.33611001e+00] [ 5.05600435e-03 -2.51363507e-04 9.99987187e-01 6.70807632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.134391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:135.11, Y:2.34, Z:0.67 [[ 9.99265506e-01 -3.79845251e-02 -5.06198928e-03 1.35106684e+02] [ 3.79852710e-02 9.99278298e-01 5.12620035e-05 2.33734510e+00] [ 5.05638887e-03 -2.43505387e-04 9.99987187e-01 6.71676790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:135.14, Y:2.34, Z:0.67 [[ 9.99300163e-01 -3.70615910e-02 -5.06198293e-03 1.35139848e+02] [ 3.70623283e-02 9.99312955e-01 5.18814611e-05 2.33761659e+00] [ 5.05658231e-03 -2.39454025e-04 9.99987187e-01 6.72714096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:135.17, Y:2.34, Z:0.67 [[ 9.99330879e-01 -3.62238883e-02 -5.06197639e-03 1.35173017e+02] [ 3.62246180e-02 9.99343672e-01 5.25123295e-05 2.33801975e+00] [ 5.05675187e-03 -2.35845354e-04 9.99987187e-01 6.72661234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:135.20, Y:2.34, Z:0.67 [[ 9.99385361e-01 -3.46882887e-02 -5.06196981e-03 1.35204378e+02] [ 3.46890019e-02 9.99398154e-01 5.31388321e-05 2.33896092e+00] [ 5.05707999e-03 -2.28700851e-04 9.99987187e-01 6.72314591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:135.24, Y:2.34, Z:0.67 [[ 9.99415230e-01 -3.38167733e-02 -5.06196654e-03 1.35236239e+02] [ 3.38174769e-02 9.99428024e-01 5.34486705e-05 2.33945578e+00] [ 5.05726375e-03 -2.24600352e-04 9.99987187e-01 6.72574640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:135.27, Y:2.34, Z:0.67 [[ 9.99457983e-01 -3.25287125e-02 -5.06196210e-03 1.35268154e+02] [ 3.25294017e-02 9.99470778e-01 5.38660570e-05 2.33984456e+00] [ 5.05753100e-03 -2.18499459e-04 9.99987187e-01 6.72195201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:135.30, Y:2.34, Z:0.67 [[ 9.99520704e-01 -3.05407605e-02 -5.06195652e-03 1.35300300e+02] [ 3.05414269e-02 9.99533500e-01 5.43856092e-05 2.34132783e+00] [ 5.05793414e-03 -2.08958917e-04 9.99987187e-01 6.72278037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34439141800001 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:135.33, Y:2.34, Z:0.67 [[ 9.99556489e-01 -2.93462274e-02 -5.06195206e-03 1.35332531e+02] [ 2.93468806e-02 9.99569286e-01 5.47974090e-05 2.34173729e+00] [ 5.05816371e-03 -2.03325608e-04 9.99987187e-01 6.72442085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37439141800002 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:135.36, Y:2.34, Z:0.67 [[ 9.99582486e-01 -2.84469609e-02 -5.06194645e-03 1.35364527e+02] [ 2.84476052e-02 9.99595283e-01 5.53102818e-05 2.34232272e+00] [ 5.05832439e-03 -1.99287443e-04 9.99987187e-01 6.73106208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40439141800002 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:135.40, Y:2.34, Z:0.67 [[ 9.99629888e-01 -2.67294703e-02 -5.06194200e-03 1.35396874e+02] [ 2.67300947e-02 9.99642686e-01 5.57149712e-05 2.34371859e+00] [ 5.05864406e-03 -1.91000539e-04 9.99987187e-01 6.73718976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43439141800002 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:135.43, Y:2.34, Z:0.67 [[ 9.99645701e-01 -2.61313799e-02 -5.06193753e-03 1.35428490e+02] [ 2.61319986e-02 9.99658499e-01 5.61176271e-05 2.34386740e+00] [ 5.05874245e-03 -1.88376289e-04 9.99987187e-01 6.74157957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46439141800002 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:135.46, Y:2.34, Z:0.67 [[ 9.99661102e-01 -2.55354404e-02 -5.06193419e-03 1.35460978e+02] [ 2.55360530e-02 9.99673900e-01 5.64173292e-05 2.34398203e+00] [ 5.05884286e-03 -1.85660029e-04 9.99987187e-01 6.74792163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49439141800002 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:135.49, Y:2.35, Z:0.68 [[ 9.99669270e-01 -2.52136347e-02 -5.06192974e-03 1.35491110e+02] [ 2.52142452e-02 9.99682069e-01 5.68145056e-05 2.34588209e+00] [ 5.05888789e-03 -1.84428453e-04 9.99987187e-01 6.76997678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:135.52, Y:2.34, Z:0.68 [[ 9.99690482e-01 -2.43580105e-02 -5.06232386e-03 1.35524204e+02] [ 2.43584309e-02 9.99703289e-01 2.13982701e-05 2.34464637e+00] [ 5.06030059e-03 -1.44701913e-04 9.99987186e-01 6.76534524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:135.56, Y:2.34, Z:0.68 [[ 9.99692451e-01 -2.42771750e-02 -5.06190618e-03 1.35556895e+02] [ 2.42777790e-02 9.99705250e-01 5.79084458e-05 2.34417799e+00] [ 5.05900833e-03 -1.80782476e-04 9.99987187e-01 6.76688376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:135.59, Y:2.34, Z:0.68 [[ 9.99710044e-01 -2.35415622e-02 -5.06190148e-03 1.35589526e+02] [ 2.35421589e-02 9.99722843e-01 5.83168235e-05 2.34392632e+00] [ 5.05912567e-03 -1.77468003e-04 9.99987187e-01 6.76945464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:135.62, Y:2.34, Z:0.68 [[ 9.99751314e-01 -2.17183432e-02 -5.06189677e-03 1.35621909e+02] [ 2.17189186e-02 9.99764115e-01 5.87226992e-05 2.34420887e+00] [ 5.05942738e-03 -1.68647020e-04 9.99987187e-01 6.77661543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:135.65, Y:2.34, Z:0.68 [[ 9.99768734e-01 -2.09011075e-02 -5.06189196e-03 1.35653543e+02] [ 2.09016745e-02 9.99781534e-01 5.91348869e-05 2.34416711e+00] [ 5.05955012e-03 -1.64923229e-04 9.99987187e-01 6.77369441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:135.69, Y:2.34, Z:0.68 [[ 9.99791197e-01 -1.97974663e-02 -5.06188835e-03 1.35685656e+02] [ 1.97980208e-02 9.99803998e-01 5.94416658e-05 2.34377391e+00] [ 5.05971942e-03 -1.59644625e-04 9.99987187e-01 6.77496173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:135.72, Y:2.34, Z:0.68 [[ 9.99805508e-01 -1.90610456e-02 -5.06188368e-03 1.35717443e+02] [ 1.90615926e-02 9.99818310e-01 5.98368801e-05 2.34335945e+00] [ 5.05982343e-03 -1.56312807e-04 9.99987187e-01 6.78104379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:135.75, Y:2.34, Z:0.68 [[ 9.99826624e-01 -1.79192566e-02 -5.06187885e-03 1.35747698e+02] [ 1.79197910e-02 9.99839426e-01 6.02425639e-05 2.34333886e+00] [ 5.05998654e-03 -1.50939931e-04 9.99987187e-01 6.77531082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:135.78, Y:2.34, Z:0.68 [[ 9.99837921e-01 -1.72772523e-02 -5.06235745e-03 1.35781397e+02] [ 1.72775726e-02 9.99850731e-01 1.95452080e-05 2.34124082e+00] [ 5.06126411e-03 -1.07007289e-04 9.99987186e-01 6.78244527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.794391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:135.81, Y:2.34, Z:0.68 [[ 9.99849780e-01 -1.65769657e-02 -5.06184674e-03 1.35813710e+02] [ 1.65774895e-02 9.99862582e-01 6.15477915e-05 2.34039075e+00] [ 5.06013088e-03 -1.45451257e-04 9.99987187e-01 6.78465533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:135.85, Y:2.34, Z:0.68 [[ 9.99890933e-01 -1.38744472e-02 -5.06184178e-03 1.35845139e+02] [ 1.38749385e-02 9.99903736e-01 6.19530422e-05 2.33930603e+00] [ 5.06049495e-03 -1.32179028e-04 9.99987187e-01 6.78020914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.854391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:135.88, Y:2.34, Z:0.68 [[ 9.99916268e-01 -1.19094547e-02 -5.06183807e-03 1.35877601e+02] [ 1.19099224e-02 9.99929072e-01 6.22547344e-05 2.33880739e+00] [ 5.06073763e-03 -1.22535620e-04 9.99987187e-01 6.78245073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.884391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:135.91, Y:2.34, Z:0.68 [[ 9.99939775e-01 -9.73782325e-03 -5.06183309e-03 1.35909439e+02] [ 9.73826514e-03 9.99952580e-01 6.26567712e-05 2.33823968e+00] [ 5.06098292e-03 -1.11946470e-04 9.99987187e-01 6.78245824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:135.94, Y:2.34, Z:0.68 [[ 9.99975696e-01 -4.79436479e-03 -5.06183055e-03 1.35939988e+02] [ 4.79474440e-03 9.99988503e-01 6.28614458e-05 2.33661918e+00] [ 5.06147098e-03 -8.71301017e-05 9.99987187e-01 6.77906015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:135.97, Y:2.34, Z:0.68 [[ 9.99984306e-01 -2.40126516e-03 -5.06182929e-03 1.35969823e+02] [ 2.40161463e-03 9.99997114e-01 6.29628738e-05 2.33548016e+00] [ 5.06166349e-03 -7.51184489e-05 9.99987187e-01 6.78203538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:136.00, Y:2.33, Z:0.68 [[ 9.99986255e-01 1.36642793e-03 -5.06183053e-03 1.35998864e+02] [-1.36612723e-03 9.99999065e-01 6.28632559e-05 2.33371591e+00] [ 5.06191169e-03 -5.59472874e-05 9.99987187e-01 6.77891294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:136.03, Y:2.33, Z:0.68 [[ 9.99982637e-01 3.01711210e-03 -5.06184731e-03 1.36026193e+02] [-3.01683953e-03 9.99995447e-01 6.14816433e-05 2.33320851e+00] [ 5.06200976e-03 -4.62097948e-05 9.99987187e-01 6.77527389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:136.06, Y:2.33, Z:0.68 [[ 9.99982260e-01 3.13904258e-03 -5.06227506e-03 1.36056364e+02] [-3.13895466e-03 9.99995073e-01 2.53126162e-05 2.33038599e+00] [ 5.06232957e-03 -9.42191525e-06 9.99987186e-01 6.77220229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:136.08, Y:2.33, Z:0.68 [[ 9.99981212e-01 3.45734103e-03 -5.06184771e-03 1.36084151e+02] [-3.45707726e-03 9.99994022e-01 6.08574905e-05 2.32838162e+00] [ 5.06202786e-03 -4.33571485e-05 9.99987187e-01 6.76869475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09439141800001 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:136.11, Y:2.32, Z:0.68 [[ 9.99983564e-01 2.69235900e-03 -5.06185383e-03 1.36113162e+02] [-2.69208804e-03 9.99996375e-01 6.03441840e-05 2.32402366e+00] [ 5.06199795e-03 -4.67162360e-05 9.99987187e-01 6.76281549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12439141800002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:136.14, Y:2.32, Z:0.68 [[ 9.99985789e-01 1.67330978e-03 -5.06185866e-03 1.36141902e+02] [-1.67302782e-03 9.99998599e-01 5.99365372e-05 2.32172145e+00] [ 5.06195186e-03 -5.14670551e-05 9.99987187e-01 6.76078702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15439141800002 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:136.17, Y:2.32, Z:0.68 [[ 9.99987089e-01 4.46025592e-04 -5.06186346e-03 1.36169503e+02] [-4.45729978e-04 9.99999899e-01 5.95282620e-05 2.31944735e+00] [ 5.06188950e-03 -5.72712692e-05 9.99987187e-01 6.76043219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18439141800002 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:136.20, Y:2.32, Z:0.68 [[ 9.99984379e-01 -2.37034407e-03 -5.06186936e-03 1.36198696e+02] [ 2.37067320e-03 9.99997188e-01 5.90224908e-05 2.31539260e+00] [ 5.06171522e-03 -7.10216068e-05 9.99987187e-01 6.76540172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21439141800002 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:136.23, Y:2.31, Z:0.68 [[ 9.99977615e-01 -4.37575211e-03 -5.06187409e-03 1.36227756e+02] [ 4.37610486e-03 9.99990423e-01 5.86133431e-05 2.31311900e+00] [ 5.06156914e-03 -8.07633229e-05 9.99987187e-01 6.76849067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24439141800002 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:136.26, Y:2.31, Z:0.68 [[ 9.99951587e-01 -8.43809888e-03 -5.06187882e-03 1.36256546e+02] [ 8.43850158e-03 9.99964394e-01 5.82025353e-05 2.30799493e+00] [ 5.06120746e-03 -1.00914390e-04 9.99987187e-01 6.76574674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:136.29, Y:2.31, Z:0.68 [[ 9.99927628e-01 -1.09140358e-02 -5.06188117e-03 1.36287157e+02] [ 1.09144691e-02 9.99940434e-01 5.79972049e-05 2.30531264e+00] [ 5.06094667e-03 -1.13240753e-04 9.99987187e-01 6.76480472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:136.32, Y:2.30, Z:0.68 [[ 9.99899569e-01 -1.32374481e-02 -5.06188117e-03 1.36318650e+02] [ 1.32379113e-02 9.99912373e-01 5.79972049e-05 2.30293445e+00] [ 5.06066988e-03 -1.25000114e-04 9.99987187e-01 6.76335388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:136.35, Y:2.30, Z:0.68 [[ 9.99868389e-01 -1.54137066e-02 -5.06187879e-03 1.36349383e+02] [ 1.54141986e-02 9.99881192e-01 5.82040190e-05 2.30058769e+00] [ 5.06038026e-03 -1.36221164e-04 9.99987187e-01 6.76434415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:136.38, Y:2.30, Z:0.68 [[ 9.99798453e-01 -1.94275661e-02 -5.06187522e-03 1.36381193e+02] [ 1.94281111e-02 9.99811255e-01 5.85131828e-05 2.29630892e+00] [ 5.05978305e-03 -1.56844064e-04 9.99987187e-01 6.76522135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:136.41, Y:2.29, Z:0.68 [[ 9.99773459e-01 -2.06738333e-02 -5.06187042e-03 1.36412154e+02] [ 2.06743964e-02 9.99786260e-01 5.89252235e-05 2.29414549e+00] [ 5.05957029e-03 -1.63562990e-04 9.99987187e-01 6.76193805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:136.44, Y:2.29, Z:0.68 [[ 9.99692355e-01 -2.42811246e-02 -5.06186238e-03 1.36444521e+02] [ 2.42817373e-02 9.99705153e-01 5.96084900e-05 2.29097168e+00] [ 5.05892254e-03 -1.82500964e-04 9.99987187e-01 6.76647681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:136.48, Y:2.29, Z:0.68 [[ 9.99658720e-01 -2.56285374e-02 -5.06185750e-03 1.36475403e+02] [ 2.56291694e-02 9.99671517e-01 6.00198900e-05 2.28911448e+00] [ 5.05865654e-03 -1.89730610e-04 9.99987187e-01 6.76575662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:136.51, Y:2.29, Z:0.68 [[ 9.99615085e-01 -2.72774599e-02 -5.06185385e-03 1.36507907e+02] [ 2.72781146e-02 9.99627881e-01 6.03263774e-05 2.28743654e+00] [ 5.05832468e-03 -1.98380986e-04 9.99987187e-01 6.76191526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:136.54, Y:2.29, Z:0.68 [[ 9.99562788e-01 -2.91309158e-02 -5.06184899e-03 1.36538956e+02] [ 2.91315963e-02 9.99575583e-01 6.07308206e-05 2.28607401e+00] [ 5.05793151e-03 -2.08164010e-04 9.99987187e-01 6.76452290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:136.57, Y:2.28, Z:0.68 [[ 9.99447391e-01 -3.28525448e-02 -5.06184536e-03 1.36569830e+02] [ 3.28532744e-02 9.99460184e-01 6.10320561e-05 2.28410831e+00] [ 5.05710784e-03 -2.27296524e-04 9.99987187e-01 6.76136532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.574391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:136.60, Y:2.28, Z:0.68 [[ 9.99357225e-01 -3.54896450e-02 -5.06184176e-03 1.36600885e+02] [ 3.54904099e-02 9.99370015e-01 6.13290659e-05 2.28311675e+00] [ 5.05647633e-03 -2.40936484e-04 9.99987187e-01 6.77084937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.604391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:136.63, Y:2.28, Z:0.68 [[ 9.99274791e-01 -3.77395067e-02 -5.06183366e-03 1.36632503e+02] [ 3.77403037e-02 9.99287579e-01 6.19907691e-05 2.28175399e+00] [ 5.05588800e-03 -2.52980952e-04 9.99987187e-01 6.77192049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.634391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:136.67, Y:2.28, Z:0.68 [[ 9.99187980e-01 -3.99719809e-02 -5.06182763e-03 1.36665342e+02] [ 3.99728089e-02 9.99200766e-01 6.24794243e-05 2.28050820e+00] [ 5.05528462e-03 -2.64764158e-04 9.99987187e-01 6.77045639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:136.70, Y:2.28, Z:0.68 [[ 9.99028090e-01 -4.37864698e-02 -5.06172421e-03 1.36697639e+02] [ 4.37873887e-02 9.99040870e-01 7.07957373e-05 2.27895157e+00] [ 5.05376946e-03 -2.92366616e-04 9.99987187e-01 6.76445811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:136.73, Y:2.28, Z:0.68 [[ 9.98957813e-01 -4.53614959e-02 -5.06182072e-03 1.36729944e+02] [ 4.53623958e-02 9.98970595e-01 6.30472438e-05 2.27816684e+00] [ 5.05375014e-03 -2.92597852e-04 9.99987187e-01 6.76626196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:136.76, Y:2.28, Z:0.68 [[ 9.98827544e-01 -4.81447389e-02 -5.06181436e-03 1.36763039e+02] [ 4.81456769e-02 9.98840322e-01 6.35540654e-05 2.27754860e+00] [ 5.05288449e-03 -3.07184030e-04 9.99987187e-01 6.76401462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:136.80, Y:2.28, Z:0.68 [[ 9.98785992e-01 -4.89991837e-02 -5.06180651e-03 1.36796206e+02] [ 4.90001358e-02 9.98798770e-01 6.41728312e-05 2.27678348e+00] [ 5.05258170e-03 -3.12124131e-04 9.99987187e-01 6.75973210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:136.83, Y:2.28, Z:0.67 [[ 9.98696975e-01 -5.07811987e-02 -5.06179860e-03 1.36826948e+02] [ 5.07821767e-02 9.98709751e-01 6.47912202e-05 2.27766032e+00] [ 5.05197744e-03 -3.21755947e-04 9.99987187e-01 6.74642000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:136.86, Y:2.28, Z:0.67 [[ 9.98678543e-01 -5.11424029e-02 -5.06182998e-03 1.36860259e+02] [ 5.11433733e-02 9.98691319e-01 6.23687653e-05 2.27769339e+00] [ 5.05201597e-03 -3.21165408e-04 9.99987187e-01 6.74324810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84439141800001 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:136.89, Y:2.28, Z:0.68 [[ 9.98571941e-01 -5.31832322e-02 -5.06178495e-03 1.36887463e+02] [ 5.31842462e-02 9.98584714e-01 6.58263821e-05 2.28182878e+00] [ 5.05112022e-03 -3.34939595e-04 9.99987187e-01 6.75111940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87439141800002 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:136.92, Y:2.28, Z:0.68 [[ 9.98799945e-01 -4.87138565e-02 -5.06256141e-03 1.36923928e+02] [ 4.87144989e-02 9.98812744e-01 3.57511112e-06 2.27841939e+00] [ 5.05637669e-03 -2.50190963e-04 9.99987185e-01 6.75918421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90439141800002 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:136.95, Y:2.28, Z:0.68 [[ 9.98955493e-01 -4.54125953e-02 -5.06156502e-03 1.36954705e+02] [ 4.54135878e-02 9.98968267e-01 8.12632081e-05 2.28247265e+00] [ 5.05265247e-03 -3.11042156e-04 9.99987187e-01 6.77529237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93439141800002 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:136.99, Y:2.28, Z:0.68 [[ 9.99153077e-01 -4.08351171e-02 -5.06180288e-03 1.36986854e+02] [ 4.08359569e-02 9.99165862e-01 6.26213276e-05 2.28185275e+00] [ 5.05502349e-03 -2.69271856e-04 9.99987187e-01 6.78090120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96439141800002 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:137.02, Y:2.28, Z:0.68 [[ 9.99306471e-01 -3.68911203e-02 -5.06176601e-03 1.37018566e+02] [ 3.68919240e-02 9.99319259e-01 6.54720757e-05 2.28287828e+00] [ 5.05590492e-03 -2.52164956e-04 9.99987187e-01 6.78776095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99439141800002 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:137.05, Y:2.28, Z:0.68 [[ 9.99444400e-01 -3.29434274e-02 -5.06176076e-03 1.37050841e+02] [ 3.29441827e-02 9.99457191e-01 6.58754695e-05 2.28419729e+00] [ 5.05684302e-03 -2.32594440e-04 9.99987187e-01 6.79093545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:137.08, Y:2.29, Z:0.68 [[ 9.99707122e-01 -2.36653422e-02 -5.06175550e-03 1.37083369e+02] [ 2.36659807e-02 9.99719919e-01 6.62770291e-05 2.28733177e+00] [ 5.05876933e-03 -1.86049026e-04 9.99987187e-01 6.79858959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:137.12, Y:2.29, Z:0.68 [[ 9.99811866e-01 -1.87246185e-02 -5.06175024e-03 1.37115436e+02] [ 1.87251958e-02 9.99824666e-01 6.66762174e-05 2.28882735e+00] [ 5.05961426e-03 -1.61445937e-04 9.99987187e-01 6.80081357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:137.15, Y:2.29, Z:0.68 [[ 9.99890075e-01 -1.39361699e-02 -5.06174496e-03 1.37147008e+02] [ 1.39366879e-02 9.99902877e-01 6.70747569e-05 2.29046728e+00] [ 5.06031858e-03 -1.37611344e-04 9.99987187e-01 6.80358038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:137.18, Y:2.29, Z:0.68 [[ 9.99978386e-01 -4.19595857e-03 -5.06174101e-03 1.37178638e+02] [ 4.19635333e-03 9.99991193e-01 6.73714531e-05 2.29335592e+00] [ 5.06141374e-03 -8.86108507e-05 9.99987187e-01 6.80258960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:137.21, Y:2.29, Z:0.68 [[ 9.99987188e-01 -4.46474819e-05 -5.06173831e-03 1.37206925e+02] [ 4.49901003e-05 9.99999997e-01 6.75740532e-05 2.29459527e+00] [ 5.06173527e-03 -6.78009156e-05 9.99987187e-01 6.79951415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:137.24, Y:2.30, Z:0.68 [[ 9.99981109e-01 3.48709101e-03 -5.06174230e-03 1.37235825e+02] [-3.48679515e-03 9.99993919e-01 6.72733975e-05 2.29575413e+00] [ 5.06194611e-03 -4.96228682e-05 9.99987187e-01 6.79757782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:137.26, Y:2.30, Z:0.68 [[ 9.99931611e-01 1.05428655e-02 -5.06176040e-03 1.37263743e+02] [-1.05426671e-02 9.99944422e-01 6.58824793e-05 2.29774570e+00] [ 5.06217367e-03 -1.25135187e-05 9.99987187e-01 6.77869137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:137.29, Y:2.30, Z:0.68 [[ 9.99905477e-01 1.27834250e-02 -5.06178086e-03 1.37291228e+02] [-1.27832635e-02 9.99918289e-01 6.42717253e-05 2.29864567e+00] [ 5.06218887e-03 4.40428166e-07 9.99987187e-01 6.78166906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:137.32, Y:2.30, Z:0.68 [[ 9.99846864e-01 1.67518971e-02 -5.06178712e-03 1.37319338e+02] [-1.67517889e-02 9.99859677e-01 6.37748315e-05 2.29989582e+00] [ 5.06214518e-03 2.10289240e-05 9.99987187e-01 6.78284029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.294391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:137.35, Y:2.30, Z:0.68 [[ 9.99832002e-01 1.76166426e-02 -5.06179450e-03 1.37346041e+02] [-1.76165485e-02 9.99844815e-01 6.31833557e-05 2.30030325e+00] [ 5.06212206e-03 2.59986071e-05 9.99987187e-01 6.78785675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:137.37, Y:2.30, Z:0.68 [[ 9.99824505e-01 1.80370834e-02 -5.06180294e-03 1.37374082e+02] [-1.80369981e-02 9.99837318e-01 6.24999735e-05 2.30040911e+00] [ 5.06210679e-03 2.88107248e-05 9.99987187e-01 6.79128558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.354391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:137.40, Y:2.30, Z:0.68 [[ 9.99832891e-01 1.75660994e-02 -5.06181005e-03 1.37400341e+02] [-1.75660110e-02 9.99845704e-01 6.19188084e-05 2.30187210e+00] [ 5.06211670e-03 2.70073499e-05 9.99987187e-01 6.78369298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.384391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:137.43, Y:2.30, Z:0.68 [[ 9.99872625e-01 1.51362096e-02 -5.06241822e-03 1.37430011e+02] [-1.51363456e-02 9.99885439e-01 1.14454365e-05 2.30060025e+00] [ 5.06201150e-03 6.51825332e-05 9.99987186e-01 6.78869159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:137.46, Y:2.30, Z:0.68 [[ 9.99896011e-01 1.35032874e-02 -5.06243831e-03 1.37462024e+02] [-1.35034102e-02 9.99908825e-01 9.91358073e-06 2.29700488e+00] [ 5.06211061e-03 5.84476314e-05 9.99987186e-01 6.80005689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:137.49, Y:2.30, Z:0.68 [[ 9.99937634e-01 9.95533340e-03 -5.06166019e-03 1.37491298e+02] [-9.95511718e-03 9.99950444e-01 6.79106896e-05 2.29593022e+00] [ 5.06208543e-03 -1.75170339e-05 9.99987187e-01 6.80295503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:137.52, Y:2.30, Z:0.68 [[ 9.99938415e-01 9.87649312e-03 -5.06166551e-03 1.37520601e+02] [-9.87627791e-03 9.99951226e-01 6.75118367e-05 2.29561644e+00] [ 5.06208541e-03 -1.75172637e-05 9.99987187e-01 6.80443970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:137.55, Y:2.29, Z:0.68 [[ 9.99987122e-01 3.68058045e-04 -5.06167080e-03 1.37549160e+02] [-3.67723052e-04 9.99999930e-01 6.71127535e-05 2.29299640e+00] [ 5.06169515e-03 -6.52505962e-05 9.99987187e-01 6.81150375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:137.58, Y:2.29, Z:0.68 [[ 9.99973993e-01 -5.13743128e-03 -5.06167604e-03 1.37576693e+02] [ 5.13783477e-03 9.99986799e-01 6.67154647e-05 2.29116303e+00] [ 5.06126647e-03 -9.27197848e-05 9.99987187e-01 6.81527544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:137.61, Y:2.29, Z:0.68 [[ 9.99849089e-01 -1.66186216e-02 -5.06168276e-03 1.37605851e+02] [ 1.66191695e-02 9.99861890e-01 6.62014390e-05 2.28715979e+00] [ 5.05988352e-03 -1.50312412e-04 9.99987187e-01 6.81421926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59439141800001 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:137.64, Y:2.28, Z:0.68 [[ 9.99740874e-01 -2.21937752e-02 -5.06168404e-03 1.37638004e+02] [ 2.21943940e-02 9.99753672e-01 6.61037781e-05 2.28477919e+00] [ 5.05897011e-03 -1.78427659e-04 9.99987187e-01 6.81360206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62439141800002 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:137.67, Y:2.28, Z:0.68 [[ 9.99614642e-01 -2.72937250e-02 -5.06167895e-03 1.37670670e+02] [ 2.72944110e-02 9.99627436e-01 6.64906762e-05 2.28258182e+00] [ 5.05797838e-03 -2.04620599e-04 9.99987187e-01 6.81257253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65439141800002 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:137.70, Y:2.28, Z:0.68 [[ 9.99330624e-01 -3.62309630e-02 -5.06167372e-03 1.37702146e+02] [ 3.62317654e-02 9.99343412e-01 6.68868273e-05 2.27933204e+00] [ 5.05592691e-03 -2.50235429e-04 9.99987187e-01 6.80563005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68439141800002 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:137.74, Y:2.28, Z:0.68 [[ 9.99193137e-01 -3.98428730e-02 -5.06166980e-03 1.37735243e+02] [ 3.98437231e-02 9.99205921e-01 6.71819282e-05 2.27771011e+00] [ 5.05497372e-03 -2.68803492e-04 9.99987187e-01 6.80285136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71439141800002 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:137.77, Y:2.28, Z:0.68 [[ 9.99078692e-01 -4.26162736e-02 -5.06166195e-03 1.37766983e+02] [ 4.26171621e-02 9.99091474e-01 6.77686376e-05 2.27621183e+00] [ 5.05417525e-03 -2.83419870e-04 9.99987187e-01 6.79891889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74439141800002 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:137.80, Y:2.27, Z:0.68 [[ 9.98971291e-01 -4.50637339e-02 -5.06165674e-03 1.37799321e+02] [ 4.50646557e-02 9.98984070e-01 6.81553608e-05 2.27499481e+00] [ 5.05344312e-03 -2.96187067e-04 9.99987187e-01 6.79515406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:137.83, Y:2.27, Z:0.68 [[ 9.98781707e-01 -4.90864620e-02 -5.06165020e-03 1.37830149e+02] [ 4.90874377e-02 9.98794483e-01 6.86378112e-05 2.27376318e+00] [ 5.05217910e-03 -3.17017629e-04 9.99987187e-01 6.78537390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:137.86, Y:2.27, Z:0.68 [[ 9.98709456e-01 -5.05351606e-02 -5.06164631e-03 1.37863514e+02] [ 5.05361563e-02 9.98722230e-01 6.89234511e-05 2.27320563e+00] [ 5.05169563e-03 -3.24630651e-04 9.99987187e-01 6.78115522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834391418 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:137.89, Y:2.27, Z:0.68 [[ 9.98645652e-01 -5.17807135e-02 -5.06163852e-03 1.37894549e+02] [ 5.17817279e-02 9.98658424e-01 6.94906497e-05 2.27300278e+00] [ 5.05124967e-03 -3.31496924e-04 9.99987187e-01 6.77962436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:137.93, Y:2.27, Z:0.68 [[ 9.98590977e-01 -5.28246147e-02 -5.06163465e-03 1.37926486e+02] [ 5.28256439e-02 9.98603748e-01 6.97716899e-05 2.27323495e+00] [ 5.05088167e-03 -3.37057489e-04 9.99987187e-01 6.78159668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:137.96, Y:2.27, Z:0.68 [[ 9.98500093e-01 -5.45155391e-02 -5.06162949e-03 1.37958682e+02] [ 5.45165918e-02 9.98512862e-01 7.01437934e-05 2.27438965e+00] [ 5.05027822e-03 -3.45981373e-04 9.99987187e-01 6.78173758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:137.99, Y:2.27, Z:0.68 [[ 9.98464670e-01 -5.51605199e-02 -5.06162303e-03 1.37991339e+02] [ 5.51615832e-02 9.98477438e-01 7.06071428e-05 2.27474133e+00] [ 5.05002167e-03 -3.49705877e-04 9.99987187e-01 6.77699395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:138.02, Y:2.28, Z:0.68 [[ 9.98453312e-01 -5.53657187e-02 -5.06161791e-03 1.38023391e+02] [ 5.53667865e-02 9.98466081e-01 7.09720322e-05 2.27519395e+00] [ 5.04992438e-03 -3.51107779e-04 9.99987187e-01 6.76951475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:138.05, Y:2.28, Z:0.68 [[ 9.98566272e-01 -5.32895941e-02 -5.06161279e-03 1.38051848e+02] [ 5.32906372e-02 9.98579042e-01 7.13351146e-05 2.27658560e+00] [ 5.05061904e-03 -3.40969410e-04 9.99987187e-01 6.75761878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:138.09, Y:2.28, Z:0.68 [[ 9.98485598e-01 -5.47803418e-02 -5.06205359e-03 1.38086331e+02] [ 5.47812455e-02 9.98498379e-01 3.99363658e-05 2.27783053e+00] [ 5.05226457e-03 -3.17181486e-04 9.99987187e-01 6.75880294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:138.12, Y:2.28, Z:0.68 [[ 9.98593690e-01 -5.27733082e-02 -5.06158477e-03 1.38119489e+02] [ 5.27743512e-02 9.98606460e-01 7.26148694e-05 2.28084337e+00] [ 5.05069913e-03 -3.39634603e-04 9.99987187e-01 6.76175306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.074391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:138.15, Y:2.28, Z:0.68 [[ 9.98664027e-01 -5.14250989e-02 -5.06157691e-03 1.38151574e+02] [ 5.14261274e-02 9.98676799e-01 7.31585532e-05 2.28235541e+00] [ 5.05111724e-03 -3.33358114e-04 9.99987187e-01 6.76718138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.104391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:138.18, Y:2.29, Z:0.68 [[ 9.98849186e-01 -4.76936529e-02 -5.06157038e-03 1.38183853e+02] [ 4.76946359e-02 9.98861961e-01 7.36080665e-05 2.28634806e+00] [ 5.05229947e-03 -3.14933113e-04 9.99987187e-01 6.80205137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.134391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:138.22, Y:2.29, Z:0.68 [[ 9.98958226e-01 -4.53524401e-02 -5.06156457e-03 1.38216077e+02] [ 4.53533952e-02 9.98971003e-01 7.40053968e-05 2.28790035e+00] [ 5.05299991e-03 -3.03487438e-04 9.99987187e-01 6.80544557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:138.25, Y:2.29, Z:0.68 [[ 9.99072051e-01 -4.27716923e-02 -5.06155873e-03 1.38247052e+02] [ 4.27726164e-02 9.99084830e-01 7.44025915e-05 2.28926462e+00] [ 5.05374422e-03 -2.90829660e-04 9.99987187e-01 6.77755275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:138.28, Y:2.29, Z:0.68 [[ 9.99199208e-01 -3.96903507e-02 -5.06155437e-03 1.38280056e+02] [ 3.96912368e-02 9.99211990e-01 7.46982591e-05 2.29061867e+00] [ 5.05460101e-03 -2.75537794e-04 9.99987187e-01 6.81352780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:138.31, Y:2.29, Z:0.68 [[ 9.99443698e-01 -3.29647437e-02 -5.06154557e-03 1.38312202e+02] [ 3.29655467e-02 9.99456486e-01 7.52896596e-05 2.29460202e+00] [ 5.05631264e-03 -2.42104393e-04 9.99987187e-01 6.82600661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:138.34, Y:2.30, Z:0.68 [[ 9.99558407e-01 -2.92808983e-02 -5.06153973e-03 1.38343556e+02] [ 2.92816562e-02 9.99571198e-01 7.56800117e-05 2.29646355e+00] [ 5.05715335e-03 -2.23856858e-04 9.99987187e-01 6.82135174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:138.38, Y:2.30, Z:0.69 [[ 9.99664678e-01 -2.53951313e-02 -5.06153538e-03 1.38376163e+02] [ 2.53958410e-02 9.99677471e-01 7.59703630e-05 2.29823023e+00] [ 5.05797360e-03 -2.04486836e-04 9.99987187e-01 6.85453390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:138.41, Y:2.30, Z:0.69 [[ 9.99829958e-01 -1.77323591e-02 -5.06152912e-03 1.38406983e+02] [ 1.77329728e-02 9.99842756e-01 7.63849023e-05 2.30222028e+00] [ 5.05937874e-03 -1.66127872e-04 9.99987187e-01 6.85936727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34439141800001 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:138.44, Y:2.30, Z:0.69 [[ 9.99889237e-01 -1.39962078e-02 -5.06151888e-03 1.38439578e+02] [ 1.39967770e-02 9.99902037e-01 7.70572348e-05 2.30342186e+00] [ 5.05994453e-03 -1.47893651e-04 9.99987187e-01 6.86288195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37439141800002 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:138.47, Y:2.30, Z:0.69 [[ 9.99933152e-01 -1.03957815e-02 -5.06151261e-03 1.38470794e+02] [ 1.03963068e-02 9.99945954e-01 7.74670884e-05 2.30435725e+00] [ 5.06043372e-03 -1.30082948e-04 9.99987187e-01 6.85741874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40439141800002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:138.50, Y:2.31, Z:0.69 [[ 9.99979246e-01 -3.98594880e-03 -5.06150280e-03 1.38501802e+02] [ 3.98639516e-03 9.99992051e-01 7.81029666e-05 2.30719485e+00] [ 5.06115125e-03 -9.82784959e-05 9.99987187e-01 6.86222432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43439141800002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:138.53, Y:2.31, Z:0.69 [[ 9.99986459e-01 -1.20960152e-03 -5.06149973e-03 1.38530984e+02] [ 1.21001333e-03 9.99999265e-01 7.83010150e-05 2.30851245e+00] [ 5.06140130e-03 -8.44244369e-05 9.99987187e-01 6.86805264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46439141800002 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:138.56, Y:2.31, Z:0.69 [[ 9.99986749e-01 9.39501347e-04 -5.06150285e-03 1.38558810e+02] [-9.39118076e-04 9.99999556e-01 7.80988435e-05 2.30954632e+00] [ 5.06157398e-03 -7.33444598e-05 9.99987187e-01 6.86314709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49439141800002 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:138.59, Y:2.31, Z:0.69 [[ 9.99978162e-01 4.24933620e-03 -5.06151439e-03 1.38586237e+02] [-4.24899914e-03 9.99990970e-01 7.73436863e-05 2.31103611e+00] [ 5.06179735e-03 -5.58356269e-05 9.99987187e-01 6.86029630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:138.61, Y:2.31, Z:0.69 [[ 9.99971407e-01 5.61837567e-03 -5.06153842e-03 1.38614914e+02] [-5.61806427e-03 9.99984216e-01 7.57378893e-05 2.31110848e+00] [ 5.06188405e-03 -4.72996756e-05 9.99987187e-01 6.86701374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:138.64, Y:2.31, Z:0.69 [[ 9.99965731e-01 6.55117337e-03 -5.06154443e-03 1.38644026e+02] [-6.55087596e-03 9.99978540e-01 7.53339497e-05 2.31088019e+00] [ 5.06192934e-03 -4.21738183e-05 9.99987187e-01 6.87170740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:138.67, Y:2.31, Z:0.69 [[ 9.99959597e-01 7.42871276e-03 -5.06155043e-03 1.38673288e+02] [-7.42842865e-03 9.99972406e-01 7.49289656e-05 2.31088976e+00] [ 5.06196739e-03 -3.73265720e-05 9.99987187e-01 6.87267743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:138.70, Y:2.31, Z:0.69 [[ 9.99958530e-01 7.57099078e-03 -5.06155634e-03 1.38702141e+02] [-7.57071052e-03 9.99971339e-01 7.45277056e-05 2.31076866e+00] [ 5.06197552e-03 -3.62050371e-05 9.99987187e-01 6.88529949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:138.73, Y:2.31, Z:0.69 [[ 9.99962762e-01 6.98967664e-03 -5.06156237e-03 1.38728755e+02] [-6.98939102e-03 9.99975571e-01 7.41157963e-05 2.31212259e+00] [ 5.06195677e-03 -3.87357978e-05 9.99987187e-01 6.92291560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:138.76, Y:2.31, Z:0.69 [[ 9.99977547e-01 4.39104620e-03 -5.06209820e-03 1.38758840e+02] [-4.39091705e-03 9.99990359e-01 3.66275152e-05 2.31027276e+00] [ 5.06221023e-03 -1.43994395e-05 9.99987187e-01 6.89648891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:138.79, Y:2.31, Z:0.69 [[ 9.99984597e-01 2.27746455e-03 -5.06157639e-03 1.38787301e+02] [-2.27712487e-03 9.99997405e-01 7.28721109e-05 2.30905269e+00] [ 5.06172922e-03 -6.13451470e-05 9.99987187e-01 6.89980424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:138.81, Y:2.31, Z:0.69 [[ 9.99981148e-01 -3.47631482e-03 -5.06158211e-03 1.38814966e+02] [ 3.47672617e-03 9.99993954e-01 7.24724328e-05 2.30619434e+00] [ 5.06129957e-03 -9.00688015e-05 9.99987187e-01 6.90146545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:138.84, Y:2.30, Z:0.69 [[ 9.99964077e-01 -6.79887659e-03 -5.06158916e-03 1.38844772e+02] [ 6.79932798e-03 9.99976882e-01 7.19765870e-05 2.30425379e+00] [ 5.06098279e-03 -1.06389406e-04 9.99987187e-01 6.90717962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.794391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:138.88, Y:2.30, Z:0.69 [[ 9.99961350e-01 -7.18880420e-03 -5.06159204e-03 1.38877461e+02] [ 7.18925955e-03 9.99974154e-01 7.17734091e-05 2.29879943e+00] [ 5.06094526e-03 -1.08159734e-04 9.99987187e-01 6.87395068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.824391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:138.91, Y:2.30, Z:0.69 [[ 9.99895514e-01 -1.35406756e-02 -5.06080013e-03 1.38905064e+02] [ 1.35414923e-02 9.99908302e-01 1.27145672e-04 2.30069801e+00] [ 5.05861443e-03 -1.95663173e-04 9.99987186e-01 6.91364834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.854391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:138.94, Y:2.30, Z:0.69 [[ 9.99793719e-01 -1.96697922e-02 -5.06158593e-03 1.38936956e+02] [ 1.96704064e-02 9.99806516e-01 7.15818377e-05 2.29743743e+00] [ 5.05919860e-03 -1.71130524e-04 9.99987188e-01 6.91006764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.884391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:138.97, Y:2.30, Z:0.69 [[ 9.99747726e-01 -2.18829754e-02 -5.06156549e-03 1.38969053e+02] [ 2.18836250e-02 9.99760522e-01 7.29991159e-05 2.29520822e+00] [ 5.05875592e-03 -1.83746101e-04 9.99987188e-01 6.90757380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:139.00, Y:2.29, Z:0.69 [[ 9.99664772e-01 -2.53914106e-02 -5.06155962e-03 1.38999873e+02] [ 2.53921073e-02 9.99677566e-01 7.34042035e-05 2.29181803e+00] [ 5.05806376e-03 -2.01903261e-04 9.99987188e-01 6.89456538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:139.03, Y:2.29, Z:0.69 [[ 9.99644977e-01 -2.61591258e-02 -5.06155522e-03 1.39030798e+02] [ 2.61598338e-02 9.99657770e-01 7.37061595e-05 2.28977334e+00] [ 5.05789492e-03 -2.06089436e-04 9.99987188e-01 6.88955071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:139.06, Y:2.29, Z:0.69 [[ 9.99644313e-01 -2.61845126e-02 -5.06155093e-03 1.39063064e+02] [ 2.61852223e-02 9.99657106e-01 7.39993435e-05 2.28786222e+00] [ 5.05787772e-03 -2.06510859e-04 9.99987188e-01 6.89293257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:139.09, Y:2.29, Z:0.69 [[ 9.99662489e-01 -2.54811346e-02 -5.06154511e-03 1.39093959e+02] [ 2.54818374e-02 9.99675282e-01 7.43954845e-05 2.28635992e+00] [ 5.05800586e-03 -2.03347845e-04 9.99987188e-01 6.89004972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:139.13, Y:2.29, Z:0.69 [[ 9.99702149e-01 -2.38745438e-02 -5.06154076e-03 1.39126534e+02] [ 2.38752275e-02 9.99714943e-01 7.46904081e-05 2.28518374e+00] [ 5.05831473e-03 -1.95513598e-04 9.99987188e-01 6.89327544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:139.16, Y:2.28, Z:0.69 [[ 9.99802923e-01 -1.91962352e-02 -5.06153504e-03 1.39158590e+02] [ 1.91968610e-02 9.99815720e-01 7.50758246e-05 2.28405354e+00] [ 5.05916113e-03 -1.72226614e-04 9.99987188e-01 6.91185874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09439141800001 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:139.19, Y:2.28, Z:0.69 [[ 9.99855025e-01 -1.62575874e-02 -5.06152896e-03 1.39191261e+02] [ 1.62581776e-02 9.99867824e-01 7.54837867e-05 2.28329868e+00] [ 5.05963276e-03 -1.57764080e-04 9.99987188e-01 6.91673652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12439141800002 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:139.22, Y:2.28, Z:0.69 [[ 9.99939943e-01 -9.72069161e-03 -5.06152283e-03 1.39222309e+02] [ 9.72120021e-03 9.99952745e-01 7.58921842e-05 2.28217169e+00] [ 5.06054593e-03 -1.25091703e-04 9.99987188e-01 6.92057226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15439141800002 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:139.25, Y:2.28, Z:0.69 [[ 9.99966774e-01 -6.38996822e-03 -5.06151263e-03 1.39253036e+02] [ 6.39043760e-03 9.99979578e-01 7.65665665e-05 2.28056806e+00] [ 5.06092001e-03 -1.08909303e-04 9.99987188e-01 6.90356001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18439141800002 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:139.28, Y:2.28, Z:0.69 [[ 9.99981260e-01 -3.44407922e-03 -5.06151113e-03 1.39283033e+02] [ 3.44451138e-03 9.99994065e-01 7.66658710e-05 2.27913975e+00] [ 5.06121704e-03 -9.40988670e-05 9.99987188e-01 6.91930180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21439141800002 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:139.31, Y:2.28, Z:0.69 [[ 9.99986785e-01 -9.00028939e-04 -5.06151113e-03 1.39313056e+02] [ 9.00428515e-04 9.99999592e-01 7.66658710e-05 2.27777350e+00] [ 5.06144006e-03 -8.12223869e-05 9.99987188e-01 6.91754038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24439141800002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:139.34, Y:2.28, Z:0.69 [[ 9.99980418e-01 3.68024158e-03 -5.06151415e-03 1.39340688e+02] [-3.67990168e-03 9.99993226e-01 7.64661593e-05 2.27554313e+00] [ 5.06176127e-03 -5.78387876e-05 9.99987188e-01 6.91269540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274391418 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:139.37, Y:2.27, Z:0.69 [[ 9.99973032e-01 5.32130402e-03 -5.06152157e-03 1.39368606e+02] [-5.32098763e-03 9.99985841e-01 7.59718001e-05 2.27425342e+00] [ 5.06185417e-03 -4.90374576e-05 9.99987188e-01 6.91231016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:139.40, Y:2.27, Z:0.69 [[ 9.99961181e-01 7.21232199e-03 -5.06154469e-03 1.39395940e+02] [-7.21203779e-03 9.99973990e-01 7.43984943e-05 2.27272441e+00] [ 5.06194963e-03 -3.78915547e-05 9.99987188e-01 6.90828282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:139.42, Y:2.27, Z:0.69 [[ 9.99941221e-01 9.58818806e-03 -5.06169905e-03 1.39424363e+02] [-9.58798740e-03 9.99954032e-01 6.39083039e-05 2.26974110e+00] [ 5.06207914e-03 -1.53730407e-05 9.99987187e-01 6.92575233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:139.45, Y:2.27, Z:0.69 [[ 9.99941990e-01 9.50775086e-03 -5.06154887e-03 1.39453664e+02] [-9.50749728e-03 9.99954800e-01 7.41585721e-05 2.26938225e+00] [ 5.06202517e-03 -2.60316081e-05 9.99987188e-01 6.92720480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:139.48, Y:2.27, Z:0.69 [[ 9.99930565e-01 1.06416935e-02 -5.06155481e-03 1.39482151e+02] [-1.06414565e-02 9.99943375e-01 7.37511432e-05 2.26735048e+00] [ 5.06205304e-03 -1.98837069e-05 9.99987188e-01 6.93038445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:139.51, Y:2.27, Z:0.69 [[ 9.99916550e-01 1.18858291e-02 -5.06156067e-03 1.39510756e+02] [-1.18856101e-02 9.99929361e-01 7.33468219e-05 2.26545648e+00] [ 5.06207491e-03 -1.31809644e-05 9.99987188e-01 6.94144948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:139.54, Y:2.26, Z:0.69 [[ 9.99883283e-01 1.44152689e-02 -5.06156657e-03 1.39538879e+02] [-1.44150844e-02 9.99896095e-01 7.29370665e-05 2.26271395e+00] [ 5.06209205e-03 3.43556206e-08 9.99987188e-01 6.94958672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:139.57, Y:2.26, Z:0.70 [[ 9.99871219e-01 1.52291383e-02 -5.06157383e-03 1.39567403e+02] [-1.52289668e-02 9.99884030e-01 7.24297758e-05 2.26124025e+00] [ 5.06208988e-03 4.66209140e-06 9.99987188e-01 6.96253477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514391418 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:139.60, Y:2.26, Z:0.70 [[ 9.99861880e-01 1.58303919e-02 -5.06157960e-03 1.39595582e+02] [-1.58302302e-02 9.99874691e-01 7.20241695e-05 2.25926816e+00] [ 5.06208551e-03 8.11174856e-06 9.99987188e-01 6.95988983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:139.62, Y:2.25, Z:0.70 [[ 9.99860616e-01 1.59100472e-02 -5.06158670e-03 1.39623921e+02] [-1.59098890e-02 9.99873427e-01 7.15215528e-05 2.25474166e+00] [ 5.06208396e-03 9.01769866e-06 9.99987188e-01 6.96237642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.574391418 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:139.65, Y:2.25, Z:0.70 [[ 9.99871092e-01 1.52374486e-02 -5.06159246e-03 1.39652551e+02] [-1.52372838e-02 9.99883903e-01 7.11121862e-05 2.25189948e+00] [ 5.06208839e-03 6.02190164e-06 9.99987188e-01 6.95763822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.604391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:139.68, Y:2.25, Z:0.70 [[ 9.99888873e-01 1.40222137e-02 -5.06159818e-03 1.39680633e+02] [-1.40220354e-02 9.99901684e-01 7.07022327e-05 2.24922651e+00] [ 5.06209195e-03 2.79533247e-07 9.99987188e-01 6.95449960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.634391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:139.71, Y:2.24, Z:0.70 [[ 9.99920794e-01 1.15232501e-02 -5.06160594e-03 1.39709551e+02] [-1.15230427e-02 9.99933605e-01 7.01422960e-05 2.24413372e+00] [ 5.06207814e-03 -1.18116390e-05 9.99987188e-01 6.95994431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:139.74, Y:2.24, Z:0.70 [[ 9.99939989e-01 9.71590933e-03 -5.06161156e-03 1.39737154e+02] [-9.71568081e-03 9.99952799e-01 6.97346227e-05 2.24120243e+00] [ 5.06205018e-03 -2.05534355e-05 9.99987188e-01 6.95909425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:139.77, Y:2.24, Z:0.70 [[ 9.99955603e-01 7.94813225e-03 -5.06161846e-03 1.39765887e+02] [-7.94788364e-03 9.99968413e-01 6.92299419e-05 2.23817346e+00] [ 5.06200883e-03 -2.89977137e-05 9.99987188e-01 6.96363552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:139.79, Y:2.23, Z:0.70 [[ 9.99968200e-01 6.16275683e-03 -5.06162398e-03 1.39794662e+02] [-6.16248740e-03 9.99981009e-01 6.88241403e-05 2.23474736e+00] [ 5.06195200e-03 -3.76297576e-05 9.99987188e-01 6.96353375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:139.82, Y:2.23, Z:0.70 [[ 9.99979330e-01 3.96469078e-03 -5.06162947e-03 1.39823379e+02] [-3.96439525e-03 9.99992139e-01 6.84177621e-05 2.23148020e+00] [ 5.06186094e-03 -4.83500481e-05 9.99987188e-01 6.96530250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:139.85, Y:2.22, Z:0.70 [[ 9.99986560e-01 1.12196024e-03 -5.06163497e-03 1.39851628e+02] [-1.12163037e-03 9.99999369e-01 6.80088754e-05 2.22476225e+00] [ 5.06170807e-03 -6.23306779e-05 9.99987188e-01 6.96424245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:139.88, Y:2.22, Z:0.70 [[ 9.99987187e-01 -7.07409825e-05 -5.06164040e-03 1.39880679e+02] [ 7.10840700e-05 9.99999995e-01 6.76020189e-05 2.22158760e+00] [ 5.06163559e-03 -6.79609547e-05 9.99987188e-01 6.96614203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84439141800001 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:139.91, Y:2.22, Z:0.70 [[ 9.99986706e-01 -9.83725709e-04 -5.06164591e-03 1.39909088e+02] [ 9.84078389e-04 9.99999514e-01 6.71867237e-05 2.21578157e+00] [ 5.06157736e-03 -7.21668869e-05 9.99987188e-01 6.96818824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87439141800002 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:139.94, Y:2.21, Z:0.70 [[ 9.99986643e-01 -1.04538030e-03 -5.06164682e-03 1.39937450e+02] [ 1.04573342e-03 9.99999451e-01 6.71175028e-05 2.21285892e+00] [ 5.06157388e-03 -7.24097396e-05 9.99987188e-01 6.96457265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90439141800002 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:139.97, Y:2.21, Z:0.70 [[ 9.99987137e-01 -3.25434140e-04 -5.06167014e-03 1.39965158e+02] [ 3.25768892e-04 9.99999945e-01 6.53102288e-05 2.20964106e+00] [ 5.06164861e-03 -6.69583234e-05 9.99987188e-01 6.96676865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93439141800002 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:139.99, Y:2.20, Z:0.70 [[ 9.99986379e-01 1.27318287e-03 -5.06167672e-03 1.39993805e+02] [-1.27287120e-03 9.99999188e-01 6.47963897e-05 2.20363536e+00] [ 5.06175511e-03 -5.83526446e-05 9.99987188e-01 6.96723120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96439141800002 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:140.02, Y:2.20, Z:0.70 [[ 9.99985319e-01 1.93401395e-03 -5.06169493e-03 1.40021421e+02] [-1.93371811e-03 9.99998128e-01 6.33411207e-05 2.20084756e+00] [ 5.06180796e-03 -5.35522997e-05 9.99987188e-01 6.96182766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:140.05, Y:2.20, Z:0.70 [[ 9.99983105e-01 2.85804567e-03 -5.06170136e-03 1.40049522e+02] [-2.85776428e-03 9.99995915e-01 6.28235726e-05 2.19507035e+00] [ 5.06186023e-03 -4.83573618e-05 9.99987188e-01 6.96674444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:140.08, Y:2.19, Z:0.70 [[ 9.99983891e-01 2.56851035e-03 -5.06170899e-03 1.40077047e+02] [-2.56822840e-03 9.99996700e-01 6.22027655e-05 2.19220955e+00] [ 5.06185205e-03 -4.92021387e-05 9.99987188e-01 6.97478245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:140.11, Y:2.19, Z:0.70 [[ 9.99986118e-01 1.46379711e-03 -5.06170293e-03 1.40105703e+02] [-1.46349849e-03 9.99998927e-01 6.26995057e-05 2.18930621e+00] [ 5.06178928e-03 -5.52908407e-05 9.99987188e-01 6.96863791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:140.13, Y:2.19, Z:0.70 [[ 9.99987170e-01 1.94844354e-04 -5.06171976e-03 1.40134553e+02] [-1.94536511e-04 9.99999979e-01 6.13100041e-05 2.18631673e+00] [ 5.06173160e-03 -6.03245283e-05 9.99987188e-01 6.96953952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:140.16, Y:2.18, Z:0.70 [[ 9.99980427e-01 -3.67753618e-03 -5.06172470e-03 1.40162478e+02] [ 3.67789155e-03 9.99993235e-01 6.08998446e-05 2.18012321e+00] [ 5.06146649e-03 -7.95151271e-05 9.99987188e-01 6.96954481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:140.19, Y:2.18, Z:0.70 [[ 9.99967840e-01 -6.22071769e-03 -5.06173076e-03 1.40191583e+02] [ 6.22110305e-03 9.99980647e-01 6.03918179e-05 2.17682637e+00] [ 5.06125712e-03 -9.18794244e-05 9.99987188e-01 6.97263767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:140.22, Y:2.17, Z:0.70 [[ 9.99946122e-01 -9.06261439e-03 -5.06173561e-03 1.40220667e+02] [ 9.06303408e-03 9.99958928e-01 5.99828763e-05 2.17354177e+00] [ 5.06098411e-03 -1.05854327e-04 9.99987188e-01 6.97726962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:140.25, Y:2.17, Z:0.70 [[ 9.99913923e-01 -1.21047315e-02 -5.06173919e-03 1.40250023e+02] [ 1.21051886e-02 9.99926728e-01 5.96785034e-05 2.17009305e+00] [ 5.06064592e-03 -1.20946674e-04 9.99987188e-01 6.97718784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:140.28, Y:2.16, Z:0.70 [[ 9.99813443e-01 -1.86402095e-02 -5.06174154e-03 1.40280636e+02] [ 1.86407493e-02 9.99826244e-01 5.94786674e-05 2.16398547e+00] [ 5.05975334e-03 -1.53822226e-04 9.99987188e-01 6.97761256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:140.31, Y:2.16, Z:0.70 [[ 9.99751941e-01 -2.16895203e-02 -5.06174154e-03 1.40311677e+02] [ 2.16900992e-02 9.99764740e-01 5.94786674e-05 2.16092701e+00] [ 5.05926066e-03 -1.69253589e-04 9.99987188e-01 6.97611052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.294391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:140.34, Y:2.16, Z:0.70 [[ 9.99623449e-01 -2.69692184e-02 -5.06173794e-03 1.40342386e+02] [ 2.69698663e-02 9.99636245e-01 5.97835934e-05 2.15575796e+00] [ 5.05828439e-03 -1.96275478e-04 9.99987188e-01 6.98156870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.324391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:140.38, Y:2.15, Z:0.70 [[ 9.99570105e-01 -2.88787796e-02 -5.06173450e-03 1.40375031e+02] [ 2.88794534e-02 9.99582900e-01 6.00732394e-05 2.15337003e+00] [ 5.05788841e-03 -2.06227540e-04 9.99987188e-01 6.98476967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.354391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:140.41, Y:2.15, Z:0.70 [[ 9.99467643e-01 -3.22305559e-02 -5.06172992e-03 1.40407879e+02] [ 3.22312746e-02 9.99480436e-01 6.04571670e-05 2.15216566e+00] [ 5.05715146e-03 -2.23570989e-04 9.99987188e-01 6.99201035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.384391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:140.44, Y:2.15, Z:0.70 [[ 9.99501112e-01 -3.11754806e-02 -5.06130590e-03 1.40437678e+02] [ 3.11763702e-02 9.99513894e-01 9.69375059e-05 2.15022060e+00] [ 5.05582350e-03 -2.54682291e-04 9.99987187e-01 6.99651757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:140.47, Y:2.15, Z:0.70 [[ 9.99537385e-01 -2.99899071e-02 -5.06175232e-03 1.40470206e+02] [ 2.99905844e-02 9.99550180e-01 5.79337678e-05 2.14760403e+00] [ 5.05773801e-03 -2.09711877e-04 9.99987188e-01 7.00086548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:140.50, Y:2.15, Z:0.70 [[ 9.99576133e-01 -2.86693685e-02 -5.06174755e-03 1.40501092e+02] [ 2.86700310e-02 9.99588928e-01 5.83477292e-05 2.14682876e+00] [ 5.05799402e-03 -2.03443456e-04 9.99987188e-01 6.99616185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:140.53, Y:2.15, Z:0.70 [[ 9.99639947e-01 -2.63506008e-02 -5.06174398e-03 1.40533333e+02] [ 2.63512352e-02 9.99652744e-01 5.86554492e-05 2.14599363e+00] [ 5.05844066e-03 -1.92017536e-04 9.99987188e-01 7.00310996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:140.56, Y:2.15, Z:0.70 [[ 9.99767686e-01 -2.09512167e-02 -5.06173921e-03 1.40564258e+02] [ 2.09517840e-02 9.99780486e-01 5.90642506e-05 2.14608581e+00] [ 5.05939062e-03 -1.65102996e-04 9.99987188e-01 7.00178213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:140.60, Y:2.15, Z:0.70 [[ 9.99831192e-01 -1.76625611e-02 -5.06173682e-03 1.40595471e+02] [ 1.76630873e-02 9.99843994e-01 5.92681942e-05 2.14607087e+00] [ 5.05990033e-03 -1.48664089e-04 9.99987188e-01 7.00255847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564391418 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:140.63, Y:2.15, Z:0.70 [[ 9.99883428e-01 -1.44052126e-02 -5.06173439e-03 1.40625640e+02] [ 1.44056981e-02 9.99896231e-01 5.94754256e-05 2.14649934e+00] [ 5.06035238e-03 -1.32386310e-04 9.99987188e-01 6.99866003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59439141800001 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:140.66, Y:2.15, Z:0.70 [[ 9.99954149e-01 -8.12884625e-03 -5.06173318e-03 1.40655817e+02] [ 8.12925194e-03 9.99966955e-01 5.95780111e-05 2.14743104e+00] [ 5.06108162e-03 -1.00723384e-04 9.99987188e-01 6.99054856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62439141800002 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:140.69, Y:2.15, Z:0.70 [[ 9.99973112e-01 -5.30595503e-03 -5.06173458e-03 1.40685044e+02] [ 5.30632396e-03 9.99985920e-01 5.94590449e-05 2.14732162e+00] [ 5.06134782e-03 -8.63166497e-05 9.99987188e-01 6.99293946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65439141800002 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:140.71, Y:2.15, Z:0.70 [[ 9.99982918e-01 -2.92289209e-03 -5.06173716e-03 1.40713354e+02] [ 2.92322938e-03 9.99995726e-01 5.92388499e-05 2.14737261e+00] [ 5.06154237e-03 -7.40344568e-05 9.99987188e-01 6.98684410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68439141800002 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:140.74, Y:2.15, Z:0.70 [[ 9.99987184e-01 9.98655284e-05 -5.06174096e-03 1.40742488e+02] [-9.95686057e-05 9.99999993e-01 5.89121558e-05 2.14794615e+00] [ 5.06174681e-03 -5.84074103e-05 9.99987188e-01 6.98201523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71439141800002 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:140.77, Y:2.15, Z:0.70 [[ 9.99986986e-01 6.38075593e-04 -5.06175810e-03 1.40771721e+02] [-6.37793216e-04 9.99999795e-01 5.74003348e-05 2.14814434e+00] [ 5.06179369e-03 -5.41712328e-05 9.99987188e-01 6.98287835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:140.80, Y:2.15, Z:0.70 [[ 9.99986955e-01 6.84556587e-04 -5.06177478e-03 1.40799866e+02] [-6.84282451e-04 9.99999764e-01 5.58897317e-05 2.14818176e+00] [ 5.06181185e-03 -5.24253190e-05 9.99987188e-01 6.97830660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:140.83, Y:2.15, Z:0.70 [[ 9.99987187e-01 6.98693016e-05 -5.06178110e-03 1.40828925e+02] [-6.95902160e-05 9.99999996e-01 5.53119688e-05 2.14788968e+00] [ 5.06178494e-03 -5.49590097e-05 9.99987188e-01 6.98300651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:140.86, Y:2.15, Z:0.70 [[ 9.99986998e-01 -6.18645369e-04 -5.06178587e-03 1.40857684e+02] [ 6.18931046e-04 9.99999807e-01 5.48717776e-05 2.14726444e+00] [ 5.06175094e-03 -5.80039606e-05 9.99987188e-01 6.98565437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:140.89, Y:2.15, Z:0.70 [[ 9.99986142e-01 -1.44714668e-03 -5.06179066e-03 1.40885002e+02] [ 1.44744071e-03 9.99998951e-01 5.44258898e-05 2.14624556e+00] [ 5.06170659e-03 -6.17517774e-05 9.99987188e-01 6.98120932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:140.91, Y:2.15, Z:0.70 [[ 9.99983195e-01 -2.82636350e-03 -5.06179657e-03 1.40913464e+02] [ 2.82667239e-03 9.99996004e-01 5.38710583e-05 2.14544549e+00] [ 5.06162408e-03 -6.81781936e-05 9.99987188e-01 6.98592050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:140.94, Y:2.14, Z:0.70 [[ 9.99968002e-01 -6.19466073e-03 -5.06180093e-03 1.40941994e+02] [ 6.19501068e-03 9.99980809e-01 5.34583375e-05 2.14444350e+00] [ 5.06137263e-03 -8.48145377e-05 9.99987188e-01 7.00292907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:140.97, Y:2.14, Z:0.70 [[ 9.99954118e-01 -8.13266963e-03 -5.06180561e-03 1.40970502e+02] [ 8.13304213e-03 9.99966925e-01 5.30109988e-05 2.14404557e+00] [ 5.06120707e-03 -9.41764448e-05 9.99987188e-01 7.00083337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:141.00, Y:2.14, Z:0.70 [[ 9.99909916e-01 -1.24313120e-02 -5.06180906e-03 1.41000518e+02] [ 1.24317379e-02 9.99922722e-01 5.26797359e-05 2.14307498e+00] [ 5.06076301e-03 -1.15602074e-04 9.99987188e-01 7.01085028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:141.03, Y:2.14, Z:0.70 [[ 9.99881383e-01 -1.45464156e-02 -5.06181131e-03 1.41029851e+02] [ 1.45468674e-02 9.99894187e-01 5.24621800e-05 2.14199581e+00] [ 5.06051257e-03 -1.26089455e-04 9.99987188e-01 7.01130476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014391418 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:141.06, Y:2.14, Z:0.70 [[ 9.99850261e-01 -1.65479259e-02 -5.06181242e-03 1.41060703e+02] [ 1.65484029e-02 9.99863064e-01 5.23547471e-05 2.14067758e+00] [ 5.06025292e-03 -1.36111819e-04 9.99987188e-01 7.01340611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:141.09, Y:2.14, Z:0.70 [[ 9.99781475e-01 -2.02825270e-02 -5.06181242e-03 1.41090794e+02] [ 2.02830518e-02 9.99794276e-01 5.23547471e-05 2.13833973e+00] [ 5.05970920e-03 -1.55012310e-04 9.99987188e-01 7.01203774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.074391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:141.12, Y:2.14, Z:0.70 [[ 9.99748851e-01 -2.18314805e-02 -5.06181129e-03 1.41121979e+02] [ 2.18320256e-02 9.99761652e-01 5.24636923e-05 2.13747408e+00] [ 5.05945946e-03 -1.62960110e-04 9.99987188e-01 7.01239973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.104391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:141.15, Y:2.14, Z:0.70 [[ 9.99724105e-01 -2.29366753e-02 -5.06180903e-03 1.41153741e+02] [ 2.29372357e-02 9.99736906e-01 5.26812650e-05 2.13679315e+00] [ 5.05926896e-03 -1.68770637e-04 9.99987188e-01 7.00965983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.134391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:141.18, Y:2.14, Z:0.70 [[ 9.99711045e-01 -2.34990459e-02 -5.06180676e-03 1.41184007e+02] [ 2.34996146e-02 9.99723845e-01 5.28982614e-05 2.13638583e+00] [ 5.05916586e-03 -1.71833484e-04 9.99987188e-01 7.00118612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:141.21, Y:2.14, Z:0.70 [[ 9.99721388e-01 -2.30548084e-02 -5.06180564e-03 1.41214880e+02] [ 2.30553720e-02 9.99734188e-01 5.30058997e-05 2.13598829e+00] [ 5.05923811e-03 -1.69692943e-04 9.99987188e-01 6.99976830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:141.25, Y:2.14, Z:0.70 [[ 9.99736426e-01 -2.23932342e-02 -5.06180332e-03 1.41245196e+02] [ 2.23937904e-02 9.99749226e-01 5.32258620e-05 2.13563835e+00] [ 5.05934206e-03 -1.66564796e-04 9.99987188e-01 6.99231190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:141.28, Y:2.14, Z:0.70 [[ 9.99762219e-01 -2.12104690e-02 -5.06180217e-03 1.41276767e+02] [ 2.12110106e-02 9.99775020e-01 5.33351664e-05 2.13536273e+00] [ 5.05953210e-03 -1.60688424e-04 9.99987188e-01 6.98748306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:141.31, Y:2.14, Z:0.70 [[ 9.99826622e-01 -1.79194018e-02 -5.06179989e-03 1.41307515e+02] [ 1.79199024e-02 9.99839424e-01 5.35511017e-05 2.13502436e+00] [ 5.06002748e-03 -1.44248777e-04 9.99987188e-01 6.98291027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:141.34, Y:2.13, Z:0.70 [[ 9.99827379e-01 -1.78770730e-02 -5.06179875e-03 1.41339356e+02] [ 1.78775736e-02 9.99840182e-01 5.36581110e-05 2.13464140e+00] [ 5.06003054e-03 -1.44141528e-04 9.99987188e-01 6.98452199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:141.37, Y:2.13, Z:0.70 [[ 9.99859918e-01 -1.59537542e-02 -5.06179647e-03 1.41371097e+02] [ 1.59542312e-02 9.99872722e-01 5.38724078e-05 2.13478440e+00] [ 5.06029275e-03 -1.34621932e-04 9.99987188e-01 6.98199111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34439141800001 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:141.40, Y:2.14, Z:0.70 [[ 9.99917786e-01 -1.17812867e-02 -5.06179420e-03 1.41401083e+02] [ 1.17817114e-02 9.99930592e-01 5.40853272e-05 2.13593754e+00] [ 5.06080567e-03 -1.13717479e-04 9.99987188e-01 6.97520235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37439141800002 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:141.43, Y:2.14, Z:0.70 [[ 9.99937912e-01 -9.92730057e-03 -5.06179307e-03 1.41430216e+02] [ 9.92770203e-03 9.99950718e-01 5.41906356e-05 2.13653296e+00] [ 5.06100564e-03 -1.04439244e-04 9.99987188e-01 6.97439319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40439141800002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:141.46, Y:2.14, Z:0.70 [[ 9.99957441e-01 -7.71327945e-03 -5.06179418e-03 1.41459713e+02] [ 7.71365203e-03 9.99970248e-01 5.40866281e-05 2.13695444e+00] [ 5.06122640e-03 -9.31292451e-05 9.99987188e-01 6.97848987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43439141800002 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:141.49, Y:2.14, Z:0.70 [[ 9.99982055e-01 -3.20448706e-03 -5.06179642e-03 1.41489464e+02] [ 3.20480082e-03 9.99994863e-01 5.38763237e-05 2.13850650e+00] [ 5.06159777e-03 -7.00974062e-05 9.99987188e-01 6.98153262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46439141800002 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:141.52, Y:2.14, Z:0.70 [[ 9.99986847e-01 -8.27216546e-04 -5.06179863e-03 1.41518335e+02] [ 8.27498799e-04 9.99999656e-01 5.36673703e-05 2.13887961e+00] [ 5.06175250e-03 -5.78552967e-05 9.99987188e-01 6.98445825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:141.55, Y:2.14, Z:0.70 [[ 9.99986720e-01 9.68059885e-04 -5.06180192e-03 1.41547205e+02] [-9.67802205e-04 9.99999530e-01 5.33558739e-05 2.13962638e+00] [ 5.06185119e-03 -4.84563423e-05 9.99987188e-01 6.99032890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:141.58, Y:2.14, Z:0.70 [[ 9.99980749e-01 3.58878831e-03 -5.06181670e-03 1.41575004e+02] [-3.58857150e-03 9.99993560e-01 5.19141417e-05 2.14143420e+00] [ 5.06197041e-03 -3.37484512e-05 9.99987188e-01 6.99800930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:141.60, Y:2.14, Z:0.70 [[ 9.99978055e-01 4.27408027e-03 -5.06183355e-03 1.41603872e+02] [-4.27388083e-03 9.99990866e-01 5.02156228e-05 2.14168671e+00] [ 5.06200194e-03 -2.85808474e-05 9.99987188e-01 6.99968726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:141.63, Y:2.14, Z:0.70 [[ 9.99978666e-01 4.12861087e-03 -5.06183776e-03 1.41631333e+02] [-4.12841174e-03 9.99991477e-01 4.97875667e-05 2.14156694e+00] [ 5.06200017e-03 -2.88891541e-05 9.99987188e-01 6.99788012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:141.66, Y:2.14, Z:0.70 [[ 9.99984074e-01 2.49604536e-03 -5.06184292e-03 1.41660175e+02] [-2.49582800e-03 9.99996884e-01 4.92581068e-05 2.14062083e+00] [ 5.06195010e-03 -3.66238330e-05 9.99987188e-01 6.98973597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:141.69, Y:2.14, Z:0.70 [[ 9.99986825e-01 8.53091914e-04 -5.06184698e-03 1.41688845e+02] [-8.52855635e-04 9.99999635e-01 4.88365974e-05 2.13978359e+00] [ 5.06188680e-03 -4.45189292e-05 9.99987188e-01 6.98852849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:141.72, Y:2.14, Z:0.70 [[ 9.99983122e-01 -2.85206344e-03 -5.06185104e-03 1.41716660e+02] [ 2.85234503e-03 9.99995931e-01 4.84121792e-05 2.13833145e+00] [ 5.06169237e-03 -6.28495078e-05 9.99987188e-01 6.99064418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:141.75, Y:2.14, Z:0.70 [[ 9.99975407e-01 -4.85420987e-03 -5.06185639e-03 1.41745931e+02] [ 4.85451424e-03 9.99988216e-01 4.78459146e-05 2.13771964e+00] [ 5.06156449e-03 -7.24175919e-05 9.99987188e-01 6.99139871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:141.77, Y:2.14, Z:0.70 [[ 9.99965466e-01 -6.59125347e-03 -5.06186040e-03 1.41774705e+02] [ 6.59157793e-03 9.99978274e-01 4.74180187e-05 2.13670840e+00] [ 5.06143789e-03 -8.07820285e-05 9.99987188e-01 6.99164407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:141.80, Y:2.14, Z:0.70 [[ 9.99959601e-01 -7.42797453e-03 -5.06186336e-03 1.41803743e+02] [ 7.42830810e-03 9.99972409e-01 4.71000025e-05 2.13555526e+00] [ 5.06137384e-03 -8.46991803e-05 9.99987188e-01 6.99423994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.794391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:141.83, Y:2.13, Z:0.70 [[ 9.99918303e-01 -1.17372612e-02 -5.06210990e-03 1.41833911e+02] [ 1.17375121e-02 9.99931113e-01 1.98450202e-05 2.13394382e+00] [ 5.06152826e-03 -7.92599750e-05 9.99987187e-01 6.99425269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.824391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:141.86, Y:2.13, Z:0.70 [[ 9.99906351e-01 -1.27147950e-02 -5.06187975e-03 1.41864711e+02] [ 1.27151880e-02 9.99919158e-01 4.54673473e-05 2.13284326e+00] [ 5.06089243e-03 -1.09825842e-04 9.99987188e-01 6.99522397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.854391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:141.89, Y:2.13, Z:0.70 [[ 9.99891964e-01 -1.37999370e-02 -5.06187975e-03 1.41894691e+02] [ 1.38003439e-02 9.99904770e-01 4.54673473e-05 2.13220672e+00] [ 5.06077026e-03 -1.15318117e-04 9.99987188e-01 7.00037481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.884391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:141.92, Y:2.13, Z:0.70 [[ 9.99887417e-01 -1.41255500e-02 -5.06188070e-03 1.41924809e+02] [ 1.41259605e-02 9.99900223e-01 4.53613412e-05 2.13148610e+00] [ 5.06073489e-03 -1.16860161e-04 9.99987188e-01 7.00728339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:141.96, Y:2.13, Z:0.70 [[ 9.99888088e-01 -1.40779376e-02 -5.06188070e-03 1.41955093e+02] [ 1.40783475e-02 9.99900894e-01 4.53613412e-05 2.13099757e+00] [ 5.06074045e-03 -1.16619180e-04 9.99987188e-01 7.01058060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:141.99, Y:2.13, Z:0.70 [[ 9.99900366e-01 -1.31770458e-02 -5.06188070e-03 1.41985423e+02] [ 1.31774442e-02 9.99913173e-01 4.53613412e-05 2.13037217e+00] [ 5.06084347e-03 -1.12059472e-04 9.99987188e-01 7.01050939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:142.01, Y:2.13, Z:0.70 [[ 9.99903047e-01 -1.29720125e-02 -5.06200060e-03 1.42014981e+02] [ 1.29723390e-02 9.99915855e-01 3.16819614e-05 2.12941170e+00] [ 5.06116368e-03 -9.73448776e-05 9.99987187e-01 7.00995376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:142.04, Y:2.13, Z:0.70 [[ 9.99910014e-01 -1.24234515e-02 -5.06189085e-03 1.42044336e+02] [ 1.24238346e-02 9.99922820e-01 4.42397867e-05 2.12863626e+00] [ 5.06095056e-03 -1.07123900e-04 9.99987188e-01 7.00906554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:142.07, Y:2.13, Z:0.70 [[ 9.99928901e-01 -1.07967978e-02 -5.06189174e-03 1.42074959e+02] [ 1.07971595e-02 9.99941708e-01 4.41366487e-05 2.12717599e+00] [ 5.06112014e-03 -9.87875631e-05 9.99987188e-01 7.00645785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:142.10, Y:2.13, Z:0.70 [[ 9.99937562e-01 -9.96240249e-03 -5.06189174e-03 1.42104900e+02] [ 9.96275352e-03 9.99950370e-01 4.41366487e-05 2.12660806e+00] [ 5.06120081e-03 -9.45642727e-05 9.99987188e-01 7.00965865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09439141800001 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:142.13, Y:2.13, Z:0.70 [[ 9.99949138e-01 -8.72350775e-03 -5.06189365e-03 1.42134402e+02] [ 8.72384180e-03 9.99961946e-01 4.39166726e-05 2.12600680e+00] [ 5.06131792e-03 -8.80735983e-05 9.99987188e-01 7.01192025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12439141800002 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:142.16, Y:2.12, Z:0.70 [[ 9.99970048e-01 -5.85495191e-03 -5.06189459e-03 1.42164395e+02] [ 5.85524867e-03 9.99982857e-01 4.38080595e-05 2.12492452e+00] [ 5.06155132e-03 -7.34453990e-05 9.99987188e-01 7.01890038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15439141800002 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:142.19, Y:2.12, Z:0.70 [[ 9.99979960e-01 -3.80210031e-03 -5.06189642e-03 1.42193853e+02] [ 3.80236970e-03 9.99992770e-01 4.35963029e-05 2.12401175e+00] [ 5.06169406e-03 -6.28426308e-05 9.99987188e-01 7.02113312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18439141800002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:142.22, Y:2.12, Z:0.70 [[ 9.99984744e-01 -2.21108361e-03 -5.06189821e-03 1.42222138e+02] [ 2.21133156e-03 9.99997554e-01 4.33865573e-05 2.12345688e+00] [ 5.06178990e-03 -5.45794307e-05 9.99987188e-01 7.01909411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21439141800002 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:142.25, Y:2.12, Z:0.70 [[ 9.99987164e-01 2.22060961e-04 -5.06191046e-03 1.42250028e+02] [-2.21851668e-04 9.99999975e-01 4.19080293e-05 2.12256485e+00] [ 5.06191963e-03 -4.07844980e-05 9.99987188e-01 7.01543935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:142.28, Y:2.12, Z:0.70 [[ 9.99972407e-01 5.43710119e-03 -5.06191473e-03 1.42277466e+02] [-5.43696136e-03 9.99985219e-01 4.13849913e-05 2.12061914e+00] [ 5.06206492e-03 -1.38624146e-05 9.99987188e-01 7.01516211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:142.31, Y:2.12, Z:0.70 [[ 9.99965149e-01 6.63891556e-03 -5.06208830e-03 1.42306061e+02] [-6.63890449e-03 9.99977962e-01 1.89909829e-05 2.11950541e+00] [ 5.06210283e-03 1.46163997e-05 9.99987187e-01 7.01203656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:142.33, Y:2.12, Z:0.70 [[ 9.99955046e-01 8.01768622e-03 -5.06193030e-03 1.42334893e+02] [-8.01758986e-03 9.99967858e-01 3.93282141e-05 2.11802053e+00] [ 5.06208292e-03 1.25803493e-06 9.99987188e-01 7.01563106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:142.36, Y:2.11, Z:0.70 [[ 9.99945108e-01 9.17373873e-03 -5.06193356e-03 1.42362690e+02] [-9.17365933e-03 9.99957920e-01 3.89042082e-05 2.11470423e+00] [ 5.06207745e-03 7.53438135e-06 9.99987188e-01 7.01233182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:142.39, Y:2.11, Z:0.70 [[ 9.99951943e-01 8.39575387e-03 -5.06193756e-03 1.42392682e+02] [-8.39566717e-03 9.99964755e-01 3.83766847e-05 2.11228207e+00] [ 5.06208135e-03 4.12350248e-06 9.99987188e-01 7.00462972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:142.42, Y:2.11, Z:0.70 [[ 9.99963929e-01 6.82045871e-03 -5.06175034e-03 1.42419494e+02] [-6.82022636e-03 9.99976740e-01 6.31642000e-05 2.10835711e+00] [ 5.06206341e-03 -2.86396385e-05 9.99987187e-01 7.00194683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:142.45, Y:2.11, Z:0.70 [[ 9.99974669e-01 5.00372895e-03 -5.06194080e-03 1.42448729e+02] [-5.00360397e-03 9.99987481e-01 3.73546418e-05 2.10616512e+00] [ 5.06206435e-03 -1.20257485e-05 9.99987188e-01 7.00919810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:142.48, Y:2.10, Z:0.70 [[ 9.99978116e-01 4.25955490e-03 -5.06194385e-03 1.42476300e+02] [-4.25942249e-03 9.99990928e-01 3.69373605e-05 2.10321679e+00] [ 5.06205526e-03 -1.53755947e-05 9.99987188e-01 7.02273660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:142.51, Y:2.10, Z:0.70 [[ 9.99983598e-01 -2.67934946e-03 -5.06209151e-03 1.42507338e+02] [ 2.67947160e-03 9.99996410e-01 1.73477236e-05 2.09917918e+00] [ 5.06202686e-03 -3.09111695e-05 9.99987187e-01 7.01650003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:142.54, Y:2.10, Z:0.70 [[ 9.99973106e-01 -5.30701082e-03 -5.06184850e-03 1.42536364e+02] [ 5.30732809e-03 9.99985915e-01 4.92482473e-05 2.09668952e+00] [ 5.06151584e-03 -7.61118136e-05 9.99987188e-01 7.01554397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:2.09, Z:0.70 [[ 9.99934059e-01 -1.03080279e-02 -5.06189730e-03 1.42564886e+02] [ 1.03083767e-02 9.99946866e-01 4.28300346e-05 2.09264950e+00] [ 5.06118685e-03 -9.50071546e-05 9.99987188e-01 7.01665109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:2.09, Z:0.70 [[ 9.99927832e-01 -1.08952613e-02 -5.06201842e-03 1.42594969e+02] [ 1.08955369e-02 9.99940642e-01 2.68778105e-05 2.08955111e+00] [ 5.06142511e-03 -8.20292796e-05 9.99987188e-01 7.03266383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:2.09, Z:0.70 [[ 9.99906922e-01 -1.26697818e-02 -5.06194213e-03 1.42624369e+02] [ 1.26701309e-02 9.99919730e-01 3.69069251e-05 2.08756698e+00] [ 5.06106821e-03 -1.01038959e-04 9.99987188e-01 7.03606028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:2.09, Z:0.70 [[ 9.99883395e-01 -1.44074072e-02 -5.06193194e-03 1.42653628e+02] [ 1.44077854e-02 9.99896202e-01 3.82550346e-05 2.08545544e+00] [ 5.06085537e-03 -1.11181803e-04 9.99987188e-01 7.04235500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:2.08, Z:0.70 [[ 9.99800423e-01 -1.93259083e-02 -5.06193274e-03 1.42683033e+02] [ 1.93263490e-02 9.99813228e-01 3.81490400e-05 2.08164641e+00] [ 5.06025005e-03 -1.35970105e-04 9.99987188e-01 7.04900950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:2.08, Z:0.71 [[ 9.99765367e-01 -2.10615003e-02 -5.06197136e-03 1.42713828e+02] [ 2.10619371e-02 9.99778172e-01 3.29823800e-05 2.07911726e+00] [ 5.06015382e-03 -1.39589564e-04 9.99987188e-01 7.05197104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:2.08, Z:0.70 [[ 9.99652086e-01 -2.58859906e-02 -5.06193239e-03 1.42744229e+02] [ 2.58865153e-02 9.99664887e-01 3.81537789e-05 2.07604200e+00] [ 5.05924842e-03 -1.69176295e-04 9.99987188e-01 7.04947678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:2.07, Z:0.71 [[ 9.99582141e-01 -2.84591107e-02 -5.06193158e-03 1.42775503e+02] [ 2.84596689e-02 9.99594941e-01 3.82597639e-05 2.07474932e+00] [ 5.05879236e-03 -1.82304674e-04 9.99987188e-01 7.05002485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:142.81, Y:2.07, Z:0.71 [[ 9.99416908e-01 -3.37671498e-02 -5.06193003e-03 1.42807279e+02] [ 3.37677770e-02 9.99429705e-01 3.84647827e-05 2.07317094e+00] [ 5.05774439e-03 -2.09372478e-04 9.99987188e-01 7.05452522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:142.84, Y:2.07, Z:0.70 [[ 9.99323702e-01 -3.64213604e-02 -5.06192836e-03 1.42837687e+02] [ 3.64220227e-02 9.99336497e-01 3.86829398e-05 2.07241382e+00] [ 5.05716087e-03 -2.23022448e-04 9.99987188e-01 7.04696912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84439141800001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:142.87, Y:2.07, Z:0.71 [[ 9.99221449e-01 -3.91263747e-02 -5.06192753e-03 1.42869113e+02] [ 3.91270722e-02 9.99234242e-01 3.87913527e-05 2.07175132e+00] [ 5.05653355e-03 -2.36819555e-04 9.99987188e-01 7.05528301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:2.07, Z:0.71 [[ 9.99141303e-01 -4.11221826e-02 -5.06192581e-03 1.42900168e+02] [ 4.11229068e-02 9.99154095e-01 3.90141651e-05 2.07089059e+00] [ 5.05603955e-03 -2.47141767e-04 9.99987188e-01 7.05309846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:2.07, Z:0.71 [[ 9.99004163e-01 -4.43289780e-02 -5.06192322e-03 1.42931646e+02] [ 4.43297449e-02 9.99016953e-01 3.93471557e-05 2.07130680e+00] [ 5.05520290e-03 -2.63701737e-04 9.99987188e-01 7.05555282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:2.07, Z:0.71 [[ 9.98967113e-01 -4.51562265e-02 -5.06192150e-03 1.42962391e+02] [ 4.51570051e-02 9.98979901e-01 3.95674889e-05 2.07207434e+00] [ 5.05497112e-03 -2.68107835e-04 9.99987188e-01 7.05361763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:2.07, Z:0.71 [[ 9.98952676e-01 -4.54744681e-02 -5.06192065e-03 1.42993131e+02] [ 4.54752513e-02 9.98965465e-01 3.96766024e-05 2.07350444e+00] [ 5.05487964e-03 -2.69827161e-04 9.99987188e-01 7.05220464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.02, Y:2.08, Z:0.71 [[ 9.98977032e-01 -4.49362583e-02 -5.06191981e-03 1.43024481e+02] [ 4.49370352e-02 9.98989820e-01 3.97828096e-05 2.07758970e+00] [ 5.05501867e-03 -2.67209782e-04 9.99987188e-01 7.05583541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:143.06, Y:2.08, Z:0.71 [[ 9.99021438e-01 -4.39379384e-02 -5.06191810e-03 1.43055625e+02] [ 4.39387036e-02 9.99034228e-01 3.99988586e-05 2.07948424e+00] [ 5.05527198e-03 -2.62373836e-04 9.99987188e-01 7.05658470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:143.09, Y:2.08, Z:0.71 [[ 9.99143235e-01 -4.10752102e-02 -5.06191638e-03 1.43087485e+02] [ 4.10759398e-02 9.99156027e-01 4.02163257e-05 2.08395421e+00] [ 5.05599236e-03 -2.48104842e-04 9.99987188e-01 7.05507921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:2.09, Z:0.70 [[ 9.99189991e-01 -3.99216526e-02 -5.06191465e-03 1.43117816e+02] [ 3.99223685e-02 9.99202784e-01 4.04324833e-05 2.08752236e+00] [ 5.05626508e-03 -2.42483355e-04 9.99987188e-01 7.04159495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:143.15, Y:2.09, Z:0.71 [[ 9.99278901e-01 -3.76304971e-02 -5.06208143e-03 1.43149154e+02] [ 3.76310777e-02 9.99291700e-01 1.94619822e-05 2.08910273e+00] [ 5.05776359e-03 -2.09939528e-04 9.99987187e-01 7.06496397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:143.18, Y:2.10, Z:0.71 [[ 9.99378410e-01 -3.48879609e-02 -5.06190852e-03 1.43180090e+02] [ 3.48886146e-02 9.99391206e-01 4.08748246e-05 2.09529803e+00] [ 5.05740082e-03 -2.17452393e-04 9.99987188e-01 7.07753386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:143.21, Y:2.09, Z:0.71 [[ 9.99381344e-01 -3.48038342e-02 -5.06190680e-03 1.43212771e+02] [ 3.48044880e-02 9.99394139e-01 4.10865976e-05 2.09494118e+00] [ 5.05741002e-03 -2.17238253e-04 9.99987188e-01 7.07918797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:143.24, Y:2.10, Z:0.71 [[ 9.99427841e-01 -3.34420146e-02 -5.06190330e-03 1.43244156e+02] [ 3.34426530e-02 9.99440637e-01 4.15127028e-05 2.09744718e+00] [ 5.05768360e-03 -2.10772427e-04 9.99987188e-01 7.08444615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:143.28, Y:2.10, Z:0.71 [[ 9.99461534e-01 -3.24194199e-02 -5.06190157e-03 1.43275636e+02] [ 3.24200463e-02 9.99474331e-01 4.17236972e-05 2.09994508e+00] [ 5.05788802e-03 -2.05808314e-04 9.99987188e-01 7.08397534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:143.31, Y:2.10, Z:0.71 [[ 9.99500242e-01 -3.12032732e-02 -5.06189984e-03 1.43307148e+02] [ 3.12038851e-02 9.99513039e-01 4.19324671e-05 2.10238488e+00] [ 5.05812646e-03 -1.99862452e-04 9.99987188e-01 7.08408232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.294391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:143.34, Y:2.11, Z:0.71 [[ 9.99548312e-01 -2.96234638e-02 -5.06189811e-03 1.43337605e+02] [ 2.96240566e-02 9.99561110e-01 4.21402790e-05 2.10818474e+00] [ 5.05842815e-03 -1.92075201e-04 9.99987188e-01 7.08473510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.324391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:143.37, Y:2.11, Z:0.71 [[ 9.99563344e-01 -2.91118425e-02 -5.06189725e-03 1.43368645e+02] [ 2.91124292e-02 9.99576143e-01 4.22432972e-05 2.11093833e+00] [ 5.05852194e-03 -1.89588977e-04 9.99987188e-01 7.08811295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.354391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:143.40, Y:2.11, Z:0.71 [[ 9.99572694e-01 -2.87889989e-02 -5.06189554e-03 1.43399939e+02] [ 2.87895825e-02 9.99585493e-01 4.24473674e-05 2.11369344e+00] [ 5.05857533e-03 -1.88159088e-04 9.99987188e-01 7.09237031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.384391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:143.43, Y:2.12, Z:0.71 [[ 9.99576065e-01 -2.86717051e-02 -5.06189382e-03 1.43431459e+02] [ 2.86722882e-02 9.99588865e-01 4.26504029e-05 2.11921194e+00] [ 5.05858984e-03 -1.87768400e-04 9.99987188e-01 7.10089368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:143.46, Y:2.12, Z:0.71 [[ 9.99572894e-01 -2.87820512e-02 -5.06188815e-03 1.43462904e+02] [ 2.87826391e-02 9.99585693e-01 4.33132130e-05 2.12169070e+00] [ 5.05854433e-03 -1.88989214e-04 9.99987188e-01 7.10284802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:143.49, Y:2.13, Z:0.71 [[ 9.99590757e-01 -2.81548429e-02 -5.06188572e-03 1.43494749e+02] [ 2.81554241e-02 9.99603557e-01 4.35960216e-05 2.12668627e+00] [ 5.05865153e-03 -1.86097719e-04 9.99987188e-01 7.11427517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:143.53, Y:2.13, Z:0.71 [[ 9.99611267e-01 -2.74170229e-02 -5.06188211e-03 1.43525636e+02] [ 2.74175968e-02 9.99624066e-01 4.40108407e-05 2.12898973e+00] [ 5.05877253e-03 -1.82778375e-04 9.99987188e-01 7.10729130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:143.56, Y:2.13, Z:0.71 [[ 9.99629161e-01 -2.67566352e-02 -5.06187941e-03 1.43558176e+02] [ 2.67572023e-02 9.99641961e-01 4.43195640e-05 2.13151374e+00] [ 5.05888121e-03 -1.79744860e-04 9.99987188e-01 7.11472680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:143.59, Y:2.13, Z:0.71 [[ 9.99662429e-01 -2.54834446e-02 -5.06187575e-03 1.43589530e+02] [ 2.54839974e-02 9.99675229e-01 4.47335359e-05 2.13397798e+00] [ 5.05909184e-03 -1.73715264e-04 9.99987188e-01 7.12077042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:143.62, Y:2.14, Z:0.71 [[ 9.99736827e-01 -2.23753017e-02 -5.06187314e-03 1.43619556e+02] [ 2.23758162e-02 9.99749629e-01 4.50268596e-05 2.13932857e+00] [ 5.05959830e-03 -1.58278552e-04 9.99987188e-01 7.08904388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59439141800001 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:143.65, Y:2.14, Z:0.71 [[ 9.99761860e-01 -2.12273277e-02 -5.06203093e-03 1.43649644e+02] [ 2.12277370e-02 9.99774666e-01 2.71412151e-05 2.14127441e+00] [ 5.06031415e-03 -1.34590213e-04 9.99987187e-01 7.10857225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62439141800002 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:143.68, Y:2.15, Z:0.71 [[ 9.99807661e-01 -1.89477854e-02 -5.06193294e-03 1.43681156e+02] [ 1.89482214e-02 9.99820466e-01 3.81909672e-05 2.14548588e+00] [ 5.06030052e-03 -1.34098248e-04 9.99987188e-01 7.11536687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65439141800002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:143.71, Y:2.15, Z:0.71 [[ 9.99831531e-01 -1.76433460e-02 -5.06187744e-03 1.43712467e+02] [ 1.76437972e-02 9.99844335e-01 4.45035713e-05 2.14737121e+00] [ 5.06030430e-03 -1.33806813e-04 9.99987188e-01 7.12097143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68439141800002 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:143.74, Y:2.15, Z:0.71 [[ 9.99858185e-01 -1.60619539e-02 -5.06187566e-03 1.43743565e+02] [ 1.60623859e-02 9.99870991e-01 4.47057724e-05 2.15069899e+00] [ 5.06050457e-03 -1.26005233e-04 9.99987188e-01 7.12117323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71439141800002 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:143.77, Y:2.15, Z:0.71 [[ 9.99862416e-01 -1.57964276e-02 -5.06187388e-03 1.43774482e+02] [ 1.57968573e-02 9.99875221e-01 4.49066526e-05 2.15170240e+00] [ 5.06053290e-03 -1.24862173e-04 9.99987188e-01 7.12059978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:143.81, Y:2.15, Z:0.71 [[ 9.99858055e-01 -1.60700905e-02 -5.06187209e-03 1.43806093e+02] [ 1.60705247e-02 9.99870860e-01 4.51069966e-05 2.15252362e+00] [ 5.06049353e-03 -1.26447534e-04 9.99987188e-01 7.11738997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:143.84, Y:2.15, Z:0.71 [[ 9.99822794e-01 -1.81317028e-02 -5.06187030e-03 1.43837300e+02] [ 1.81321644e-02 9.99835598e-01 4.53072695e-05 2.15431261e+00] [ 5.06021662e-03 -1.37081905e-04 9.99987188e-01 7.11926954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:143.87, Y:2.15, Z:0.71 [[ 9.99802769e-01 -1.92041764e-02 -5.06186848e-03 1.43868733e+02] [ 1.92046527e-02 9.99815573e-01 4.55092572e-05 2.15466368e+00] [ 5.06006097e-03 -1.42711708e-04 9.99987188e-01 7.11757425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:143.89, Y:2.16, Z:0.71 [[ 9.99663666e-01 -2.54348536e-02 -5.06186575e-03 1.43894064e+02] [ 2.54354112e-02 9.99676467e-01 4.58109511e-05 2.15960346e+00] [ 5.05906287e-03 -1.74546180e-04 9.99987188e-01 7.11619423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:143.93, Y:2.16, Z:0.71 [[ 9.99689082e-01 -2.44153648e-02 -5.06247196e-03 1.43927009e+02] [ 2.44155213e-02 9.99701896e-01 -3.08865889e-05 2.15682789e+00] [ 5.06171693e-03 -9.27259065e-05 9.99987185e-01 7.13147619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:143.95, Y:2.16, Z:0.71 [[ 9.99559927e-01 -2.92289258e-02 -5.06183692e-03 1.43953989e+02] [ 2.92295278e-02 9.99572725e-01 4.49837648e-05 2.16078642e+00] [ 5.05835930e-03 -1.92919072e-04 9.99987188e-01 7.14438425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:143.99, Y:2.16, Z:0.71 [[ 9.99649709e-01 -2.59774740e-02 -5.06263827e-03 1.43988582e+02] [ 2.59775955e-02 9.99662524e-01 -4.17643278e-05 2.15609689e+00] [ 5.06201469e-03 -8.97654711e-05 9.99987184e-01 7.11944686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:144.02, Y:2.16, Z:0.71 [[ 9.99640347e-01 -2.63354497e-02 -5.06174723e-03 1.44020574e+02] [ 2.63360373e-02 9.99653145e-01 4.94485408e-05 2.15608138e+00] [ 5.05868929e-03 -1.82737120e-04 9.99987188e-01 7.12559708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:144.05, Y:2.16, Z:0.71 [[ 9.99646551e-01 -2.60988799e-02 -5.06174312e-03 1.44052222e+02] [ 2.60994665e-02 9.99659350e-01 4.98652529e-05 2.15600046e+00] [ 5.05871741e-03 -1.81956423e-04 9.99987188e-01 7.12622559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:144.08, Y:2.16, Z:0.71 [[ 9.99666742e-01 -2.53137255e-02 -5.06174005e-03 1.44084069e+02] [ 2.53143036e-02 9.99679540e-01 5.01755611e-05 2.15636570e+00] [ 5.05884783e-03 -1.78293264e-04 9.99987188e-01 7.12409397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:144.12, Y:2.16, Z:0.71 [[ 9.99738562e-01 -2.22976615e-02 -5.06173593e-03 1.44116218e+02] [ 2.22982032e-02 9.99751363e-01 5.05879841e-05 2.15775637e+00] [ 5.05934940e-03 -1.63442375e-04 9.99987188e-01 7.12563501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.074391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:144.15, Y:2.16, Z:0.71 [[ 9.99781584e-01 -2.02771721e-02 -5.06173177e-03 1.44147706e+02] [ 2.02776900e-02 9.99794385e-01 5.10006037e-05 2.15851642e+00] [ 5.05965685e-03 -1.53629692e-04 9.99987188e-01 7.12662416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.104391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:144.18, Y:2.16, Z:0.71 [[ 9.99858829e-01 -1.60219074e-02 -5.06172866e-03 1.44178949e+02] [ 1.60223723e-02 9.99871632e-01 5.13075568e-05 2.16071596e+00] [ 5.06025685e-03 -1.32401215e-04 9.99987188e-01 7.13428194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.134391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:144.21, Y:2.16, Z:0.71 [[ 9.99896743e-01 -1.34492554e-02 -5.06172186e-03 1.44210629e+02] [ 1.34496907e-02 9.99909547e-01 5.19691319e-05 2.16132600e+00] [ 5.06056507e-03 -1.20042359e-04 9.99987188e-01 7.14034315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:144.24, Y:2.16, Z:0.71 [[ 9.99924814e-01 -1.11689242e-02 -5.06171978e-03 1.44241465e+02] [ 1.11693313e-02 9.99937620e-01 5.21718499e-05 2.16192702e+00] [ 5.06082132e-03 -1.08703952e-04 9.99987188e-01 7.13996470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:144.27, Y:2.16, Z:0.71 [[ 9.99965432e-01 -6.59649314e-03 -5.06171621e-03 1.44271957e+02] [ 6.59684345e-03 9.99978239e-01 5.25155413e-05 2.16276189e+00] [ 5.06125964e-03 -8.59050754e-05 9.99987188e-01 7.13962887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:144.30, Y:2.16, Z:0.71 [[ 9.99975944e-01 -4.74234513e-03 -5.06171621e-03 1.44301845e+02] [ 4.74267170e-03 9.99988752e-01 5.25155413e-05 2.16327626e+00] [ 5.06141023e-03 -7.65203362e-05 9.99987188e-01 7.13250104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:144.33, Y:2.16, Z:0.71 [[ 9.99982939e-01 -2.91558003e-03 -5.06171726e-03 1.44331199e+02] [ 2.91588269e-03 9.99995747e-01 5.24144526e-05 2.16360064e+00] [ 5.06154291e-03 -6.71729321e-05 9.99987188e-01 7.13917403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:144.36, Y:2.16, Z:0.71 [[ 9.99986393e-01 -1.26230196e-03 -5.06171934e-03 1.44360403e+02] [ 1.26258242e-03 9.99999202e-01 5.22128875e-05 2.16363525e+00] [ 5.06164939e-03 -5.86030148e-05 9.99987188e-01 7.13728280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:144.39, Y:2.16, Z:0.71 [[ 9.99986321e-01 1.31766208e-03 -5.06173358e-03 1.44388717e+02] [-1.31742185e-03 9.99999131e-01 5.07936042e-05 2.16336807e+00] [ 5.06179611e-03 -4.41244710e-05 9.99987188e-01 7.13105926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34439141800001 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:144.42, Y:2.16, Z:0.71 [[ 9.99985165e-01 2.01204710e-03 -5.06174728e-03 1.44416661e+02] [-2.01182288e-03 9.99997975e-01 4.93890057e-05 2.16312755e+00] [ 5.06183641e-03 -3.92049340e-05 9.99987188e-01 7.12806230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37439141800002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:144.45, Y:2.16, Z:0.71 [[ 9.99983667e-01 2.65410710e-03 -5.06175208e-03 1.44445645e+02] [-2.65389361e-03 9.99996477e-01 4.88918852e-05 2.16235248e+00] [ 5.06186402e-03 -3.54577351e-05 9.99987188e-01 7.12854623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40439141800002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:144.47, Y:2.16, Z:0.71 [[ 9.99984485e-01 2.32551146e-03 -5.06175599e-03 1.44474204e+02] [-2.32529584e-03 9.99997295e-01 4.84837662e-05 2.16168412e+00] [ 5.06185505e-03 -3.67129339e-05 9.99987188e-01 7.12999400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43439141800002 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:144.50, Y:2.16, Z:0.71 [[ 9.99987116e-01 3.82332314e-04 -5.06175992e-03 1.44502356e+02] [-3.82093890e-04 9.99999926e-01 4.80699110e-05 2.16068704e+00] [ 5.06177793e-03 -4.61352241e-05 9.99987188e-01 7.12818285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46439141800002 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:144.53, Y:2.16, Z:0.71 [[ 9.99986899e-01 -7.61709664e-04 -5.06176482e-03 1.44530733e+02] [ 7.61960104e-04 9.99999709e-01 4.75486097e-05 2.15968260e+00] [ 5.06172713e-03 -5.14048496e-05 9.99987188e-01 7.14030817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:144.56, Y:2.16, Z:0.71 [[ 9.99984571e-01 -2.28831783e-03 -5.06176874e-03 1.44558603e+02] [ 2.28858570e-03 9.99997380e-01 4.71279823e-05 2.15888382e+00] [ 5.06164763e-03 -5.87115467e-05 9.99987188e-01 7.14094399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:144.59, Y:2.16, Z:0.72 [[ 9.99981252e-01 -3.44577186e-03 -5.06177353e-03 1.44587360e+02] [ 3.44605192e-03 9.99994061e-01 4.66074246e-05 2.15786325e+00] [ 5.06158287e-03 -6.40496852e-05 9.99987188e-01 7.15006787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:144.62, Y:2.16, Z:0.72 [[ 9.99968258e-01 -6.15323213e-03 -5.06177734e-03 1.44615652e+02] [ 6.15354475e-03 9.99981066e-01 4.61899053e-05 2.15648825e+00] [ 5.06139728e-03 -7.73363125e-05 9.99987188e-01 7.16042932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:144.64, Y:2.16, Z:0.72 [[ 9.99957515e-01 -7.70373209e-03 -5.06178015e-03 1.44644825e+02] [ 7.70406301e-03 9.99970322e-01 4.58800170e-05 2.15554422e+00] [ 5.06127648e-03 -8.48743410e-05 9.99987188e-01 7.16751242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:144.67, Y:2.15, Z:0.72 [[ 9.99918172e-01 -1.17485051e-02 -5.06178201e-03 1.44674282e+02] [ 1.17488868e-02 9.99930978e-01 4.56740870e-05 2.15352029e+00] [ 5.06089603e-03 -1.05140653e-04 9.99987188e-01 7.17215744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:144.70, Y:2.15, Z:0.72 [[ 9.99885542e-01 -1.42577005e-02 -5.06178292e-03 1.44704644e+02] [ 1.42581138e-02 9.99898347e-01 4.55724725e-05 2.15197946e+00] [ 5.06061862e-03 -1.17738733e-04 9.99987188e-01 7.16912478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674391418 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:144.74, Y:2.15, Z:0.72 [[ 9.99844773e-01 -1.68762558e-02 -5.06178292e-03 1.44735573e+02] [ 1.68767026e-02 9.99857577e-01 4.55724725e-05 2.15022578e+00] [ 5.06029292e-03 -1.30991604e-04 9.99987188e-01 7.17028477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:144.77, Y:2.15, Z:0.72 [[ 9.99756809e-01 -2.14639614e-02 -5.06178108e-03 1.44767399e+02] [ 2.14644680e-02 9.99769611e-01 4.57757921e-05 2.14721318e+00] [ 5.05963237e-03 -1.54413098e-04 9.99987188e-01 7.15982723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:144.80, Y:2.15, Z:0.72 [[ 9.99692056e-01 -2.42934647e-02 -5.06177831e-03 1.44798137e+02] [ 2.42940091e-02 9.99704856e-01 4.60803912e-05 2.14658204e+00] [ 5.05916490e-03 -1.69037089e-04 9.99987188e-01 7.16742030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:144.83, Y:2.14, Z:0.72 [[ 9.99590897e-01 -2.81498926e-02 -5.06177552e-03 1.44828883e+02] [ 2.81504879e-02 9.99603695e-01 4.63848141e-05 2.14494129e+00] [ 5.05846379e-03 -1.88857289e-04 9.99987188e-01 7.16598612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.794391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:144.86, Y:2.14, Z:0.72 [[ 9.99541159e-01 -2.98638708e-02 -5.06177281e-03 1.44860357e+02] [ 2.98644895e-02 9.99553956e-01 4.66786125e-05 2.14378269e+00] [ 5.05812103e-03 -1.97824456e-04 9.99987188e-01 7.16816882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.824391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:144.89, Y:2.14, Z:0.72 [[ 9.99543442e-01 -2.97873569e-02 -5.06177010e-03 1.44893041e+02] [ 2.97879761e-02 9.99556239e-01 4.69705175e-05 2.14339775e+00] [ 5.05812476e-03 -1.97728960e-04 9.99987188e-01 7.16982275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.854391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:144.92, Y:2.14, Z:0.72 [[ 9.99541965e-01 -2.98368639e-02 -5.06176648e-03 1.44924022e+02] [ 2.98374857e-02 9.99554762e-01 4.73579880e-05 2.14298888e+00] [ 5.05809977e-03 -1.98366681e-04 9.99987188e-01 7.17059642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.884391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:144.96, Y:2.14, Z:0.72 [[ 9.99555587e-01 -2.93769966e-02 -5.06176376e-03 1.44955928e+02] [ 2.93776140e-02 9.99568384e-01 4.76465031e-05 2.14293268e+00] [ 5.05817931e-03 -1.96327870e-04 9.99987188e-01 7.17249659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:144.99, Y:2.14, Z:0.72 [[ 9.99599804e-01 -2.78318378e-02 -5.06176010e-03 1.44987582e+02] [ 2.78324373e-02 9.99612602e-01 4.80327154e-05 2.14381330e+00] [ 5.05846234e-03 -1.88894614e-04 9.99987188e-01 7.16755603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:145.02, Y:2.14, Z:0.72 [[ 9.99624970e-01 -2.69127984e-02 -5.06175395e-03 1.45019523e+02] [ 2.69133894e-02 9.99637768e-01 4.86715033e-05 2.14414365e+00] [ 5.05861054e-03 -1.84882205e-04 9.99987188e-01 7.16514201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:145.05, Y:2.14, Z:0.72 [[ 9.99647832e-01 -2.60497552e-02 -5.06175028e-03 1.45051382e+02] [ 2.60503371e-02 9.99660631e-01 4.90508673e-05 2.14461044e+00] [ 5.05875472e-03 -1.80893894e-04 9.99987188e-01 7.16138030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:145.08, Y:2.15, Z:0.72 [[ 9.99661538e-01 -2.55183894e-02 -5.06174985e-03 1.45082987e+02] [ 2.55189647e-02 9.99674337e-01 4.90949330e-05 2.14552006e+00] [ 5.05884860e-03 -1.78248932e-04 9.99987188e-01 7.15974819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:145.12, Y:2.15, Z:0.72 [[ 9.99666522e-01 -2.53223780e-02 -5.06174226e-03 1.45115154e+02] [ 2.53229546e-02 9.99679321e-01 4.98647434e-05 2.14582042e+00] [ 5.05885638e-03 -1.78026384e-04 9.99987188e-01 7.17080310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:145.15, Y:2.15, Z:0.72 [[ 9.99663794e-01 -2.54298431e-02 -5.06173836e-03 1.45146914e+02] [ 2.54304232e-02 9.99676593e-01 5.02574245e-05 2.14624851e+00] [ 5.05882333e-03 -1.78962676e-04 9.99987188e-01 7.17509857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09439141800001 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:145.18, Y:2.15, Z:0.72 [[ 9.99665758e-01 -2.53525540e-02 -5.06173445e-03 1.45179598e+02] [ 2.53531351e-02 9.99678556e-01 5.06488989e-05 2.14584120e+00] [ 5.05882331e-03 -1.78962807e-04 9.99987188e-01 7.17675228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12439141800002 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:145.21, Y:2.15, Z:0.72 [[ 9.99657329e-01 -2.56827499e-02 -5.06173050e-03 1.45211773e+02] [ 2.56833372e-02 9.99670127e-01 5.10402416e-05 2.14605501e+00] [ 5.05874992e-03 -1.81024883e-04 9.99987188e-01 7.19501333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15439141800002 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:145.24, Y:2.15, Z:0.72 [[ 9.99648626e-01 -2.60192796e-02 -5.06172636e-03 1.45243295e+02] [ 2.60198732e-02 9.99661424e-01 5.14478347e-05 2.14590887e+00] [ 5.05867395e-03 -1.83135236e-04 9.99987188e-01 7.19800731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18439141800002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:145.28, Y:2.15, Z:0.72 [[ 9.99637369e-01 -2.64482278e-02 -5.06172324e-03 1.45275727e+02] [ 2.64488285e-02 9.99650167e-01 5.17530464e-05 2.14629578e+00] [ 5.05858370e-03 -1.85610929e-04 9.99987188e-01 7.20620958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21439141800002 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:145.31, Y:2.15, Z:0.72 [[ 9.99620549e-01 -2.70764856e-02 -5.06171909e-03 1.45307610e+02] [ 2.70770963e-02 9.99633347e-01 5.21550741e-05 2.14736240e+00] [ 5.05845102e-03 -1.89191939e-04 9.99987188e-01 7.21453607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:145.34, Y:2.15, Z:0.72 [[ 9.99623872e-01 -2.69535584e-02 -5.06171494e-03 1.45339421e+02] [ 2.69541696e-02 9.99636669e-01 5.25554658e-05 2.14719285e+00] [ 5.05845930e-03 -1.88970021e-04 9.99987188e-01 7.21509416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:145.37, Y:2.15, Z:0.72 [[ 9.99633538e-01 -2.65926417e-02 -5.06171074e-03 1.45371973e+02] [ 2.65932503e-02 9.99646336e-01 5.29564629e-05 2.14773563e+00] [ 5.05851234e-03 -1.87544397e-04 9.99987188e-01 7.22006739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:145.40, Y:2.15, Z:0.72 [[ 9.99665539e-01 -2.53611800e-02 -5.06170652e-03 1.45404651e+02] [ 2.53617748e-02 9.99678337e-01 5.33566683e-05 2.14810368e+00] [ 5.05872517e-03 -1.81712684e-04 9.99987188e-01 7.22379815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:145.43, Y:2.15, Z:0.72 [[ 9.99698980e-01 -2.40068346e-02 -5.06170114e-03 1.45434683e+02] [ 2.40074147e-02 9.99711779e-01 5.38624922e-05 2.14829628e+00] [ 5.05894918e-03 -1.75364637e-04 9.99987188e-01 7.19809974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:145.47, Y:2.15, Z:0.72 [[ 9.99754444e-01 -2.15738135e-02 -5.06181097e-03 1.45467440e+02] [ 2.15743109e-02 9.99767247e-01 4.36662573e-05 2.15020763e+00] [ 5.05969077e-03 -1.52860618e-04 9.99987188e-01 7.23487007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:145.50, Y:2.15, Z:0.72 [[ 9.99801028e-01 -1.92946540e-02 -5.06168605e-03 1.45499068e+02] [ 1.92951802e-02 9.99813829e-01 5.51347745e-05 2.15082711e+00] [ 5.05967991e-03 -1.52789948e-04 9.99987188e-01 7.23342977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:145.53, Y:2.15, Z:0.72 [[ 9.99889031e-01 -1.40108697e-02 -5.06168270e-03 1.45530880e+02] [ 1.40113297e-02 9.99901835e-01 5.54410682e-05 2.15217732e+00] [ 5.06040904e-03 -1.26355821e-04 9.99987188e-01 7.23970608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:145.56, Y:2.15, Z:0.72 [[ 9.99889583e-01 -1.39714094e-02 -5.06168050e-03 1.45562722e+02] [ 1.39718700e-02 9.99902387e-01 5.56412179e-05 2.15178829e+00] [ 5.06040903e-03 -1.26356216e-04 9.99987188e-01 7.24131753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:145.59, Y:2.15, Z:0.72 [[ 9.99955415e-01 -7.97171028e-03 -5.06167829e-03 1.45592855e+02] [ 7.97209504e-03 9.99968221e-01 5.58409726e-05 2.15340978e+00] [ 5.06107229e-03 -9.61906633e-05 9.99987188e-01 7.24344125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:145.62, Y:2.15, Z:0.72 [[ 9.99974380e-01 -5.06150182e-03 -5.06167720e-03 1.45623766e+02] [ 5.06184980e-03 9.99987187e-01 5.59399836e-05 2.15435054e+00] [ 5.06132921e-03 -8.15600002e-05 9.99987188e-01 7.24809287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:145.65, Y:2.16, Z:0.72 [[ 9.99984031e-01 -2.51327004e-03 -5.06167720e-03 1.45652327e+02] [ 2.51358538e-03 9.99996839e-01 5.59399836e-05 2.15511806e+00] [ 5.06152061e-03 -6.86620482e-05 9.99987188e-01 7.24013287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.574391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:145.68, Y:2.16, Z:0.72 [[ 9.99984589e-01 2.28063693e-03 -5.06168053e-03 1.45680607e+02] [-2.28038452e-03 9.99997398e-01 5.56374672e-05 2.15575575e+00] [ 5.06179425e-03 -4.40940319e-05 9.99987188e-01 7.24968714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.604391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:145.71, Y:2.16, Z:0.73 [[ 9.99977651e-01 4.36759485e-03 -5.06169565e-03 1.45708011e+02] [-4.36737632e-03 9.99990462e-01 5.42253922e-05 2.15584006e+00] [ 5.06188421e-03 -3.21178506e-05 9.99987188e-01 7.25210854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.634391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:145.74, Y:2.16, Z:0.72 [[ 9.99976068e-01 4.71610403e-03 -5.06181992e-03 1.45737267e+02] [-4.71594984e-03 9.99988879e-01 4.23975231e-05 2.15592806e+00] [ 5.06196358e-03 -1.85252196e-05 9.99987188e-01 7.24973841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:145.76, Y:2.16, Z:0.72 [[ 9.99971142e-01 5.66516197e-03 -5.06171120e-03 1.45764129e+02] [-5.66496720e-03 9.99983953e-01 5.28168077e-05 2.15520000e+00] [ 5.06192919e-03 -2.41408556e-05 9.99987188e-01 7.23356166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:145.79, Y:2.16, Z:0.73 [[ 9.99980123e-01 3.75904196e-03 -5.06192330e-03 1.45793415e+02] [-3.75892807e-03 9.99992935e-01 3.20114087e-05 2.15503085e+00] [ 5.06200787e-03 -1.29833669e-05 9.99987188e-01 7.25491672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:145.82, Y:2.15, Z:0.72 [[ 9.99987059e-01 5.10583068e-04 -5.06172226e-03 1.45821463e+02] [-5.10327936e-04 9.99999868e-01 5.16955244e-05 2.15386968e+00] [ 5.06174799e-03 -4.91117171e-05 9.99987188e-01 7.24966864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:145.85, Y:2.15, Z:0.73 [[ 9.99985722e-01 -1.71298637e-03 -5.06172717e-03 1.45850492e+02] [ 1.71326753e-03 9.99998531e-01 5.12102820e-05 2.15280197e+00] [ 5.06163202e-03 -5.98816436e-05 9.99987188e-01 7.26118735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:145.88, Y:2.15, Z:0.73 [[ 9.99978876e-01 -4.07746953e-03 -5.06173102e-03 1.45879395e+02] [ 4.07777903e-03 9.99991685e-01 5.08269580e-05 2.15139866e+00] [ 5.06148169e-03 -7.14665050e-05 9.99987188e-01 7.25917084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:145.91, Y:2.15, Z:0.73 [[ 9.99949877e-01 -8.63838626e-03 -5.06173485e-03 1.45908363e+02] [ 8.63875224e-03 9.99962684e-01 5.04429479e-05 2.14895488e+00] [ 5.06111022e-03 -9.41674928e-05 9.99987188e-01 7.25666408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84439141800001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:145.93, Y:2.15, Z:0.73 [[ 9.99899690e-01 -1.32283451e-02 -5.06173768e-03 1.45934832e+02] [ 1.32287684e-02 9.99912495e-01 5.01573791e-05 2.15239396e+00] [ 5.06063125e-03 -1.17112903e-04 9.99987188e-01 7.26346829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87439141800002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:145.97, Y:2.15, Z:0.73 [[ 9.99891266e-01 -1.38502346e-02 -5.06236906e-03 1.45965887e+02] [ 1.38502909e-02 9.99904080e-01 -2.39360467e-05 2.14783468e+00] [ 5.06221499e-03 -4.61818398e-05 9.99987186e-01 7.26357485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90439141800002 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:146.00, Y:2.15, Z:0.72 [[ 9.99843377e-01 -1.69586998e-02 -5.06207706e-03 1.45995115e+02] [ 1.69589776e-02 9.99856186e-01 1.19542640e-05 2.15018142e+00] [ 5.06114634e-03 -9.78000430e-05 9.99987188e-01 7.24675078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93439141800002 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:146.03, Y:2.15, Z:0.73 [[ 9.99829749e-01 -1.77438776e-02 -5.06231214e-03 1.46027216e+02] [ 1.77440184e-02 9.99842562e-01 -1.71137077e-05 2.14677916e+00] [ 5.06181881e-03 -7.27149656e-05 9.99987186e-01 7.26508898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96439141800002 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:146.06, Y:2.15, Z:0.73 [[ 9.99801736e-01 -1.92579136e-02 -5.06180897e-03 1.46058536e+02] [ 1.92583761e-02 9.99814539e-01 4.26315070e-05 2.14548855e+00] [ 5.06004921e-03 -1.40105275e-04 9.99987188e-01 7.26378115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:146.09, Y:2.14, Z:0.73 [[ 9.99787104e-01 -2.00031409e-02 -5.06180663e-03 1.46089476e+02] [ 2.00036143e-02 9.99799907e-01 4.29078676e-05 2.14459861e+00] [ 5.05993550e-03 -1.44153160e-04 9.99987188e-01 7.26453461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:146.12, Y:2.14, Z:0.73 [[ 9.99777014e-01 -2.05012131e-02 -5.06180508e-03 1.46121810e+02] [ 2.05016938e-02 9.99789817e-01 4.30897045e-05 2.14381948e+00] [ 5.05985778e-03 -1.46855674e-04 9.99987188e-01 7.28614315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:146.15, Y:2.14, Z:0.73 [[ 9.99756654e-01 -2.14711795e-02 -5.06180150e-03 1.46153170e+02] [ 2.14716747e-02 9.99769456e-01 4.35057673e-05 2.14279793e+00] [ 5.05970041e-03 -1.52180536e-04 9.99987188e-01 7.28514423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:146.18, Y:2.14, Z:0.73 [[ 9.99765757e-01 -2.10430420e-02 -5.06179882e-03 1.46184086e+02] [ 2.10435333e-02 9.99778559e-01 4.38154477e-05 2.14186558e+00] [ 5.05975592e-03 -1.50323316e-04 9.99987188e-01 7.27656201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:146.22, Y:2.14, Z:0.73 [[ 9.99731839e-01 -2.25970471e-02 -5.06197056e-03 1.46216508e+02] [ 2.25974579e-02 9.99744645e-01 2.39660255e-05 2.14129043e+00] [ 5.06013640e-03 -1.38347265e-04 9.99987188e-01 7.28506057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:146.25, Y:2.14, Z:0.73 [[ 9.99687451e-01 -2.44822073e-02 -5.06178198e-03 1.46249157e+02] [ 2.44827493e-02 9.99700252e-01 4.51214184e-05 2.13948368e+00] [ 5.05916005e-03 -1.69033655e-04 9.99987188e-01 7.28420456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:146.28, Y:2.14, Z:0.73 [[ 9.99666344e-01 -2.53294139e-02 -5.06177833e-03 1.46281803e+02] [ 2.53299687e-02 9.99679144e-01 4.55275251e-05 2.13815953e+00] [ 5.05900104e-03 -1.73727021e-04 9.99987188e-01 7.27983345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:146.31, Y:2.14, Z:0.73 [[ 9.99627324e-01 -2.68251990e-02 -5.06177465e-03 1.46313454e+02] [ 2.68257750e-02 9.99640123e-01 4.59323908e-05 2.13674063e+00] [ 5.05872089e-03 -1.81701301e-04 9.99987188e-01 7.26897329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:146.35, Y:2.14, Z:0.73 [[ 9.99623465e-01 -2.69686087e-02 -5.06177189e-03 1.46345939e+02] [ 2.69691881e-02 9.99636264e-01 4.62343597e-05 2.13628994e+00] [ 5.05868387e-03 -1.82728829e-04 9.99987188e-01 7.26302305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:146.38, Y:2.14, Z:0.73 [[ 9.99625892e-01 -2.68785110e-02 -5.06176824e-03 1.46378586e+02] [ 2.68790913e-02 9.99638691e-01 4.66313409e-05 2.13588454e+00] [ 5.05868599e-03 -1.82669626e-04 9.99987188e-01 7.26323728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.294391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:146.41, Y:2.14, Z:0.73 [[ 9.99642055e-01 -2.62705185e-02 -5.06176454e-03 1.46410781e+02] [ 2.62710930e-02 9.99654854e-01 4.70289174e-05 2.13563917e+00] [ 5.05878202e-03 -1.79990171e-04 9.99987188e-01 7.26912431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.324391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:146.44, Y:2.14, Z:0.73 [[ 9.99685918e-01 -2.45447178e-02 -5.06176075e-03 1.46442217e+02] [ 2.45452723e-02 9.99698718e-01 4.74335430e-05 2.13599276e+00] [ 5.05907149e-03 -1.71660941e-04 9.99987188e-01 7.27255681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.354391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:146.47, Y:2.14, Z:0.73 [[ 9.99720796e-01 -2.30804800e-02 -5.06175446e-03 1.46474746e+02] [ 2.30810191e-02 9.99733597e-01 4.80954092e-05 2.13628919e+00] [ 5.05929593e-03 -1.64912432e-04 9.99987188e-01 7.28522947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.384391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:146.51, Y:2.14, Z:0.73 [[ 9.99760533e-01 -2.12897921e-02 -5.06175062e-03 1.46506750e+02] [ 2.12903102e-02 9.99773334e-01 4.84965956e-05 2.13624721e+00] [ 5.05957081e-03 -1.56251223e-04 9.99987188e-01 7.29499251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:146.54, Y:2.14, Z:0.73 [[ 9.99824717e-01 -1.80253664e-02 -5.06174667e-03 1.46538366e+02] [ 1.80258448e-02 9.99837520e-01 4.89048182e-05 2.13740715e+00] [ 5.06004271e-03 -1.40138506e-04 9.99987188e-01 7.29694837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:146.57, Y:2.14, Z:0.73 [[ 9.99848337e-01 -1.66637893e-02 -5.06174372e-03 1.46570147e+02] [ 1.66642518e-02 9.99861141e-01 4.92083476e-05 2.13809305e+00] [ 5.06022085e-03 -1.33551056e-04 9.99987188e-01 7.30562205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:146.60, Y:2.14, Z:0.73 [[ 9.99880031e-01 -1.46390531e-02 -5.06174178e-03 1.46601595e+02] [ 1.46394907e-02 9.99892836e-01 4.94072055e-05 2.13966938e+00] [ 5.06047607e-03 -1.23502600e-04 9.99987188e-01 7.30833381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:146.63, Y:2.14, Z:0.73 [[ 9.99887097e-01 -1.41482069e-02 -5.06173984e-03 1.46633298e+02] [ 1.41486392e-02 9.99899902e-01 4.96055598e-05 2.13987144e+00] [ 5.06053134e-03 -1.21216690e-04 9.99987188e-01 7.31637980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:146.66, Y:2.14, Z:0.73 [[ 9.99887660e-01 -1.41083930e-02 -5.06173783e-03 1.46664531e+02] [ 1.41088258e-02 9.99900464e-01 4.98100358e-05 2.13992937e+00] [ 5.06053126e-03 -1.21219617e-04 9.99987188e-01 7.31797500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:146.69, Y:2.14, Z:0.73 [[ 9.99863952e-01 -1.56989350e-02 -5.06173580e-03 1.46694508e+02] [ 1.56993892e-02 9.99876756e-01 5.00151446e-05 2.13989602e+00] [ 5.06032679e-03 -1.29474501e-04 9.99987188e-01 7.30803478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59439141800001 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:146.73, Y:2.14, Z:0.73 [[ 9.99842052e-01 -1.70367370e-02 -5.06173479e-03 1.46725890e+02] [ 1.70372088e-02 9.99854855e-01 5.01167378e-05 2.13973172e+00] [ 5.06014628e-03 -1.36346655e-04 9.99987188e-01 7.31335100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62439141800002 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:146.76, Y:2.14, Z:0.73 [[ 9.99809928e-01 -1.88278168e-02 -5.06173282e-03 1.46758511e+02] [ 1.88283126e-02 9.99822730e-01 5.03149783e-05 2.13982311e+00] [ 5.05988821e-03 -1.45609303e-04 9.99987188e-01 7.31988456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65439141800002 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:146.79, Y:2.14, Z:0.73 [[ 9.99727982e-01 -2.27671224e-02 -5.06172860e-03 1.46789586e+02] [ 2.27676707e-02 9.99740782e-01 5.07363805e-05 2.14028297e+00] [ 5.05926139e-03 -1.65966349e-04 9.99987188e-01 7.31322892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68439141800002 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:146.82, Y:2.14, Z:0.73 [[ 9.99685334e-01 -2.45685009e-02 -5.06172543e-03 1.46821716e+02] [ 2.45690739e-02 9.99698133e-01 5.10504604e-05 2.14016613e+00] [ 5.05894323e-03 -1.75396303e-04 9.99987188e-01 7.31748797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71439141800002 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:146.85, Y:2.14, Z:0.73 [[ 9.99577631e-01 -2.86170886e-02 -5.06172116e-03 1.46853233e+02] [ 2.86177156e-02 9.99590428e-01 5.14707304e-05 2.14027338e+00] [ 5.05817508e-03 -1.96303888e-04 9.99987188e-01 7.31085062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:146.88, Y:2.14, Z:0.73 [[ 9.99526036e-01 -3.03658225e-02 -5.06171796e-03 1.46884596e+02] [ 3.03664735e-02 9.99538831e-01 5.17833280e-05 2.14009903e+00] [ 5.05781121e-03 -2.05465309e-04 9.99987188e-01 7.30645275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:146.92, Y:2.14, Z:0.73 [[ 9.99463213e-01 -3.23676371e-02 -5.06180315e-03 1.46916518e+02] [ 3.23682715e-02 9.99476009e-01 4.34246566e-05 2.13984732e+00] [ 5.05774526e-03 -2.07243165e-04 9.99987188e-01 7.30514410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:146.95, Y:2.14, Z:0.73 [[ 9.99414226e-01 -3.38464560e-02 -5.06177381e-03 1.46947610e+02] [ 3.38471236e-02 9.99427021e-01 4.62608967e-05 2.13926101e+00] [ 5.05730775e-03 -2.17560282e-04 9.99987188e-01 7.30885475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:146.98, Y:2.14, Z:0.73 [[ 9.99263149e-01 -3.80464969e-02 -5.06183242e-03 1.46980613e+02] [ 3.80471903e-02 9.99275943e-01 4.07330993e-05 2.14041343e+00] [ 5.05661761e-03 -2.33291587e-04 9.99987188e-01 7.30905803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:147.01, Y:2.14, Z:0.73 [[ 9.99196535e-01 -3.97575567e-02 -5.06168859e-03 1.47012264e+02] [ 3.97583399e-02 9.99209323e-01 5.41721923e-05 2.14149795e+00] [ 5.05553268e-03 -2.55373003e-04 9.99987188e-01 7.30903993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:147.05, Y:2.14, Z:0.73 [[ 9.99099719e-01 -4.21204238e-02 -5.06168534e-03 1.47045648e+02] [ 4.21212388e-02 9.99112505e-01 5.44747563e-05 2.14334468e+00] [ 5.05489862e-03 -2.67630170e-04 9.99987188e-01 7.31373094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:147.08, Y:2.14, Z:0.73 [[ 9.99057844e-01 -4.31022537e-02 -5.06167860e-03 1.47078206e+02] [ 4.31030844e-02 9.99070629e-01 5.50934237e-05 2.14385146e+00] [ 5.05459977e-03 -2.73215477e-04 9.99987188e-01 7.31946707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:147.10, Y:2.15, Z:0.73 [[ 9.98748014e-01 -4.97672891e-02 -5.06167168e-03 1.47102270e+02] [ 4.97682082e-02 9.98760793e-01 5.57222585e-05 2.15212732e+00] [ 5.05262608e-03 -3.07562825e-04 9.99987188e-01 7.33108120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:147.13, Y:2.15, Z:0.73 [[ 9.98775095e-01 -4.92207000e-02 -5.06291059e-03 1.47134080e+02] [ 4.92210314e-02 9.98787909e-01 -5.91949232e-05 2.15143046e+00] [ 5.05968749e-03 -1.90079266e-04 9.99987182e-01 7.33299003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:147.17, Y:2.15, Z:0.73 [[ 9.99064758e-01 -4.29415412e-02 -5.06293924e-03 1.47171303e+02] [ 4.29417789e-02 9.99077574e-01 -6.17994780e-05 2.14588809e+00] [ 5.06092282e-03 -1.55669937e-04 9.99987181e-01 7.31596935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.044391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:147.20, Y:2.15, Z:0.73 [[ 9.98843327e-01 -4.78161984e-02 -5.06150380e-03 1.47196638e+02] [ 4.78171130e-02 9.98856106e-01 5.97670900e-05 2.15325815e+00] [ 5.05285614e-03 -3.01724458e-04 9.99987189e-01 7.32448918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.074391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:147.23, Y:2.15, Z:0.73 [[ 9.98856951e-01 -4.75306318e-02 -5.06258211e-03 1.47229453e+02] [ 4.75310677e-02 9.98869760e-01 -3.42614900e-05 2.15498797e+00] [ 5.05848864e-03 -2.06407605e-04 9.99987184e-01 7.32678206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.104391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:147.26, Y:2.16, Z:0.73 [[ 9.98935951e-01 -4.58403319e-02 -5.06260338e-03 1.47262132e+02] [ 4.58407369e-02 9.98948760e-01 -3.60740788e-05 2.15701146e+00] [ 5.05893502e-03 -1.96037775e-04 9.99987184e-01 7.33718114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.134391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:147.29, Y:2.16, Z:0.73 [[ 9.99002253e-01 -4.43719444e-02 -5.06251380e-03 1.47294560e+02] [ 4.43723678e-02 9.99015061e-01 -2.87143216e-05 2.15779231e+00] [ 5.05880164e-03 -1.95950052e-04 9.99987185e-01 7.32368413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:147.33, Y:2.16, Z:0.73 [[ 9.99107151e-01 -4.19436820e-02 -5.06243430e-03 1.47327417e+02] [ 4.19441049e-02 9.99119959e-01 -2.26431418e-05 2.16017874e+00] [ 5.05892888e-03 -1.89716351e-04 9.99987186e-01 7.31630447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194391418 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:147.36, Y:2.16, Z:0.73 [[ 9.99360544e-01 -3.53959816e-02 -5.06241116e-03 1.47363741e+02] [ 3.53963295e-02 9.99373353e-01 -2.09000570e-05 2.15505601e+00] [ 5.05997860e-03 -1.58304081e-04 9.99987186e-01 7.30540288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:147.40, Y:2.16, Z:0.73 [[ 9.99413801e-01 -3.38591006e-02 -5.06113078e-03 1.47396343e+02] [ 3.38598920e-02 9.99426587e-01 7.07256364e-05 2.15645364e+00] [ 5.05583396e-03 -2.42053519e-04 9.99987190e-01 7.30651853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:147.43, Y:2.16, Z:0.73 [[ 9.99524761e-01 -3.04078457e-02 -5.06112522e-03 1.47428824e+02] [ 3.04085949e-02 9.99537549e-01 7.11213816e-05 2.16039526e+00] [ 5.05662205e-03 -2.24989288e-04 9.99987190e-01 7.30471573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:147.45, Y:2.17, Z:0.73 [[ 9.99446104e-01 -3.28918016e-02 -5.06111959e-03 1.47454752e+02] [ 3.28925846e-02 9.99458890e-01 7.15197360e-05 2.16845473e+00] [ 5.05602856e-03 -2.37953426e-04 9.99987190e-01 7.30103404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:147.49, Y:2.17, Z:0.73 [[ 9.99701088e-01 -2.39188034e-02 -5.06218688e-03 1.47489829e+02] [ 2.39190837e-02 9.99713898e-01 -5.17505287e-06 2.16678893e+00] [ 5.06086236e-03 -1.15909366e-04 9.99987187e-01 7.32177251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34439141800001 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:147.52, Y:2.17, Z:0.73 [[ 9.99744341e-01 -2.20371863e-02 -5.06103887e-03 1.47522126e+02] [ 2.20378413e-02 9.99757135e-01 7.36810423e-05 2.16893913e+00] [ 5.05818599e-03 -1.85196577e-04 9.99987190e-01 7.32978645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37439141800002 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:147.54, Y:2.18, Z:0.74 [[ 9.99759470e-01 -2.13398327e-02 -5.06103319e-03 1.47544359e+02] [ 2.13404807e-02 9.99772263e-01 7.40688948e-05 2.18123268e+00] [ 5.05829999e-03 -1.82055960e-04 9.99987190e-01 7.35425843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40439141800002 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:147.58, Y:2.18, Z:0.73 [[ 9.99792271e-01 -1.97429017e-02 -5.06288001e-03 1.47579213e+02] [ 1.97428726e-02 9.99805089e-01 -5.57216502e-05 2.18260781e+00] [ 5.06299331e-03 -4.42457199e-05 9.99987182e-01 7.34694606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43439141800002 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:147.61, Y:2.18, Z:0.73 [[ 9.99921415e-01 -1.14689907e-02 -5.06230156e-03 1.47614277e+02] [ 1.14690553e-02 9.99934228e-01 -1.62756513e-05 2.17697261e+00] [ 5.06215527e-03 -4.17854442e-05 9.99987186e-01 7.33989290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46439141800002 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:147.64, Y:2.19, Z:0.73 [[ 9.99890047e-01 -1.39384610e-02 -5.06088421e-03 1.47639456e+02] [ 1.39390289e-02 9.99902844e-01 7.69466053e-05 2.18541080e+00] [ 5.05932000e-03 -1.47481956e-04 9.99987191e-01 7.34227190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494391418 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:147.67, Y:2.19, Z:0.73 [[ 9.99947767e-01 -8.87898730e-03 -5.06221146e-03 1.47670314e+02] [ 8.87903713e-03 9.99960580e-01 -1.26308499e-05 2.18899042e+00] [ 5.06212406e-03 -3.23173733e-05 9.99987187e-01 7.33712215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:147.70, Y:2.19, Z:0.73 [[ 9.99980103e-01 -3.76406839e-03 -5.06218849e-03 1.47697205e+02] [ 3.76406043e-03 9.99992916e-01 -1.11000493e-05 2.19001291e+00] [ 5.06219441e-03 -7.95455496e-06 9.99987187e-01 7.33694828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:147.73, Y:2.19, Z:0.73 [[ 9.99986327e-01 -1.30879506e-03 -5.06296541e-03 1.47729173e+02] [ 1.30844830e-03 9.99999141e-01 -7.18012200e-05 2.18942490e+00] [ 5.06305504e-03 6.51756097e-05 9.99987181e-01 7.33844875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:147.76, Y:2.19, Z:0.73 [[ 9.99986190e-01 -1.41222801e-03 -5.06220600e-03 1.47761695e+02] [ 1.41217792e-03 9.99999003e-01 -1.34684707e-05 2.18923912e+00] [ 5.06221997e-03 6.31954916e-06 9.99987187e-01 7.32941957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:147.79, Y:2.19, Z:0.73 [[ 9.99985438e-01 -1.87310507e-03 -5.06111658e-03 1.47790130e+02] [ 1.87347233e-03 9.99998243e-01 6.78251932e-05 2.18943214e+00] [ 5.06098064e-03 -7.73060673e-05 9.99987190e-01 7.32471530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:147.82, Y:2.19, Z:0.73 [[ 9.99983117e-01 -2.85505344e-03 -5.06113360e-03 1.47819106e+02] [ 2.85542672e-03 9.99995921e-01 6.65305507e-05 2.18975059e+00] [ 5.06092300e-03 -8.09811236e-05 9.99987190e-01 7.31977413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:147.85, Y:2.19, Z:0.73 [[ 9.99967212e-01 -6.32135154e-03 -5.06113839e-03 1.47847744e+02] [ 6.32176735e-03 9.99980015e-01 6.61641082e-05 2.19046752e+00] [ 5.06061900e-03 -9.81572782e-05 9.99987190e-01 7.30802899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:147.87, Y:2.19, Z:0.73 [[ 9.99935998e-01 -1.01185163e-02 -5.06114193e-03 1.47872797e+02] [ 1.01189794e-02 9.99948800e-01 6.58916411e-05 2.19495249e+00] [ 5.06021608e-03 -1.17101015e-04 9.99987190e-01 7.28842960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:147.91, Y:2.19, Z:0.73 [[ 9.99928326e-01 -1.08497432e-02 -5.06215593e-03 1.47907381e+02] [ 1.08498096e-02 9.99941139e-01 -1.43407948e-05 2.18988274e+00] [ 5.06201356e-03 -4.05836611e-05 9.99987187e-01 7.30118023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:147.94, Y:2.19, Z:0.73 [[ 9.99860425e-01 -1.59221704e-02 -5.06111151e-03 1.47938348e+02] [ 1.59227077e-02 9.99873223e-01 6.58873115e-05 2.18989743e+00] [ 5.05942081e-03 -1.46464714e-04 9.99987190e-01 7.29393610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.794391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:147.97, Y:2.19, Z:0.73 [[ 9.99811027e-01 -1.87695490e-02 -5.06110917e-03 1.47970159e+02] [ 1.87701237e-02 9.99823824e-01 6.60663452e-05 2.18977632e+00] [ 5.05897749e-03 -1.61051506e-04 9.99987190e-01 7.29980630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.824391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:148.00, Y:2.19, Z:0.73 [[ 9.99712112e-01 -2.34537297e-02 -5.06110439e-03 1.48002598e+02] [ 2.34543662e-02 9.99724906e-01 6.64303886e-05 2.19020887e+00] [ 5.05815408e-03 -1.85116260e-04 9.99987190e-01 7.31340486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.854391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:148.03, Y:2.19, Z:0.73 [[ 9.99658542e-01 -2.56356160e-02 -5.06109925e-03 1.48034184e+02] [ 2.56362824e-02 9.99671334e-01 6.68203086e-05 2.19052881e+00] [ 5.05772286e-03 -1.96545262e-04 9.99987190e-01 7.31674838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.884391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:148.07, Y:2.19, Z:0.73 [[ 9.99610184e-01 -2.74566227e-02 -5.06109539e-03 1.48066077e+02] [ 2.74573138e-02 9.99622975e-01 6.71107645e-05 2.19078246e+00] [ 5.05734460e-03 -2.06048688e-04 9.99987190e-01 7.32299956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:148.10, Y:2.19, Z:0.73 [[ 9.99561072e-01 -2.91898816e-02 -5.06109025e-03 1.48098172e+02] [ 2.91905968e-02 9.99573861e-01 6.74963192e-05 2.19101406e+00] [ 5.05696332e-03 -2.15202938e-04 9.99987190e-01 7.32582162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:148.13, Y:2.19, Z:0.73 [[ 9.99511643e-01 -3.08360353e-02 -5.06108512e-03 1.48130227e+02] [ 3.08367736e-02 9.99524431e-01 6.78792586e-05 2.19116891e+00] [ 5.05658510e-03 -2.23913645e-04 9.99987190e-01 7.32576833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:148.16, Y:2.19, Z:0.73 [[ 9.99376664e-01 -3.49380860e-02 -5.06107997e-03 1.48161843e+02] [ 3.49388787e-02 9.99389449e-01 6.82610940e-05 2.19169821e+00] [ 5.05560501e-03 -2.45047003e-04 9.99987190e-01 7.34020864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:148.19, Y:2.19, Z:0.73 [[ 9.99418858e-01 -3.37095157e-02 -5.06107612e-03 1.48190693e+02] [ 3.37102941e-02 9.99431644e-01 6.85451937e-05 2.19109171e+00] [ 5.05588900e-03 -2.39115724e-04 9.99987190e-01 7.34689491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:148.23, Y:2.19, Z:0.74 [[ 9.99178840e-01 -4.01998063e-02 -5.06174277e-03 1.48225787e+02] [ 4.02004172e-02 9.99191636e-01 1.89585323e-05 2.19286032e+00] [ 5.05688891e-03 -2.22427135e-04 9.99987189e-01 7.35003236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:148.25, Y:2.19, Z:0.73 [[ 9.99266968e-01 -3.79461708e-02 -5.06102242e-03 1.48254382e+02] [ 3.79470138e-02 9.99279750e-01 7.05988391e-05 2.19226096e+00] [ 5.05469826e-03 -2.62597775e-04 9.99987190e-01 7.34847647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09439141800001 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:148.29, Y:2.19, Z:0.73 [[ 9.99068573e-01 -4.28528299e-02 -5.06184438e-03 1.48290023e+02] [ 4.28534317e-02 9.99081370e-01 1.04231729e-05 2.19357014e+00] [ 5.05674776e-03 -2.27330867e-04 9.99987189e-01 7.34891790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12439141800002 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:148.32, Y:2.20, Z:0.74 [[ 9.99009439e-01 -4.42100417e-02 -5.06098309e-03 1.48322755e+02] [ 4.42109690e-02 9.99022215e-01 7.14398793e-05 2.19516992e+00] [ 5.05287618e-03 -2.95120080e-04 9.99987191e-01 7.35126715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15439141800002 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:148.36, Y:2.20, Z:0.73 [[ 9.99006247e-01 -4.42821100e-02 -5.06097534e-03 1.48355381e+02] [ 4.42830409e-02 9.99019022e-01 7.19846983e-05 2.19577156e+00] [ 5.05282301e-03 -2.96028541e-04 9.99987191e-01 7.34941377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18439141800002 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:148.39, Y:2.20, Z:0.74 [[ 9.99040400e-01 -4.35047771e-02 -5.06096758e-03 1.48388491e+02] [ 4.35057009e-02 9.99053176e-01 7.25263826e-05 2.19665286e+00] [ 5.05302049e-03 -2.92637728e-04 9.99987191e-01 7.36230619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21439141800002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:148.42, Y:2.20, Z:0.73 [[ 9.99139654e-01 -4.11623319e-02 -5.06095923e-03 1.48419262e+02] [ 4.11632286e-02 9.99152432e-01 7.31042227e-05 2.19965023e+00] [ 5.05366059e-03 -2.81366750e-04 9.99987191e-01 7.34723676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:148.45, Y:2.20, Z:0.74 [[ 9.99224087e-01 -3.90590560e-02 -5.06095509e-03 1.48452614e+02] [ 3.90599272e-02 9.99236867e-01 7.33899494e-05 2.20088080e+00] [ 5.05422637e-03 -2.71013543e-04 9.99987191e-01 7.35658202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:148.49, Y:2.20, Z:0.74 [[ 9.99414820e-01 -3.38290541e-02 -5.06094663e-03 1.48485540e+02] [ 3.38298613e-02 9.99427604e-01 7.39687008e-05 2.20412334e+00] [ 5.05554747e-03 -2.45136539e-04 9.99987191e-01 7.36126420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:148.52, Y:2.21, Z:0.73 [[ 9.99523995e-01 -3.04330400e-02 -5.06093786e-03 1.48517849e+02] [ 3.04338068e-02 9.99536782e-01 7.45639176e-05 2.20554742e+00] [ 5.05632434e-03 -2.28552030e-04 9.99987191e-01 7.34117900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:148.55, Y:2.21, Z:0.73 [[ 9.99717336e-01 -2.32300545e-02 -5.06093057e-03 1.48549190e+02] [ 2.32307317e-02 9.99730127e-01 7.50558936e-05 2.20926319e+00] [ 5.05782121e-03 -1.92603798e-04 9.99987191e-01 7.33009287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:148.58, Y:2.21, Z:0.74 [[ 9.99803496e-01 -1.91665521e-02 -5.06092674e-03 1.48581271e+02] [ 1.91671786e-02 9.99816290e-01 7.53129098e-05 2.21112828e+00] [ 5.05855351e-03 -1.72301797e-04 9.99987191e-01 7.36413347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:148.61, Y:2.21, Z:0.74 [[ 9.99897136e-01 -1.34202952e-02 -5.06092058e-03 1.48611258e+02] [ 1.34208503e-02 9.99909933e-01 7.57246257e-05 2.21299101e+00] [ 5.05944851e-03 -1.43638694e-04 9.99987191e-01 7.36090409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:148.64, Y:2.22, Z:0.74 [[ 9.99934749e-01 -1.02411130e-02 -5.06128637e-03 1.48643427e+02] [ 1.02415035e-02 9.99947553e-01 5.12383971e-05 2.21505991e+00] [ 5.06049618e-03 -1.03070236e-04 9.99987190e-01 7.36770972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:148.67, Y:2.22, Z:0.74 [[ 9.99978993e-01 -4.04986851e-03 -5.06091781e-03 1.48668656e+02] [ 4.05030415e-03 9.99991795e-01 7.58343497e-05 2.22444410e+00] [ 5.06056917e-03 -9.63310131e-05 9.99987191e-01 7.36641609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:148.70, Y:2.22, Z:0.74 [[ 9.99982750e-01 2.97843641e-03 -5.06244569e-03 1.48703038e+02] [-2.97862946e-03 9.99995563e-01 -3.05944781e-05 2.22003363e+00] [ 5.06233210e-03 4.56731002e-05 9.99987185e-01 7.38187173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:148.73, Y:2.22, Z:0.74 [[ 9.99964126e-01 6.79220565e-03 -5.06085073e-03 1.48730635e+02] [-6.79190881e-03 9.99976932e-01 7.58398946e-05 2.22113867e+00] [ 5.06124911e-03 -4.14643372e-05 9.99987191e-01 7.39141402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.544391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:148.76, Y:2.22, Z:0.74 [[ 9.99932082e-01 1.04985374e-02 -5.06087389e-03 1.48758343e+02] [-1.04982960e-02 9.99944889e-01 7.42618508e-05 2.22214593e+00] [ 5.06137462e-03 -2.11262550e-05 9.99987191e-01 7.39528843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.574391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:148.79, Y:2.22, Z:0.74 [[ 9.99833785e-01 1.75154272e-02 -5.06088099e-03 1.48786626e+02] [-1.75152781e-02 9.99846593e-01 7.37747693e-05 2.22416307e+00] [ 5.06139681e-03 1.48802311e-05 9.99987191e-01 7.40410429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.604391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:148.82, Y:2.23, Z:0.74 [[ 9.99779618e-01 2.03740833e-02 -5.06088797e-03 1.48815334e+02] [-2.03739734e-02 9.99792426e-01 7.32927022e-05 2.22516493e+00] [ 5.06133073e-03 2.98338469e-05 9.99987191e-01 7.41793416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.634391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:148.84, Y:2.23, Z:0.74 [[ 9.99667488e-01 2.52844100e-02 -5.06089385e-03 1.48843637e+02] [-2.52843650e-02 9.99680297e-01 7.28842643e-05 2.22635474e+00] [ 5.06111870e-03 5.51014578e-05 9.99987191e-01 7.41716175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:148.87, Y:2.23, Z:0.74 [[ 9.99617797e-01 2.71780763e-02 -5.06090108e-03 1.48870600e+02] [-2.71780581e-02 9.99630606e-01 7.23785898e-05 2.22596980e+00] [ 5.06099873e-03 6.51945371e-05 9.99987191e-01 7.40791655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:148.90, Y:2.23, Z:0.74 [[ 9.99691470e-01 2.43176707e-02 -5.06120982e-03 1.48896431e+02] [-2.43177245e-02 9.99704279e-01 5.09123459e-05 2.22804015e+00] [ 5.06095118e-03 7.21804680e-05 9.99987191e-01 7.40361454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:148.93, Y:2.22, Z:0.74 [[ 9.99688528e-01 2.44381459e-02 -5.06194050e-03 1.48926715e+02] [-2.44384559e-02 9.99701336e-01 6.25621161e-07 2.22332543e+00] [ 5.06044397e-03 1.23080583e-04 9.99987188e-01 7.39781113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:148.96, Y:2.22, Z:0.74 [[ 9.99783918e-01 2.01618686e-02 -5.06124246e-03 1.48955682e+02] [-2.01618779e-02 9.99796727e-01 4.91982561e-05 2.22205215e+00] [ 5.06120558e-03 5.28565273e-05 9.99987191e-01 7.39029410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:148.98, Y:2.22, Z:0.74 [[ 9.99869283e-01 1.53558892e-02 -5.06091118e-03 1.48978274e+02] [-1.53557196e-02 9.99882091e-01 7.23667130e-05 2.22362398e+00] [ 5.06142571e-03 5.35667950e-06 9.99987191e-01 7.37116487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:149.01, Y:2.22, Z:0.74 [[ 9.99951824e-01 8.40995159e-03 -5.06183111e-03 1.49009401e+02] [-8.41003087e-03 9.99964635e-01 5.62261171e-06 2.21708362e+00] [ 5.06169939e-03 3.69478151e-05 9.99987189e-01 7.37777787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84439141800001 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:149.04, Y:2.22, Z:0.74 [[ 9.99983684e-01 2.64843963e-03 -5.06129465e-03 1.49039194e+02] [-2.64825059e-03 9.99996492e-01 4.40525984e-05 2.21556280e+00] [ 5.06139357e-03 -3.06483031e-05 9.99987191e-01 7.38484184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87439141800002 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:149.07, Y:2.21, Z:0.74 [[ 9.99974115e-01 -5.11435271e-03 -5.06091360e-03 1.49067855e+02] [ 5.11477830e-03 9.99986917e-01 7.11550266e-05 2.21183048e+00] [ 5.06048347e-03 -9.70386358e-05 9.99987191e-01 7.38945948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90439141800002 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:149.10, Y:2.21, Z:0.74 [[ 9.99973912e-01 -5.15392941e-03 -5.06091919e-03 1.49098002e+02] [ 5.15435348e-03 9.99986714e-01 7.07548420e-05 2.21144789e+00] [ 5.06048729e-03 -9.68387626e-05 9.99987191e-01 7.39098690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93439141800002 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:149.13, Y:2.21, Z:0.74 [[ 9.99964765e-01 -6.69741781e-03 -5.06092198e-03 1.49126684e+02] [ 6.69786063e-03 9.99977567e-01 7.05545499e-05 2.20864772e+00] [ 5.06033592e-03 -1.04449414e-04 9.99987191e-01 7.36833328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96439141800002 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:149.16, Y:2.21, Z:0.74 [[ 9.99940981e-01 -9.61342951e-03 -5.06129699e-03 1.49158456e+02] [ 9.61377626e-03 9.99953786e-01 4.41835786e-05 2.20604643e+00] [ 5.06063833e-03 -9.28391477e-05 9.99987191e-01 7.38733488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:149.19, Y:2.20, Z:0.74 [[ 9.99913260e-01 -1.21599785e-02 -5.06029104e-03 1.49189201e+02] [ 1.21607785e-02 9.99926047e-01 1.27362566e-04 2.20087394e+00] [ 5.05836809e-03 -1.88888597e-04 9.99987189e-01 7.38771063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:149.21, Y:2.20, Z:0.74 [[ 9.99829439e-01 -1.77620217e-02 -5.06004526e-03 1.49214459e+02] [ 1.77629951e-02 9.99842215e-01 1.47476332e-04 2.20481882e+00] [ 5.05662738e-03 -2.37332737e-04 9.99987187e-01 7.41174119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:149.25, Y:2.20, Z:0.74 [[ 9.99822376e-01 -1.81549326e-02 -5.06107820e-03 1.49246235e+02] [ 1.81554650e-02 9.99835174e-01 5.92600335e-05 2.20294409e+00] [ 5.05916814e-03 -1.51135736e-04 9.99987191e-01 7.41804080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:149.28, Y:2.20, Z:0.74 [[ 9.99823973e-01 -1.80667980e-02 -5.06107346e-03 1.49278181e+02] [ 1.80673312e-02 9.99836771e-01 5.96620100e-05 2.20102521e+00] [ 5.05916944e-03 -1.51091598e-04 9.99987191e-01 7.42248078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:149.31, Y:2.20, Z:0.74 [[ 9.99854210e-01 -1.63078113e-02 -5.06106873e-03 1.49310694e+02] [ 1.63083241e-02 9.99867009e-01 6.00609600e-05 2.19834366e+00] [ 5.05941619e-03 -1.42589753e-04 9.99987191e-01 7.42799607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:149.34, Y:2.20, Z:0.74 [[ 9.99879576e-01 -1.46703684e-02 -5.06106388e-03 1.49342066e+02] [ 1.46708622e-02 9.99892375e-01 6.04665785e-05 2.19724365e+00] [ 5.05963212e-03 -1.34709468e-04 9.99987191e-01 7.42518640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:149.37, Y:2.20, Z:0.74 [[ 9.99908449e-01 -1.25490635e-02 -5.06106025e-03 1.49374375e+02] [ 1.25495317e-02 9.99921250e-01 6.07686454e-05 2.19604980e+00] [ 5.05989910e-03 -1.24277018e-04 9.99987191e-01 7.42452407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:149.40, Y:2.19, Z:0.74 [[ 9.99962584e-01 -7.01543967e-03 -5.06105529e-03 1.49404350e+02] [ 7.01583913e-03 9.99975387e-01 6.11789018e-05 2.19443860e+00] [ 5.06050153e-03 -9.66841625e-05 9.99987191e-01 7.41695507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:149.43, Y:2.19, Z:0.74 [[ 9.99979875e-01 -3.82551388e-03 -5.06105407e-03 1.49434286e+02] [ 3.82587301e-03 9.99992679e-01 6.12803143e-05 2.19355620e+00] [ 5.06078259e-03 -8.06420312e-05 9.99987191e-01 7.41413994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:149.46, Y:2.19, Z:0.74 [[ 9.99983450e-01 2.73613232e-03 -5.06105527e-03 1.49463871e+02] [-2.73585772e-03 9.99996256e-01 6.11806080e-05 2.19239553e+00] [ 5.06120372e-03 -4.73332683e-05 9.99987191e-01 7.40615098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.294391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:149.49, Y:2.19, Z:0.74 [[ 9.99972493e-01 5.42207742e-03 -5.06105767e-03 1.49492157e+02] [-5.42183822e-03 9.99985300e-01 6.09814923e-05 2.19183259e+00] [ 5.06131392e-03 -3.35395790e-05 9.99987191e-01 7.40617126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.324391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:149.52, Y:2.19, Z:0.74 [[ 9.99932724e-01 1.04371131e-02 -5.06107632e-03 1.49518939e+02] [-1.04369462e-02 9.99945532e-01 5.93926896e-05 2.19094610e+00] [ 5.06142054e-03 -6.56651271e-06 9.99987191e-01 7.40052224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.354391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:149.55, Y:2.19, Z:0.74 [[ 9.99914819e-01 1.20307675e-02 -5.06108429e-03 1.49546810e+02] [-1.20306245e-02 9.99927628e-01 5.87053532e-05 2.19027654e+00] [ 5.06142428e-03 2.18765187e-06 9.99987191e-01 7.40270110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.384391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:149.58, Y:2.19, Z:0.74 [[ 9.99900486e-01 1.31682567e-02 -5.06109119e-03 1.49575132e+02] [-1.31681312e-02 9.99913295e-01 5.81043328e-05 2.18971348e+00] [ 5.06141750e-03 8.54656240e-06 9.99987191e-01 7.40439199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:149.60, Y:2.19, Z:0.74 [[ 9.99899265e-01 1.32606421e-02 -5.06109808e-03 1.49601785e+02] [-1.32605209e-02 9.99912074e-01 5.74981626e-05 2.18910244e+00] [ 5.06141553e-03 9.62042623e-06 9.99987191e-01 7.40473056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:149.63, Y:2.19, Z:0.74 [[ 9.99905043e-01 1.28175652e-02 -5.06110778e-03 1.49629995e+02] [-1.28174428e-02 9.99917852e-01 5.66304254e-05 2.18832890e+00] [ 5.06141789e-03 8.24541142e-06 9.99987191e-01 7.40791361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:149.66, Y:2.19, Z:0.74 [[ 9.99929944e-01 1.07000584e-02 -5.06111444e-03 1.49658050e+02] [-1.06999118e-02 9.99942753e-01 5.60291888e-05 2.18618737e+00] [ 5.06142422e-03 -1.87178537e-06 9.99987191e-01 7.41570327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:149.69, Y:2.18, Z:0.74 [[ 9.99944844e-01 9.20298593e-03 -5.06112102e-03 1.49685656e+02] [-9.20282327e-03 9.99957652e-01 5.54287923e-05 2.18490256e+00] [ 5.06141680e-03 -8.84913283e-06 9.99987191e-01 7.41830062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:149.71, Y:2.18, Z:0.74 [[ 9.99969475e-01 5.95271941e-03 -5.06112747e-03 1.49714619e+02] [-5.95251812e-03 9.99982282e-01 5.48335126e-05 2.18161060e+00] [ 5.06136420e-03 -2.47053859e-05 9.99987191e-01 7.41900831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:149.74, Y:2.18, Z:0.74 [[ 9.99978471e-01 4.17632562e-03 -5.06113180e-03 1.49742256e+02] [-4.17610362e-03 9.99991279e-01 5.44308789e-05 2.17968442e+00] [ 5.06131498e-03 -3.32938963e-05 9.99987191e-01 7.42088400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59439141800001 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:149.77, Y:2.18, Z:0.74 [[ 9.99983392e-01 2.75680115e-03 -5.06113712e-03 1.49770756e+02] [-2.75656350e-03 9.99996199e-01 5.39315710e-05 2.17782987e+00] [ 5.06126656e-03 -3.99793295e-05 9.99987191e-01 7.42540909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62439141800002 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:149.80, Y:2.18, Z:0.74 [[ 9.99987188e-01 -9.51496880e-05 -5.06114129e-03 1.49799208e+02] [ 9.54218699e-05 9.99999994e-01 5.35373232e-05 2.17510361e+00] [ 5.06113616e-03 -5.40195808e-05 9.99987191e-01 7.43032537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65439141800002 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:149.83, Y:2.17, Z:0.74 [[ 9.99986409e-01 -1.25192007e-03 -5.06114552e-03 1.49828262e+02] [ 1.25220503e-03 9.99999215e-01 5.31342195e-05 2.17341783e+00] [ 5.06107502e-03 -5.94710892e-05 9.99987191e-01 7.43051803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68439141800002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:149.86, Y:2.17, Z:0.74 [[ 9.99984999e-01 -2.09438327e-03 -5.06114985e-03 1.49855741e+02] [ 2.09467691e-03 9.99997805e-01 5.27182649e-05 2.17144680e+00] [ 5.06102833e-03 -6.33189478e-05 9.99987191e-01 7.43134063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71439141800002 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:149.88, Y:2.17, Z:0.74 [[ 9.99981801e-01 -3.28361906e-03 -5.06115517e-03 1.49884947e+02] [ 3.28392532e-03 9.99994607e-01 5.22028799e-05 2.16790478e+00] [ 5.06095646e-03 -6.88223855e-05 9.99987191e-01 7.43067294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:149.91, Y:2.17, Z:0.74 [[ 9.99981512e-01 -3.37039046e-03 -5.06115939e-03 1.49913934e+02] [ 3.37069574e-03 9.99994318e-01 5.17903622e-05 2.16620341e+00] [ 5.06095608e-03 -6.88490331e-05 9.99987191e-01 7.43539524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:149.94, Y:2.16, Z:0.74 [[ 9.99983083e-01 -2.86675985e-03 -5.06116331e-03 1.49943321e+02] [ 2.86705673e-03 9.99995889e-01 5.14043241e-05 2.16474387e+00] [ 5.06099514e-03 -6.59140968e-05 9.99987191e-01 7.43289269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:149.97, Y:2.16, Z:0.74 [[ 9.99986885e-01 -7.84449787e-04 -5.06116537e-03 1.49972487e+02] [ 7.84718971e-04 9.99999691e-01 5.12005384e-05 2.16266592e+00] [ 5.06112364e-03 -5.51714593e-05 9.99987191e-01 7.43213030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:150.00, Y:2.16, Z:0.74 [[ 9.99986655e-01 1.03653524e-03 -5.06117952e-03 1.49999917e+02] [-1.03629666e-03 9.99999462e-01 4.97612248e-05 2.16164837e+00] [ 5.06122838e-03 -4.45156773e-05 9.99987191e-01 7.43318312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:150.03, Y:2.16, Z:0.74 [[ 9.99983005e-01 2.89375366e-03 -5.06118447e-03 1.50027938e+02] [-2.89354144e-03 9.99995812e-01 4.92529545e-05 2.16082618e+00] [ 5.06130580e-03 -3.46073705e-05 9.99987191e-01 7.43318380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:150.06, Y:2.16, Z:0.74 [[ 9.99962926e-01 6.96639160e-03 -5.06119981e-03 1.50055935e+02] [-6.96623979e-03 9.99975734e-01 4.76230263e-05 2.15917749e+00] [ 5.06140875e-03 -1.23637292e-05 9.99987191e-01 7.43016496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:150.08, Y:2.16, Z:0.74 [[ 9.99948058e-01 8.84674800e-03 -5.06121462e-03 1.50083624e+02] [-8.84662853e-03 9.99960867e-01 4.59930933e-05 2.15796874e+00] [ 5.06142344e-03 -1.21601867e-06 9.99987191e-01 7.42839830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:150.11, Y:2.16, Z:0.74 [[ 9.99929966e-01 1.06980001e-02 -5.06122013e-03 1.50111960e+02] [-1.06979074e-02 9.99942775e-01 4.53784724e-05 2.15633288e+00] [ 5.06141596e-03 8.76917002e-06 9.99987191e-01 7.42479849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:150.14, Y:2.15, Z:0.74 [[ 9.99918493e-01 1.17214321e-02 -5.06122552e-03 1.50140297e+02] [-1.17213556e-02 9.99931302e-01 4.47685664e-05 2.15295876e+00] [ 5.06140258e-03 1.45595067e-05 9.99987191e-01 7.41254683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:150.17, Y:2.15, Z:0.74 [[ 9.99923728e-01 1.12659814e-02 -5.06123081e-03 1.50167976e+02] [-1.12659021e-02 9.99936537e-01 4.41623803e-05 2.15074280e+00] [ 5.06140714e-03 1.28603191e-05 9.99987191e-01 7.40513201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.044391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:150.20, Y:2.15, Z:0.74 [[ 9.99934402e-01 1.02749799e-02 -5.06123602e-03 1.50195614e+02] [-1.02748910e-02 9.99947211e-01 4.35574010e-05 2.14828092e+00] [ 5.06141639e-03 8.44910486e-06 9.99987191e-01 7.39769242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.074391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:150.22, Y:2.14, Z:0.74 [[ 9.99965619e-01 6.56848070e-03 -5.06124114e-03 1.50223001e+02] [-6.56834743e-03 9.99978427e-01 4.29539745e-05 2.14321538e+00] [ 5.06141410e-03 -9.70850741e-06 9.99987191e-01 7.38500250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.104391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:150.25, Y:2.14, Z:0.74 [[ 9.99979379e-01 3.95301417e-03 -5.06124531e-03 1.50251371e+02] [-3.95284991e-03 9.99992187e-01 4.24569038e-05 2.14054478e+00] [ 5.06137360e-03 -2.24496852e-05 9.99987191e-01 7.37882650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.134391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:150.28, Y:2.14, Z:0.74 [[ 9.99986441e-01 1.22508802e-03 -5.06124861e-03 1.50279994e+02] [-1.22489083e-03 9.99999249e-01 4.20600598e-05 2.13783748e+00] [ 5.06129633e-03 -3.58600125e-05 9.99987191e-01 7.37673187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:150.31, Y:2.13, Z:0.74 [[ 9.99980291e-01 -3.71502358e-03 -5.06125186e-03 1.50308219e+02] [ 3.71528204e-03 9.99993097e-01 4.16649905e-05 2.13206325e+00] [ 5.06106214e-03 -6.04681475e-05 9.99987191e-01 7.36649791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:150.34, Y:2.13, Z:0.74 [[ 9.99968917e-01 -6.04556035e-03 -5.06125584e-03 1.50337525e+02] [ 6.04584618e-03 9.99981723e-01 4.11762135e-05 2.12930549e+00] [ 5.06091440e-03 -7.17745079e-05 9.99987191e-01 7.36678685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:150.37, Y:2.12, Z:0.74 [[ 9.99948726e-01 -8.77093834e-03 -5.06125740e-03 1.50366996e+02] [ 8.77125810e-03 9.99961531e-01 4.09832029e-05 2.12395292e+00] [ 5.06070324e-03 -8.53746965e-05 9.99987191e-01 7.36943027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:150.40, Y:2.12, Z:0.74 [[ 9.99944549e-01 -9.23483969e-03 -5.06125894e-03 1.50396662e+02] [ 9.23516442e-03 9.99957354e-01 4.07916734e-05 2.12109098e+00] [ 5.06066640e-03 -8.75309700e-05 9.99987191e-01 7.37230546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:150.43, Y:2.12, Z:0.74 [[ 9.99943455e-01 -9.35254736e-03 -5.06125878e-03 1.50425719e+02] [ 9.35287370e-03 9.99956260e-01 4.08118419e-05 2.11827031e+00] [ 5.06065571e-03 -8.81468484e-05 9.99987191e-01 7.37516536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:150.46, Y:2.11, Z:0.74 [[ 9.99955808e-01 -7.92249891e-03 -5.06125954e-03 1.50456410e+02] [ 7.92280646e-03 9.99968613e-01 4.07175674e-05 2.11321975e+00] [ 5.06077810e-03 -8.08151477e-05 9.99987191e-01 7.38814556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34439141800001 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:150.49, Y:2.11, Z:0.74 [[ 9.99965593e-01 -6.57233340e-03 -5.06125954e-03 1.50485820e+02] [ 6.57262365e-03 9.99978399e-01 4.07175674e-05 2.11064629e+00] [ 5.06088260e-03 -7.39819206e-05 9.99987191e-01 7.37766246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37439141800002 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:150.52, Y:2.11, Z:0.74 [[ 9.99973268e-01 -5.27709762e-03 -5.06126035e-03 1.50515519e+02] [ 5.27737078e-03 9.99986074e-01 4.06160230e-05 2.10814292e+00] [ 5.06097553e-03 -6.73250847e-05 9.99987191e-01 7.37531222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40439141800002 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:150.54, Y:2.10, Z:0.74 [[ 9.99984392e-01 -2.36628398e-03 -5.06126109e-03 1.50544848e+02] [ 2.36651939e-03 9.99997199e-01 4.05238962e-05 2.10305779e+00] [ 5.06115102e-03 -5.25008362e-05 9.99987191e-01 7.37704253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43439141800002 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:150.57, Y:2.10, Z:0.74 [[ 9.99986719e-01 -9.72223878e-04 -5.06126274e-03 1.50573387e+02] [ 9.72440387e-04 9.99999526e-01 4.03169990e-05 2.10033789e+00] [ 5.06122114e-03 -4.52382398e-05 9.99987191e-01 7.36932596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46439141800002 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:150.60, Y:2.10, Z:0.74 [[ 9.99987179e-01 1.57546711e-04 -5.06126518e-03 1.50601790e+02] [-1.57346232e-04 9.99999987e-01 4.00085847e-05 2.09753813e+00] [ 5.06127141e-03 -3.92117008e-05 9.99987191e-01 7.36985891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:150.63, Y:2.09, Z:0.74 [[ 9.99984754e-01 2.20810784e-03 -5.06127609e-03 1.50630731e+02] [-2.20794087e-03 9.99997562e-01 3.85762801e-05 2.09283286e+00] [ 5.06134893e-03 -2.74006936e-05 9.99987191e-01 7.35272958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:150.66, Y:2.09, Z:0.74 [[ 9.99978071e-01 4.27114661e-03 -5.06113832e-03 1.50658097e+02] [-4.27091454e-03 9.99990878e-01 5.66621737e-05 2.08987004e+00] [ 5.06133416e-03 -3.50452420e-05 9.99987191e-01 7.35460645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:150.69, Y:2.09, Z:0.74 [[ 9.99969325e-01 5.97767143e-03 -5.06128062e-03 1.50685739e+02] [-5.97755864e-03 9.99982134e-01 3.74105914e-05 2.08710599e+00] [ 5.06141382e-03 -7.15534216e-06 9.99987191e-01 7.35839120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:150.71, Y:2.08, Z:0.73 [[ 9.99946841e-01 8.98328205e-03 -5.06128501e-03 1.50713573e+02] [-8.98321083e-03 9.99959649e-01 3.68068090e-05 2.08217352e+00] [ 5.06141143e-03 8.66173789e-06 9.99987191e-01 7.32824217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:150.74, Y:2.08, Z:0.73 [[ 9.99923242e-01 1.13090493e-02 -5.06122320e-03 1.50741425e+02] [-1.13089648e-02 9.99936051e-01 4.53146205e-05 2.07913021e+00] [ 5.06141201e-03 1.19260527e-05 9.99987191e-01 7.33505066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:150.77, Y:2.08, Z:0.73 [[ 9.99900862e-01 1.31396166e-02 -5.06129042e-03 1.50768744e+02] [-1.31396036e-02 9.99913671e-01 3.58154163e-05 2.07606752e+00] [ 5.06132409e-03 3.06914842e-05 9.99987191e-01 7.33328833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:150.80, Y:2.07, Z:0.73 [[ 9.99877701e-01 1.47975415e-02 -5.06129411e-03 1.50798441e+02] [-1.47975525e-02 9.99890510e-01 3.52857525e-05 2.07071769e+00] [ 5.06126209e-03 3.96133283e-05 9.99987191e-01 7.32741473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:150.83, Y:2.07, Z:0.73 [[ 9.99847571e-01 1.67098837e-02 -5.06116030e-03 1.50826499e+02] [-1.67098217e-02 9.99860380e-01 5.45373294e-05 2.06752505e+00] [ 5.06136497e-03 3.00420700e-05 9.99987191e-01 7.33586886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:150.86, Y:2.06, Z:0.73 [[ 9.99840696e-01 1.71162747e-02 -5.06129777e-03 1.50855664e+02] [-1.71163209e-02 9.99853504e-01 3.41836012e-05 2.06473955e+00] [ 5.06114141e-03 5.24526412e-05 9.99987191e-01 7.33794045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:150.88, Y:2.06, Z:0.73 [[ 9.99853812e-01 1.63321140e-02 -5.06130053e-03 1.50883093e+02] [-1.63321523e-02 9.99866621e-01 3.37696319e-05 2.05861449e+00] [ 5.06117699e-03 4.88972361e-05 9.99987191e-01 7.33362081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.794391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:150.91, Y:2.06, Z:0.73 [[ 9.99855126e-01 1.62514963e-02 -5.06130391e-03 1.50912403e+02] [-1.62515361e-02 9.99867935e-01 3.32553383e-05 2.05852011e+00] [ 5.06117594e-03 4.90034428e-05 9.99987191e-01 7.33510540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.824391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:150.94, Y:2.06, Z:0.73 [[ 9.99884793e-01 1.43102737e-02 -5.06130656e-03 1.50941746e+02] [-1.43102907e-02 9.99897602e-01 3.28472556e-05 2.05552061e+00] [ 5.06125834e-03 3.95852970e-05 9.99987191e-01 7.33448351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.854391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:150.97, Y:2.05, Z:0.73 [[ 9.99929182e-01 1.07709877e-02 -5.06123884e-03 1.50968828e+02] [-1.07709063e-02 9.99941991e-01 4.33512310e-05 2.04848113e+00] [ 5.06141218e-03 1.11659683e-05 9.99987191e-01 7.34277402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.884391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:151.00, Y:2.05, Z:0.74 [[ 9.99952032e-01 8.38548909e-03 -5.06131126e-03 1.50997857e+02] [-8.38543535e-03 9.99964841e-01 3.18395958e-05 2.04505909e+00] [ 5.06140030e-03 1.06032298e-05 9.99987191e-01 7.36869460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914391418 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:151.03, Y:2.04, Z:0.74 [[ 9.99970632e-01 5.75480501e-03 -5.06131395e-03 1.51025996e+02] [-5.75471976e-03 9.99983441e-01 3.14066895e-05 2.04180641e+00] [ 5.06141088e-03 -2.27932379e-06 9.99987191e-01 7.36615407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:151.05, Y:2.04, Z:0.74 [[ 9.99982372e-01 3.10470404e-03 -5.06131723e-03 1.51054871e+02] [-3.10458757e-03 9.99995180e-01 3.08686859e-05 2.03846388e+00] [ 5.06138867e-03 -1.51548392e-05 9.99987191e-01 7.39220809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:151.08, Y:2.03, Z:0.74 [[ 9.99986282e-01 -1.34841374e-03 -5.06131981e-03 1.51083576e+02] [ 1.34858507e-03 9.99999090e-01 3.04390200e-05 2.03258679e+00] [ 5.06127416e-03 -3.72642228e-05 9.99987191e-01 7.40621764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:151.11, Y:2.03, Z:0.74 [[ 9.99981746e-01 -3.30022906e-03 -5.06132243e-03 1.51112403e+02] [ 3.30042316e-03 9.99994553e-01 2.99974567e-05 2.02975193e+00] [ 5.06119586e-03 -4.67014149e-05 9.99987191e-01 7.41202071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.14, Y:2.03, Z:0.74 [[ 9.99974534e-01 -5.03142269e-03 -5.06132498e-03 1.51140913e+02] [ 5.03163675e-03 9.99987341e-01 2.95602106e-05 2.02673381e+00] [ 5.06111218e-03 -5.50262065e-05 9.99987191e-01 7.41283272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:151.17, Y:2.02, Z:0.74 [[ 9.99960887e-01 -7.25315736e-03 -5.06132750e-03 1.51169057e+02] [ 7.25339765e-03 9.99973693e-01 2.91220181e-05 2.02114333e+00] [ 5.06098313e-03 -6.58327000e-05 9.99987191e-01 7.40597131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09439141800001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.20, Y:2.02, Z:0.74 [[ 9.99956594e-01 -7.82258663e-03 -5.06132935e-03 1.51199021e+02] [ 7.82283258e-03 9.99969401e-01 2.87973205e-05 2.01885518e+00] [ 5.06094921e-03 -6.83900027e-05 9.99987191e-01 7.41747805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.23, Y:2.02, Z:0.74 [[ 9.99958409e-01 -7.58701324e-03 -5.06133062e-03 1.51227486e+02] [ 7.58725503e-03 9.99971216e-01 2.85724281e-05 2.01695334e+00] [ 5.06096816e-03 -6.69728460e-05 9.99987191e-01 7.41527374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15439141800002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:151.26, Y:2.01, Z:0.74 [[ 9.99966669e-01 -6.40660985e-03 -5.06133248e-03 1.51256388e+02] [ 6.40683484e-03 9.99979476e-01 2.82391875e-05 2.01442182e+00] [ 5.06104768e-03 -6.06653675e-05 9.99987191e-01 7.40673055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:2.01, Z:0.74 [[ 9.99974905e-01 -4.95702696e-03 -5.06133477e-03 1.51286361e+02] [ 4.95723128e-03 9.99987712e-01 2.78233330e-05 2.01306033e+00] [ 5.06113465e-03 -5.29128418e-05 9.99987191e-01 7.40583861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21439141800002 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:151.32, Y:2.01, Z:0.74 [[ 9.99980508e-01 -3.65612732e-03 -5.06133589e-03 1.51315011e+02] [ 3.65631393e-03 9.99993315e-01 2.76169777e-05 2.01202448e+00] [ 5.06120109e-03 -4.61222723e-05 9.99987191e-01 7.41712266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:151.34, Y:2.01, Z:0.74 [[ 9.99986794e-01 8.91046185e-04 -5.06134378e-03 1.51343142e+02] [-8.90925559e-04 9.99999603e-01 2.60874167e-05 2.00943204e+00] [ 5.06136501e-03 -2.15777917e-05 9.99987191e-01 7.42549912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.37, Y:2.01, Z:0.74 [[ 9.99983364e-01 2.76654999e-03 -5.06134597e-03 1.51371261e+02] [-2.76645558e-03 9.99996173e-01 2.56539746e-05 2.00853165e+00] [ 5.06139758e-03 -1.16515590e-05 9.99987191e-01 7.43071053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.40, Y:2.01, Z:0.74 [[ 9.99964628e-01 6.71752160e-03 -5.06135410e-03 1.51399329e+02] [-6.71748650e-03 9.99977437e-01 2.39353322e-05 2.00667803e+00] [ 5.06140069e-03 1.00650922e-05 9.99987191e-01 7.43308513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.43, Y:2.01, Z:0.74 [[ 9.99957910e-01 7.65249769e-03 -5.06135656e-03 1.51427787e+02] [-7.65247726e-03 9.99970719e-01 2.34031088e-05 2.00600667e+00] [ 5.06138745e-03 1.53297923e-05 9.99987191e-01 7.43160092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.46, Y:2.00, Z:0.74 [[ 9.99952665e-01 8.30963757e-03 -5.06135847e-03 1.51456289e+02] [-8.30962768e-03 9.99965474e-01 2.29838956e-05 2.00481018e+00] [ 5.06137471e-03 1.90751968e-05 9.99987191e-01 7.42725089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:2.00, Z:0.74 [[ 9.99965370e-01 6.60610161e-03 -5.06136032e-03 1.51484770e+02] [-6.60607201e-03 9.99978179e-01 2.25668164e-05 2.00203012e+00] [ 5.06139896e-03 1.08696759e-05 9.99987191e-01 7.41966341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:2.00, Z:0.74 [[ 9.99977854e-01 4.32135195e-03 -5.06136222e-03 1.51513114e+02] [-4.32129528e-03 9.99990663e-01 2.21326538e-05 2.00034112e+00] [ 5.06141061e-03 -2.60522959e-07 9.99987191e-01 7.41342643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.54, Y:2.00, Z:0.74 [[ 9.99984817e-01 -2.17922230e-03 -5.06136410e-03 1.51540911e+02] [ 2.17936001e-03 9.99997625e-01 2.16941807e-05 1.99696411e+00] [ 5.06130481e-03 -3.27243859e-05 9.99987191e-01 7.39228251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:2.00, Z:0.74 [[ 9.99970674e-01 -5.74757579e-03 -5.06136636e-03 1.51569311e+02] [ 5.74775648e-03 9.99983481e-01 2.11532651e-05 1.99552972e+00] [ 5.06116118e-03 -5.02441461e-05 9.99987191e-01 7.40433461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:1.99, Z:0.74 [[ 9.99941661e-01 -9.54242960e-03 -5.06136812e-03 1.51598267e+02] [ 9.54265671e-03 9.99954468e-01 2.07238616e-05 1.99425546e+00] [ 5.06093991e-03 -6.90215511e-05 9.99987191e-01 7.41245432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:1.99, Z:0.74 [[ 9.99899641e-01 -1.32321815e-02 -5.06136983e-03 1.51626447e+02] [ 1.32324537e-02 9.99912447e-01 2.02976468e-05 1.99307146e+00] [ 5.06065811e-03 -8.72699518e-05 9.99987191e-01 7.41997589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:1.99, Z:0.74 [[ 9.99804586e-01 -1.91094863e-02 -5.06137108e-03 1.51656041e+02] [ 1.91098322e-02 9.99817390e-01 1.99812180e-05 1.99095499e+00] [ 5.06006499e-03 -1.16699265e-04 9.99987191e-01 7.44365626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:1.99, Z:0.75 [[ 9.99760700e-01 -2.12820457e-02 -5.06137190e-03 1.51687009e+02] [ 2.12824183e-02 9.99773503e-01 1.97702865e-05 1.98994888e+00] [ 5.05980477e-03 -1.27483790e-04 9.99987191e-01 7.45874006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:1.99, Z:0.74 [[ 9.99686266e-01 -2.45306362e-02 -5.06137190e-03 1.51714161e+02] [ 2.45310505e-02 9.99699068e-01 1.97702865e-05 1.99141354e+00] [ 5.05936380e-03 -1.43924854e-04 9.99987191e-01 7.44659276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:1.99, Z:0.75 [[ 9.99638471e-01 -2.64065482e-02 -5.06168518e-03 1.51745423e+02] [ 2.64065844e-02 9.99651284e-01 -5.96929183e-05 1.98959561e+00] [ 5.06149637e-03 -7.39904796e-05 9.99987188e-01 7.46421059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:1.99, Z:0.75 [[ 9.99650622e-01 -2.59425261e-02 -5.06160140e-03 1.51776093e+02] [ 2.59426612e-02 9.99663432e-01 -3.89610094e-05 1.98692150e+00] [ 5.06090857e-03 -9.23640131e-05 9.99987189e-01 7.48043901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:1.99, Z:0.75 [[ 9.99654295e-01 -2.58006555e-02 -5.06133611e-03 1.51807782e+02] [ 2.58010974e-02 9.99667096e-01 2.20195396e-05 1.98664116e+00] [ 5.05908305e-03 -1.52599953e-04 9.99987191e-01 7.48827643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:1.99, Z:0.75 [[ 9.99674744e-01 -2.49957901e-02 -5.06133517e-03 1.51839401e+02] [ 2.49962228e-02 9.99687545e-01 2.22344864e-05 1.98634226e+00] [ 5.05919796e-03 -1.48741516e-04 9.99987191e-01 7.49197005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:1.99, Z:0.75 [[ 9.99704670e-01 -2.37688005e-02 -5.06133422e-03 1.51869973e+02] [ 2.37692185e-02 9.99717472e-01 2.24487379e-05 1.98603505e+00] [ 5.05937067e-03 -1.42746067e-04 9.99987191e-01 7.49333848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:1.99, Z:0.75 [[ 9.99742257e-01 -2.21314607e-02 -5.06133374e-03 1.51899691e+02] [ 2.21318583e-02 9.99755060e-01 2.25547104e-05 1.98625388e+00] [ 5.05959485e-03 -1.34565618e-04 9.99987191e-01 7.48507160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:1.99, Z:0.75 [[ 9.99830844e-01 -1.76823954e-02 -5.06133421e-03 1.51930199e+02] [ 1.76827355e-02 9.99843648e-01 2.24497359e-05 1.98722223e+00] [ 5.06014589e-03 -1.11944173e-04 9.99987191e-01 7.49118931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:1.99, Z:0.75 [[ 9.99872091e-01 -1.51718617e-02 -5.06133421e-03 1.51960255e+02] [ 1.51721696e-02 9.99884896e-01 2.24497359e-05 1.98773129e+00] [ 5.06041102e-03 -9.92382857e-05 9.99987191e-01 7.49700347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:1.99, Z:0.75 [[ 9.99906630e-01 -1.26931116e-02 -5.06133421e-03 1.51990865e+02] [ 1.26933878e-02 9.99919435e-01 2.24497359e-05 1.98832114e+00] [ 5.06064149e-03 -8.66931175e-05 9.99987191e-01 7.49897184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:1.99, Z:0.75 [[ 9.99958061e-01 -7.63276403e-03 -5.06133421e-03 1.52020947e+02] [ 7.63297542e-03 9.99970868e-01 2.24497359e-05 1.98912859e+00] [ 5.06101541e-03 -6.10818340e-05 9.99987191e-01 7.49541453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:1.99, Z:0.75 [[ 9.99975686e-01 -4.79705176e-03 -5.06126029e-03 1.52049327e+02] [ 4.79731314e-03 9.99988492e-01 3.95031767e-05 1.99112138e+00] [ 5.06101255e-03 -6.37826667e-05 9.99987191e-01 7.48397287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:1.99, Z:0.75 [[ 9.99984296e-01 -2.40623504e-03 -5.06133713e-03 1.52078139e+02] [ 2.40637136e-03 9.99997104e-01 2.08428568e-05 1.99106854e+00] [ 5.06127233e-03 -3.30219862e-05 9.99987191e-01 7.47976364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:1.99, Z:0.75 [[ 9.99979781e-01 -3.84956491e-03 -5.06142756e-03 1.52108380e+02] [ 3.84960064e-03 9.99992590e-01 -2.68245912e-06 1.99271867e+00] [ 5.06140038e-03 -1.68020699e-05 9.99987191e-01 7.47173129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:1.99, Z:0.75 [[ 9.99979018e-01 -4.04306754e-03 -5.06134169e-03 1.52136669e+02] [ 4.04321827e-03 9.99991826e-01 1.95496259e-05 1.99324465e+00] [ 5.06122128e-03 -4.00133249e-05 9.99987191e-01 7.47146929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:152.16, Y:1.99, Z:0.75 [[ 9.99984502e-01 -2.31936056e-03 -5.06134291e-03 1.52158337e+02] [ 2.31948758e-03 9.99997310e-01 1.92270356e-05 1.99292268e+00] [ 5.06128470e-03 -3.09664597e-05 9.99987191e-01 7.48371614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:152.20, Y:1.99, Z:0.75 [[ 9.99962860e-01 -6.97552435e-03 -5.06169596e-03 1.52196350e+02] [ 6.97490009e-03 9.99975665e-01 -1.40972746e-04 1.99324423e+00] [ 5.06255614e-03 1.05662687e-04 9.99987180e-01 7.47002776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:1.99, Z:0.75 [[ 9.99951211e-01 -8.48291521e-03 -5.06118443e-03 1.52225516e+02] [ 8.48310710e-03 9.99964018e-01 1.64480835e-05 1.99302499e+00] [ 5.06086279e-03 -5.93818506e-05 9.99987192e-01 7.48658890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:152.26, Y:1.99, Z:0.75 [[ 9.99910062e-01 -1.24198574e-02 -5.06118510e-03 1.52255242e+02] [ 1.24200986e-02 9.99922867e-01 1.62382650e-05 1.99319777e+00] [ 5.06059304e-03 -7.90972227e-05 9.99987192e-01 7.49201758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:152.28, Y:2.00, Z:0.75 [[ 9.99866517e-01 -1.55348520e-02 -5.06118576e-03 1.52282362e+02] [ 1.55351321e-02 9.99879322e-01 1.60290844e-05 1.99585112e+00] [ 5.06032598e-03 -9.46531341e-05 9.99987192e-01 7.49719154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234391418 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:152.31, Y:2.00, Z:0.75 [[ 9.99837273e-01 -1.73150263e-02 -5.06142157e-03 1.52313082e+02] [ 1.73150289e-02 9.99850083e-01 -4.33134643e-05 1.99508774e+00] [ 5.06141275e-03 -4.43322446e-05 9.99987190e-01 7.48725595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:152.34, Y:1.99, Z:0.75 [[ 9.99798857e-01 -1.94069027e-02 -5.06144130e-03 1.52343879e+02] [ 1.94069083e-02 9.99811667e-01 -4.80116550e-05 1.99420668e+00] [ 5.06141982e-03 -5.02249294e-05 9.99987190e-01 7.49183078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.294391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:152.38, Y:1.99, Z:0.75 [[ 9.99763703e-01 -2.11404543e-02 -5.06146075e-03 1.52376042e+02] [ 2.11404581e-02 9.99776514e-01 -5.27633048e-05 1.98906490e+00] [ 5.06144503e-03 -5.42507620e-05 9.99987189e-01 7.51408071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:1.99, Z:0.75 [[ 9.99739357e-01 -2.22621355e-02 -5.06112868e-03 1.52406393e+02] [ 2.22625339e-02 9.99752159e-01 2.23701718e-05 1.98821846e+00] [ 5.05937631e-03 -1.35037890e-04 9.99987192e-01 7.52331249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:1.99, Z:0.75 [[ 9.99711425e-01 -2.34829941e-02 -5.06112868e-03 1.52433685e+02] [ 2.34834080e-02 9.99724227e-01 2.23701718e-05 1.98924052e+00] [ 5.05920763e-03 -1.41216266e-04 9.99987192e-01 7.52416592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:1.99, Z:0.75 [[ 9.99718615e-01 -2.31748534e-02 -5.06139465e-03 1.52466904e+02] [ 2.31749393e-02 9.99731424e-01 -4.16904731e-05 1.98715499e+00] [ 5.06100145e-03 -7.56187717e-05 9.99987190e-01 7.53004580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.50, Y:1.99, Z:0.75 [[ 9.99744240e-01 -2.20417685e-02 -5.06111388e-03 1.52496980e+02] [ 2.20421633e-02 9.99757042e-01 2.22312539e-05 1.98807870e+00] [ 5.05939422e-03 -1.33783466e-04 9.99987192e-01 7.52205845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:1.99, Z:0.75 [[ 9.99758040e-01 -2.14066735e-02 -5.06111341e-03 1.52526129e+02] [ 2.14070607e-02 9.99770842e-01 2.23369359e-05 1.99010916e+00] [ 5.05947546e-03 -1.30675093e-04 9.99987192e-01 7.51590202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:1.99, Z:0.75 [[ 9.99805408e-01 -1.90664749e-02 -5.06128816e-03 1.52556690e+02] [ 1.90666225e-02 9.99818215e-01 -1.90986508e-05 1.98880163e+00] [ 5.06073224e-03 -7.74067364e-05 9.99987191e-01 7.52424681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:1.99, Z:0.75 [[ 9.99838658e-01 -1.72349562e-02 -5.06110533e-03 1.52586823e+02] [ 1.72352899e-02 9.99851461e-01 2.23339661e-05 1.98940141e+00] [ 5.05996863e-03 -1.09559980e-04 9.99987192e-01 7.52559590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:152.62, Y:1.99, Z:0.75 [[ 9.99913695e-01 -1.21238261e-02 -5.06110487e-03 1.52616026e+02] [ 1.21240949e-02 9.99926500e-01 2.24375507e-05 1.99121567e+00] [ 5.06046085e-03 -8.37969299e-05 9.99987192e-01 7.52842341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.65, Y:1.99, Z:0.75 [[ 9.99945960e-01 -9.08083982e-03 -5.06110532e-03 1.52645643e+02] [ 9.08106915e-03 9.99958766e-01 2.23346384e-05 1.99205826e+00] [ 5.06069381e-03 -6.82936789e-05 9.99987192e-01 7.52653285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59439141800001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:152.67, Y:1.99, Z:0.75 [[ 9.99977850e-01 -4.32253062e-03 -5.06110621e-03 1.52674669e+02] [ 4.32269799e-03 9.99990657e-01 2.21307350e-05 1.99351835e+00] [ 5.06096327e-03 -4.40078785e-05 9.99987192e-01 7.53859434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:1.99, Z:0.75 [[ 9.99983077e-01 -2.86903251e-03 -5.06110753e-03 1.52703641e+02] [ 2.86917971e-03 9.99995884e-01 2.18254999e-05 1.99423545e+00] [ 5.06102408e-03 -3.63463576e-05 9.99987192e-01 7.53316439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65439141800002 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:152.73, Y:1.99, Z:0.75 [[ 9.99985582e-01 -1.79445859e-03 -5.06111320e-03 1.52732118e+02] [ 1.79458493e-03 9.99998390e-01 2.04203590e-05 1.99460300e+00] [ 5.06106840e-03 -2.95026621e-05 9.99987192e-01 7.52679055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68439141800002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:152.76, Y:1.99, Z:0.75 [[ 9.99986592e-01 -1.09627266e-03 -5.06111878e-03 1.52760824e+02] [ 1.09638250e-03 9.99999399e-01 1.89281855e-05 1.99439427e+00] [ 5.06109499e-03 -2.44768538e-05 9.99987192e-01 7.53481468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71439141800002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:152.79, Y:1.99, Z:0.75 [[ 9.99986454e-01 -1.21472061e-03 -5.06116989e-03 1.52789131e+02] [ 1.21475699e-03 9.99999262e-01 4.11257099e-06 1.99437130e+00] [ 5.06116116e-03 -1.02606068e-05 9.99987192e-01 7.53626948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.82, Y:1.99, Z:0.75 [[ 9.99980090e-01 -3.76886042e-03 -5.06117300e-03 1.52816709e+02] [ 3.76892474e-03 9.99992898e-01 3.16969384e-06 1.99418854e+00] [ 5.06112511e-03 -2.22448109e-05 9.99987192e-01 7.52293625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:152.85, Y:1.99, Z:0.75 [[ 9.99968235e-01 -6.15735684e-03 -5.06113002e-03 1.52846000e+02] [ 6.15751879e-03 9.99981042e-01 1.64186060e-05 1.99387238e+00] [ 5.06093298e-03 -4.75820877e-05 9.99987192e-01 7.49655131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:1.99, Z:0.75 [[ 9.99899516e-01 -1.32417529e-02 -5.06108488e-03 1.52874992e+02] [ 1.32420803e-02 9.99912319e-01 3.11709367e-05 1.99269764e+00] [ 5.06022836e-03 -9.81870967e-05 9.99987192e-01 7.53920331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:1.99, Z:0.75 [[ 9.99837643e-01 -1.72936931e-02 -5.06113286e-03 1.52904254e+02] [ 1.72939920e-02 9.99850448e-01 1.53013680e-05 1.99207609e+00] [ 5.06011134e-03 -1.02826075e-04 9.99987192e-01 7.54074105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:1.99, Z:0.75 [[ 9.99762888e-01 -2.11790455e-02 -5.06112843e-03 1.52934221e+02] [ 2.11794018e-02 9.99775691e-01 1.68048773e-05 1.99123098e+00] [ 5.05963727e-03 -1.23992565e-04 9.99987192e-01 7.54272766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:1.99, Z:0.75 [[ 9.99547433e-01 -2.96532436e-02 -5.06113505e-03 1.52964679e+02] [ 2.96536971e-02 9.99560232e-01 1.45720122e-05 1.99053282e+00] [ 5.05847722e-03 -1.64646783e-04 9.99987192e-01 7.53206966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.00, Y:1.99, Z:0.75 [[ 9.99452404e-01 -3.26998039e-02 -5.06121781e-03 1.52996449e+02] [ 3.27001574e-02 9.99465207e-01 -1.29187545e-05 1.98962458e+00] [ 5.05893355e-03 -1.52590939e-04 9.99987192e-01 7.54258345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:1.99, Z:0.76 [[ 9.99376669e-01 -3.49379040e-02 -5.06117991e-03 1.53027557e+02] [ 3.49383470e-02 9.99389470e-01 -8.84395466e-07 1.98862768e+00] [ 5.05812081e-03 -1.75945416e-04 9.99987192e-01 7.55323111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:1.99, Z:0.76 [[ 9.99268556e-01 -3.79043199e-02 -5.06115974e-03 1.53058445e+02] [ 3.79048335e-02 9.99281354e-01 5.56079959e-06 1.98852821e+00] [ 5.05731178e-03 -1.97399150e-04 9.99987192e-01 7.55211038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.09, Y:1.99, Z:0.75 [[ 9.99238964e-01 -3.86765685e-02 -5.06117389e-03 1.53089203e+02] [ 3.86770687e-02 9.99251762e-01 9.40513727e-07 1.98906827e+00] [ 5.05735056e-03 -1.96691168e-04 9.99987192e-01 7.54054665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:1.99, Z:0.75 [[ 9.99272123e-01 -3.78101693e-02 -5.06118514e-03 1.53121222e+02] [ 3.78106396e-02 9.99284922e-01 -2.75618356e-06 1.98899565e+00] [ 5.05767021e-03 -1.88612470e-04 9.99987192e-01 7.54951428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.074391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.15, Y:1.99, Z:0.76 [[ 9.99381360e-01 -3.48034669e-02 -5.06117114e-03 1.53152457e+02] [ 3.48039217e-02 9.99394160e-01 1.79148247e-06 1.98895166e+00] [ 5.05804253e-03 -1.77938978e-04 9.99987192e-01 7.56747643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.104391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.18, Y:1.99, Z:0.76 [[ 9.99452169e-01 -3.27069925e-02 -5.06112716e-03 1.53183307e+02] [ 3.27074915e-02 9.99464967e-01 1.58411958e-05 1.98972087e+00] [ 5.05790117e-03 -1.81369291e-04 9.99987192e-01 7.57072264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.134391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.21, Y:1.99, Z:0.75 [[ 9.99491970e-01 -3.14672445e-02 -5.06112646e-03 1.53213352e+02] [ 3.14677288e-02 9.99504768e-01 1.60632264e-05 1.99237215e+00] [ 5.05811456e-03 -1.75317221e-04 9.99987192e-01 7.54784933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:1.99, Z:0.76 [[ 9.99659728e-01 -2.55892937e-02 -5.06120981e-03 1.53242537e+02] [ 2.55895670e-02 9.99672533e-01 -1.07664836e-05 1.99099694e+00] [ 5.05982794e-03 -1.18751347e-04 9.99987192e-01 7.58047395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:1.99, Z:0.76 [[ 9.99741916e-01 -2.21469130e-02 -5.06125964e-03 1.53274658e+02] [ 2.21470661e-02 9.99754723e-01 -2.58070943e-05 1.99379144e+00] [ 5.06058978e-03 -8.62916179e-05 9.99987191e-01 7.57391341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:1.99, Z:0.76 [[ 9.99798990e-01 -1.94001041e-02 -5.06110687e-03 1.53306096e+02] [ 1.94004424e-02 9.99811794e-01 1.77513598e-05 1.99452386e+00] [ 5.05980996e-03 -1.15935504e-04 9.99987192e-01 7.57240183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:153.34, Y:2.00, Z:0.76 [[ 9.99888588e-01 -1.40426449e-02 -5.06110608e-03 1.53335177e+02] [ 1.40429157e-02 9.99901393e-01 1.79722789e-05 1.99695321e+00] [ 5.06035465e-03 -8.90429627e-05 9.99987192e-01 7.56644036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.36, Y:2.00, Z:0.76 [[ 9.99922158e-01 -1.14045295e-02 -5.06110604e-03 1.53364463e+02] [ 1.14047666e-02 9.99934963e-01 1.79849217e-05 1.99808287e+00] [ 5.06057177e-03 -7.57042546e-05 9.99987192e-01 7.56171388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:153.39, Y:2.00, Z:0.76 [[ 9.99947286e-01 -8.93372112e-03 -5.06110642e-03 1.53393658e+02] [ 8.93392602e-03 9.99960092e-01 1.78773293e-05 1.99929804e+00] [ 5.06074473e-03 -6.30919372e-05 9.99987192e-01 7.56709831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34439141800001 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:153.42, Y:2.00, Z:0.76 [[ 9.99965839e-01 -6.53494941e-03 -5.06110721e-03 1.53422140e+02] [ 6.53512244e-03 9.99978646e-01 1.76514147e-05 2.00054627e+00] [ 5.06088378e-03 -5.07257670e-05 9.99987192e-01 7.56471835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37439141800002 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:153.45, Y:2.00, Z:0.76 [[ 9.99984884e-01 -2.14872232e-03 -5.06110835e-03 1.53451641e+02] [ 2.14883748e-03 9.99997691e-01 1.73163301e-05 2.00243653e+00] [ 5.06105946e-03 -2.81915676e-05 9.99987192e-01 7.56107081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40439141800002 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:153.48, Y:2.00, Z:0.76 [[ 9.99987159e-01 2.59339815e-04 -5.06110911e-03 1.53479408e+02] [-2.59256626e-04 9.99999966e-01 1.70929640e-05 2.00280403e+00] [ 5.06111337e-03 -1.57806184e-05 9.99987192e-01 7.55843892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43439141800002 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:153.51, Y:2.00, Z:0.76 [[ 9.99983862e-01 2.58071639e-03 -5.06119418e-03 1.53507287e+02] [-2.58080630e-03 9.99996670e-01 -1.12342994e-05 2.00317135e+00] [ 5.06114833e-03 2.42960800e-05 9.99987192e-01 7.55535456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46439141800002 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:153.54, Y:2.00, Z:0.76 [[ 9.99985594e-01 1.78782361e-03 -5.06120434e-03 1.53536770e+02] [-1.78792094e-03 9.99998402e-01 -1.47067201e-05 2.00374102e+00] [ 5.06116995e-03 2.37555415e-05 9.99987192e-01 7.56914152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:153.57, Y:2.00, Z:0.76 [[ 9.99984621e-01 2.26785237e-03 -5.06111365e-03 1.53565684e+02] [-2.26780399e-03 9.99997428e-01 1.52978100e-05 2.00381675e+00] [ 5.06113533e-03 -3.81996107e-06 9.99987192e-01 7.57143415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:153.59, Y:2.00, Z:0.76 [[ 9.99984098e-01 2.48770893e-03 -5.06111492e-03 1.53593930e+02] [-2.48766556e-03 9.99996906e-01 1.48636686e-05 2.00368211e+00] [ 5.06113624e-03 -2.27307098e-06 9.99987192e-01 7.57572789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:153.62, Y:2.00, Z:0.76 [[ 9.99983686e-01 2.64810863e-03 -5.06111645e-03 1.53622479e+02] [-2.64807005e-03 9.99996494e-01 1.43248112e-05 2.00314033e+00] [ 5.06113664e-03 -9.22386626e-07 9.99987192e-01 7.58279599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:153.65, Y:2.00, Z:0.76 [[ 9.99983936e-01 2.55208926e-03 -5.06111761e-03 1.53651631e+02] [-2.55205158e-03 9.99996743e-01 1.39029485e-05 2.00230136e+00] [ 5.06113661e-03 -9.86491945e-07 9.99987192e-01 7.58886099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:153.68, Y:2.00, Z:0.76 [[ 9.99983454e-01 2.73436809e-03 -5.06111876e-03 1.53680323e+02] [-2.73433493e-03 9.99996262e-01 1.34707649e-05 2.00075155e+00] [ 5.06113667e-03 3.68251815e-07 9.99987192e-01 7.59716630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:153.71, Y:2.00, Z:0.76 [[ 9.99983476e-01 2.72642849e-03 -5.06111986e-03 1.53709002e+02] [-2.72639740e-03 9.99996283e-01 1.30425047e-05 2.00003768e+00] [ 5.06113661e-03 7.56334850e-07 9.99987192e-01 7.59734618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:153.74, Y:2.00, Z:0.76 [[ 9.99975118e-01 4.91412840e-03 -5.06112095e-03 1.53736472e+02] [-4.91412754e-03 9.99987926e-01 1.26062184e-05 1.99733977e+00] [ 5.06112178e-03 1.22650891e-05 9.99987192e-01 7.59197652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:153.77, Y:2.00, Z:0.76 [[ 9.99979656e-01 3.88213403e-03 -5.06118888e-03 1.53765798e+02] [-3.88228758e-03 9.99992464e-01 -2.05144738e-05 1.99681839e+00] [ 5.06107109e-03 4.01630472e-05 9.99987192e-01 7.58456113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.80, Y:2.00, Z:0.76 [[ 9.99977521e-01 4.39808742e-03 -5.06112396e-03 1.53795102e+02] [-4.39809025e-03 9.99990328e-01 1.05702314e-05 1.99535272e+00] [ 5.06112150e-03 1.16892861e-05 9.99987192e-01 7.59080652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:1.99, Z:0.76 [[ 9.99969485e-01 5.95105323e-03 -5.06112485e-03 1.53822793e+02] [-5.95107821e-03 9.99982292e-01 1.01252063e-05 1.99206317e+00] [ 5.06109548e-03 1.99942524e-05 9.99987192e-01 7.59580395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.85, Y:1.99, Z:0.76 [[ 9.99961745e-01 7.13402661e-03 -5.06112589e-03 1.53850737e+02] [-7.13406953e-03 9.99974552e-01 9.57442288e-06 1.99037786e+00] [ 5.06106540e-03 2.65323674e-05 9.99987192e-01 7.59786335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:1.99, Z:0.76 [[ 9.99952310e-01 8.35246228e-03 -5.06112686e-03 1.53878629e+02] [-8.35252356e-03 9.99965117e-01 9.02880310e-06 1.98909415e+00] [ 5.06102573e-03 3.32448089e-05 9.99987192e-01 7.60134283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:1.99, Z:0.76 [[ 9.99925306e-01 1.11250973e-02 -5.06112777e-03 1.53907632e+02] [-1.11251968e-02 9.99938113e-01 8.49066332e-06 1.98626236e+00] [ 5.06090901e-03 4.78160134e-05 9.99987192e-01 7.60943186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:1.99, Z:0.76 [[ 9.99920485e-01 1.15502415e-02 -5.06112844e-03 1.53934013e+02] [-1.15503486e-02 9.99933292e-01 8.06900681e-06 1.98748994e+00] [ 5.06088402e-03 5.03894324e-05 9.99987192e-01 7.60496077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:1.98, Z:0.76 [[ 9.99849080e-01 1.66192910e-02 -5.06127815e-03 1.53967295e+02] [-1.66197721e-02 9.99861881e-01 -5.30036269e-05 1.97891191e+00] [ 5.05969821e-03 1.37112917e-04 9.99987190e-01 7.60545983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:1.98, Z:0.76 [[ 9.99858247e-01 1.60583807e-02 -5.06109712e-03 1.53993040e+02] [-1.60585168e-02 9.99871054e-01 1.37304056e-05 1.97854146e+00] [ 5.06066500e-03 6.75452540e-05 9.99987192e-01 7.58686226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:1.98, Z:0.76 [[ 9.99842610e-01 1.70041004e-02 -5.06127046e-03 1.54022387e+02] [-1.70045794e-02 9.99855410e-01 -5.16156015e-05 1.97503952e+00] [ 5.05966098e-03 1.37672253e-04 9.99987190e-01 7.59367698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:1.97, Z:0.76 [[ 9.99822592e-01 1.81429914e-02 -5.06124779e-03 1.54053632e+02] [-1.81434424e-02 9.99835393e-01 -4.32114851e-05 1.96985509e+00] [ 5.05963069e-03 1.35032277e-04 9.99987191e-01 7.58900285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:1.97, Z:0.76 [[ 9.99835105e-01 1.74398502e-02 -5.06107200e-03 1.54081876e+02] [-1.74399965e-02 9.99847912e-01 1.52255506e-05 1.96693897e+00] [ 5.06056780e-03 7.30420381e-05 9.99987193e-01 7.57860685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:1.96, Z:0.76 [[ 9.99872467e-01 1.51471158e-02 -5.06107358e-03 1.54108475e+02] [-1.51472355e-02 9.99885274e-01 1.46795922e-05 1.96165210e+00] [ 5.06071530e-03 6.19835534e-05 9.99987193e-01 7.60105558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:1.96, Z:0.76 [[ 9.99887201e-01 1.41410522e-02 -5.06117865e-03 1.54136845e+02] [-1.41413603e-02 9.99900006e-01 -2.50866208e-05 1.95821901e+00] [ 5.06031781e-03 9.66557419e-05 9.99987192e-01 7.60105446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:1.95, Z:0.76 [[ 9.99906525e-01 1.27014003e-02 -5.06118407e-03 1.54165823e+02] [-1.27016997e-02 9.99919330e-01 -2.70122641e-05 1.95006241e+00] [ 5.06043269e-03 9.12953792e-05 9.99987192e-01 7.60879547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.20, Y:1.95, Z:0.76 [[ 9.99912261e-01 1.22415371e-02 -5.06116324e-03 1.54195126e+02] [-1.22417949e-02 9.99925066e-01 -1.99770034e-05 1.94606009e+00] [ 5.06053944e-03 8.19329733e-05 9.99987192e-01 7.61364944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:1.94, Z:0.76 [[ 9.99911223e-01 1.23260363e-02 -5.06115782e-03 1.54223867e+02] [-1.23262861e-02 9.99924028e-01 -1.81652307e-05 1.94182186e+00] [ 5.06054941e-03 8.05488974e-05 9.99987192e-01 7.61418685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:1.93, Z:0.76 [[ 9.99896807e-01 1.34447215e-02 -5.06113030e-03 1.54253037e+02] [-1.34449410e-02 9.99909613e-01 -9.34818279e-06 1.93469491e+00] [ 5.06054716e-03 7.73938166e-05 9.99987192e-01 7.60206439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:1.93, Z:0.76 [[ 9.99886650e-01 1.41799664e-02 -5.06113843e-03 1.54281236e+02] [-1.41802085e-02 9.99899456e-01 -1.19593142e-05 1.93131348e+00] [ 5.06045998e-03 8.37259570e-05 9.99987192e-01 7.60009281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:1.93, Z:0.76 [[ 9.99856211e-01 1.61846536e-02 -5.06113670e-03 1.54308968e+02] [-1.61849184e-02 9.99869016e-01 -1.13769234e-05 1.92740635e+00] [ 5.06028964e-03 9.32893722e-05 9.99987192e-01 7.58189483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:1.92, Z:0.76 [[ 9.99856666e-01 1.61564922e-02 -5.06114681e-03 1.54337695e+02] [-1.61567730e-02 9.99869471e-01 -1.46018147e-05 1.92042248e+00] [ 5.06025026e-03 9.63715221e-05 9.99987192e-01 7.59132383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:1.92, Z:0.76 [[ 9.99868028e-01 1.54373405e-02 -5.06111229e-03 1.54366286e+02] [-1.54375564e-02 9.99880834e-01 -3.60410666e-06 1.91652834e+00] [ 5.06045354e-03 8.17348377e-05 9.99987192e-01 7.59648714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:1.91, Z:0.76 [[ 9.99886399e-01 1.41976881e-02 -5.06107993e-03 1.54394779e+02] [-1.41978358e-02 9.99899206e-01 6.74586103e-06 1.91222067e+00] [ 5.06066558e-03 6.51112873e-05 9.99987193e-01 7.60407294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:1.90, Z:0.76 [[ 9.99948716e-01 8.77213026e-03 -5.06105928e-03 1.54423816e+02] [-8.77217549e-03 9.99961524e-01 1.32629599e-05 1.90390299e+00] [ 5.06098090e-03 3.11342205e-05 9.99987193e-01 7.61766709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:1.90, Z:0.76 [[ 9.99974262e-01 5.08538831e-03 -5.06104474e-03 1.54452317e+02] [-5.08536351e-03 9.99987069e-01 1.77682483e-05 1.89974790e+00] [ 5.06106966e-03 7.96946123e-06 9.99987193e-01 7.62594569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:1.90, Z:0.76 [[ 9.99986868e-01 8.05467143e-04 -5.06103727e-03 1.54481484e+02] [-8.05375140e-04 9.99999675e-01 2.02166664e-05 1.89598583e+00] [ 5.06105191e-03 -1.61403673e-05 9.99987193e-01 7.63530817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:1.89, Z:0.77 [[ 9.99982698e-01 -2.99836255e-03 -5.06102378e-03 1.54509565e+02] [ 2.99852526e-03 9.99995504e-01 2.45630066e-05 1.89214896e+00] [ 5.06092738e-03 -3.97381892e-05 9.99987193e-01 7.65551091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.54, Y:1.88, Z:0.77 [[ 9.99928345e-01 -1.08484897e-02 -5.06105236e-03 1.54537865e+02] [ 1.08487033e-02 9.99941151e-01 1.47701798e-05 1.88483029e+00] [ 5.06059429e-03 -6.96749772e-05 9.99987193e-01 7.65029232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.544391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.57, Y:1.88, Z:0.77 [[ 9.99900480e-01 -1.31687561e-02 -5.06104181e-03 1.54565572e+02] [ 1.31690188e-02 9.99913285e-01 1.85864988e-05 1.88131700e+00] [ 5.06035818e-03 -8.52336036e-05 9.99987193e-01 7.66100174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.574391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.59, Y:1.88, Z:0.77 [[ 9.99821368e-01 -1.82103764e-02 -5.06105661e-03 1.54594039e+02] [ 1.82106738e-02 9.99834172e-01 1.26819813e-05 1.87570081e+00] [ 5.05998640e-03 -1.04844967e-04 9.99987193e-01 7.65708832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.604391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.62, Y:1.87, Z:0.76 [[ 9.99780509e-01 -2.03302518e-02 -5.06106026e-03 1.54621616e+02] [ 2.03305679e-02 9.99793313e-01 1.10021141e-05 1.87288990e+00] [ 5.05979053e-03 -1.13893928e-04 9.99987193e-01 7.64738020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.634391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.65, Y:1.87, Z:0.76 [[ 9.99774254e-01 -2.06355792e-02 -5.06106140e-03 1.54650924e+02] [ 2.06358964e-02 9.99787057e-01 1.04494998e-05 1.87299991e+00] [ 5.05976805e-03 -1.14886679e-04 9.99987193e-01 7.64886365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:1.87, Z:0.76 [[ 9.99678655e-01 -2.48389297e-02 -5.06106412e-03 1.54678335e+02] [ 2.48392928e-02 9.99691457e-01 8.90386869e-06 1.86822864e+00] [ 5.05928140e-03 -1.34614261e-04 9.99987193e-01 7.62349392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:1.87, Z:0.76 [[ 9.99596883e-01 -2.79366568e-02 -5.06106543e-03 1.54706807e+02] [ 2.79370555e-02 9.99609684e-01 8.08396250e-06 1.86728750e+00] [ 5.05886418e-03 -1.49471970e-04 9.99987193e-01 7.61927022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:1.87, Z:0.76 [[ 9.99542486e-01 -2.98195155e-02 -5.06107370e-03 1.54736013e+02] [ 2.98199082e-02 9.99555288e-01 2.12402293e-06 1.86591194e+00] [ 5.05875964e-03 -1.53043804e-04 9.99987193e-01 7.62054462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:1.86, Z:0.76 [[ 9.99441196e-01 -3.30406104e-02 -5.06107669e-03 1.54764255e+02] [ 3.30410307e-02 9.99453996e-01 -5.66282039e-07 1.86413969e+00] [ 5.05833203e-03 -1.66657225e-04 9.99987193e-01 7.62256408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:1.86, Z:0.77 [[ 9.99415924e-01 -3.37963893e-02 -5.06107988e-03 1.54793143e+02] [ 3.37967997e-02 9.99428725e-01 -4.43139648e-06 1.86294453e+00] [ 5.05833837e-03 -1.66619495e-04 9.99987193e-01 7.65101843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:1.86, Z:0.77 [[ 9.99353009e-01 -3.56082631e-02 -5.06107273e-03 1.54822021e+02] [ 3.56087403e-02 9.99365808e-01 4.19182698e-06 1.86291032e+00] [ 5.05771378e-03 -1.84407540e-04 9.99987193e-01 7.65452926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:1.86, Z:0.77 [[ 9.99277160e-01 -3.76768287e-02 -5.06107353e-03 1.54850977e+02] [ 3.76773249e-02 9.99289958e-01 2.70085835e-06 1.86301094e+00] [ 5.05737819e-03 -1.93386618e-04 9.99987193e-01 7.65789028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:1.86, Z:0.77 [[ 9.99111776e-01 -4.18335381e-02 -5.06107389e-03 1.54879766e+02] [ 4.18340800e-02 9.99124572e-01 1.21902407e-06 1.86366402e+00] [ 5.05659228e-03 -2.12943311e-04 9.99987193e-01 7.66210366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:1.87, Z:0.77 [[ 9.98998638e-01 -4.44534266e-02 -5.06107376e-03 1.54907298e+02] [ 4.44539924e-02 9.99011433e-01 -6.96732804e-07 1.86513984e+00] [ 5.05610152e-03 -2.24288899e-04 9.99987193e-01 7.65723679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:1.87, Z:0.77 [[ 9.98967580e-01 -4.51459863e-02 -5.06107371e-03 1.54936003e+02] [ 4.51465599e-02 9.98980374e-01 -9.23526828e-07 1.86671088e+00] [ 5.05595501e-03 -2.27567494e-04 9.99987193e-01 7.65818479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:1.87, Z:0.77 [[ 9.98972623e-01 -4.50342539e-02 -5.06107304e-03 1.54964319e+02] [ 4.50348186e-02 9.98985418e-01 -2.37030385e-06 1.86880673e+00] [ 5.05604491e-03 -2.25556638e-04 9.99987193e-01 7.65895930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:1.87, Z:0.77 [[ 9.98986862e-01 -4.47172852e-02 -5.06107275e-03 1.54993530e+02] [ 4.47178433e-02 9.98999657e-01 -2.87958560e-06 1.87115367e+00] [ 5.05613871e-03 -2.23443590e-04 9.99987193e-01 7.66564471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:1.88, Z:0.77 [[ 9.99117456e-01 -4.16976548e-02 -5.06107152e-03 1.55021576e+02] [ 4.16981670e-02 9.99130253e-01 -4.31775965e-06 1.87585571e+00] [ 5.05684971e-03 -2.06723456e-04 9.99987193e-01 7.67698678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:1.88, Z:0.77 [[ 9.99184778e-01 -4.00520331e-02 -5.06107104e-03 1.55050003e+02] [ 4.00525217e-02 9.99197576e-01 -4.82572016e-06 1.87913418e+00] [ 5.05720319e-03 -1.97886871e-04 9.99987193e-01 7.68667716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:1.88, Z:0.77 [[ 9.99255137e-01 -3.82564554e-02 -5.06106932e-03 1.55079066e+02] [ 3.82569139e-02 9.99267936e-01 -6.21819078e-06 1.88216105e+00] [ 5.05760219e-03 -1.87407334e-04 9.99987193e-01 7.69598823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:1.89, Z:0.77 [[ 9.99353089e-01 -3.56060245e-02 -5.06106721e-03 1.55108854e+02] [ 3.56064420e-02 9.99365890e-01 -7.62402435e-06 1.88874071e+00] [ 5.05812939e-03 -1.72587504e-04 9.99987193e-01 7.73303919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:1.89, Z:0.77 [[ 9.99436377e-01 -3.31860585e-02 -5.06106685e-03 1.55137370e+02] [ 3.31864438e-02 9.99449178e-01 -7.85437892e-06 1.89114336e+00] [ 5.05853976e-03 -1.60108859e-04 9.99987193e-01 7.69632296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:1.89, Z:0.77 [[ 9.99527530e-01 -3.03167201e-02 -5.06101602e-03 1.55166689e+02] [ 3.03169307e-02 9.99540336e-01 -3.51273850e-05 1.89314804e+00] [ 5.05975460e-03 -1.18323684e-04 9.99987192e-01 7.69629934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:1.90, Z:0.77 [[ 9.99587876e-01 -2.82571102e-02 -5.06106268e-03 1.55195551e+02] [ 2.82574263e-02 9.99600679e-01 -9.05720843e-06 1.90106964e+00] [ 5.05929762e-03 -1.33959130e-04 9.99987193e-01 7.68576162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:1.90, Z:0.77 [[ 9.99676890e-01 -2.49098652e-02 -5.06099203e-03 1.55223619e+02] [ 2.49099596e-02 9.99689698e-01 -4.43770776e-05 1.90302992e+00] [ 5.06052703e-03 -8.17063683e-05 9.99987192e-01 7.66932886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.25, Y:1.91, Z:0.77 [[ 9.99701557e-01 -2.38994459e-02 -5.06093693e-03 1.55254119e+02] [ 2.38993714e-02 9.99714366e-01 -7.52139474e-05 1.90580231e+00] [ 5.06128893e-03 -4.57617110e-05 9.99987191e-01 7.66422712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.294391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.28, Y:1.91, Z:0.77 [[ 9.99781558e-01 -2.02785995e-02 -5.06100336e-03 1.55283625e+02] [ 2.02786788e-02 9.99794366e-01 -3.56627913e-05 1.91146916e+00] [ 5.06068584e-03 -6.69754604e-05 9.99987192e-01 7.67135575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:1.91, Z:0.77 [[ 9.99827308e-01 -1.78812760e-02 -5.06097851e-03 1.55313353e+02] [ 1.78812492e-02 9.99840116e-01 -5.05617477e-05 1.91320472e+00] [ 5.06107345e-03 -3.99436016e-05 9.99987192e-01 7.66772948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:1.91, Z:0.77 [[ 9.99872968e-01 -1.51140438e-02 -5.06098752e-03 1.55342861e+02] [ 1.51140069e-02 9.99885776e-01 -4.55385161e-05 1.91391248e+00] [ 5.06109770e-03 -3.09590691e-05 9.99987192e-01 7.68223146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:1.92, Z:0.77 [[ 9.99917763e-01 -1.17836299e-02 -5.06105262e-03 1.55372927e+02] [ 1.17837352e-02 9.99930569e-01 -9.02310351e-06 1.91836000e+00] [ 5.06080756e-03 -5.06157424e-05 9.99987193e-01 7.69426435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:1.92, Z:0.77 [[ 9.99932144e-01 -1.04925167e-02 -5.06105223e-03 1.55401586e+02] [ 1.04926043e-02 9.99944951e-01 -9.23721994e-06 1.92065201e+00] [ 5.06087055e-03 -4.38670255e-05 9.99987193e-01 7.70368801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:1.92, Z:0.77 [[ 9.99938667e-01 -9.85131623e-03 -5.06104903e-03 1.55429794e+02] [ 9.85138802e-03 9.99951474e-01 -1.07451506e-05 1.92333551e+00] [ 5.06090929e-03 -3.91138662e-05 9.99987193e-01 7.71037845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:1.92, Z:0.77 [[ 9.99948128e-01 -8.83896966e-03 -5.06098766e-03 1.55458794e+02] [ 8.83888233e-03 9.99960936e-01 -3.96230034e-05 1.92433548e+00] [ 5.06114018e-03 -5.11252625e-06 9.99987192e-01 7.71099343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:1.92, Z:0.77 [[ 9.99954955e-01 -8.02959377e-03 -5.06098600e-03 1.55488182e+02] [ 8.02949237e-03 9.99967762e-01 -4.03553119e-05 1.92495738e+00] [ 5.06114688e-03 -2.83654367e-07 9.99987192e-01 7.69283303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:1.93, Z:0.77 [[ 9.99948860e-01 -8.75574870e-03 -5.06103023e-03 1.55517241e+02] [ 8.75574880e-03 9.99961667e-01 -2.21379893e-05 1.92548848e+00] [ 5.06103006e-03 -2.21762522e-05 9.99987193e-01 7.68747821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:1.93, Z:0.77 [[ 9.99930558e-01 -1.06426588e-02 -5.06102455e-03 1.55546144e+02] [ 1.06426724e-02 9.99943365e-01 -2.42481032e-05 1.92611007e+00] [ 5.06099599e-03 -2.96164069e-05 9.99987193e-01 7.68602454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:1.93, Z:0.77 [[ 9.99913582e-01 -1.21331826e-02 -5.06104878e-03 1.55575281e+02] [ 1.21332568e-02 9.99926389e-01 -1.60408512e-05 1.92702175e+00] [ 5.06087085e-03 -4.53675394e-05 9.99987193e-01 7.70611683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:1.93, Z:0.77 [[ 9.99888512e-01 -1.40480976e-02 -5.06105078e-03 1.55604089e+02] [ 1.40481996e-02 9.99901319e-01 -1.53805949e-05 1.92760876e+00] [ 5.06076742e-03 -5.57197716e-05 9.99987193e-01 7.71713627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:1.93, Z:0.77 [[ 9.99872459e-01 -1.51476384e-02 -5.06104579e-03 1.55632334e+02] [ 1.51477470e-02 9.99885266e-01 -1.68763647e-05 1.92767630e+00] [ 5.06072076e-03 -5.97892289e-05 9.99987193e-01 7.71945296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:1.93, Z:0.77 [[ 9.99844312e-01 -1.69037588e-02 -5.06104471e-03 1.55660797e+02] [ 1.69038883e-02 9.99857119e-01 -1.71942916e-05 1.92793694e+00] [ 5.06061223e-03 -6.83597198e-05 9.99987193e-01 7.70338818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:1.93, Z:0.77 [[ 9.99816340e-01 -1.84843639e-02 -5.06099539e-03 1.55689763e+02] [ 1.84844466e-02 9.99829148e-01 -3.04371350e-05 1.92724511e+00] [ 5.06069332e-03 -6.31181539e-05 9.99987193e-01 7.70871644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:1.93, Z:0.77 [[ 9.99731095e-01 -2.26301699e-02 -5.06103824e-03 1.55718973e+02] [ 2.26303632e-02 9.99743900e-01 -1.90600738e-05 1.92657211e+00] [ 5.06017344e-03 -9.54781853e-05 9.99987193e-01 7.69793341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:1.93, Z:0.77 [[ 9.99672442e-01 -2.50877410e-02 -5.06103739e-03 1.55747972e+02] [ 2.50879647e-02 9.99685247e-01 -1.92829728e-05 1.92750348e+00] [ 5.05992818e-03 -1.07694471e-04 9.99987193e-01 7.68004647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:1.93, Z:0.77 [[ 9.99634335e-01 -2.65627994e-02 -5.06093462e-03 1.55777785e+02] [ 2.65629150e-02 9.99647143e-01 -4.43861093e-05 1.92682119e+00] [ 5.06032785e-03 -9.00632971e-05 9.99987192e-01 7.69328296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:1.93, Z:0.77 [[ 9.99568378e-01 -2.89386247e-02 -5.06103148e-03 1.55807149e+02] [ 2.89388907e-02 9.99581182e-01 -2.06697080e-05 1.92851992e+00] [ 5.05950999e-03 -1.25799850e-04 9.99987193e-01 7.68781031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:1.93, Z:0.77 [[ 9.99530105e-01 -3.02317134e-02 -5.06087813e-03 1.55837178e+02] [ 3.02318140e-02 9.99542913e-01 -5.66522026e-05 1.92662787e+00] [ 5.06027756e-03 -9.63739441e-05 9.99987192e-01 7.70278721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:1.93, Z:0.77 [[ 9.99502397e-01 -3.11342932e-02 -5.06102590e-03 1.55866449e+02] [ 3.11345860e-02 9.99515201e-01 -2.09433669e-05 1.92684074e+00] [ 5.05922438e-03 -1.36640001e-04 9.99987193e-01 7.70398526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:1.93, Z:0.77 [[ 9.99464297e-01 -3.23342657e-02 -5.06102545e-03 1.55895645e+02] [ 3.23345733e-02 9.99477101e-01 -2.10516610e-05 1.92857970e+00] [ 5.05905973e-03 -1.42605715e-04 9.99987193e-01 7.70179840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:1.93, Z:0.77 [[ 9.99433026e-01 -3.32868483e-02 -5.06090161e-03 1.55925377e+02] [ 3.32870228e-02 9.99445832e-01 -4.97698287e-05 1.92805860e+00] [ 5.05975370e-03 -1.18720737e-04 9.99987192e-01 7.70914003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:1.93, Z:0.77 [[ 9.99405536e-01 -3.41022050e-02 -5.06102134e-03 1.55955180e+02] [ 3.41025343e-02 9.99418339e-01 -2.12362812e-05 1.92978073e+00] [ 5.05880174e-03 -1.51369997e-04 9.99987193e-01 7.70758226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.99, Y:1.93, Z:0.77 [[ 9.99432950e-01 -3.32891240e-02 -5.06091266e-03 1.55985345e+02] [ 3.32893187e-02 9.99445756e-01 -4.57877523e-05 1.93033758e+00] [ 5.05963191e-03 -1.22712546e-04 9.99987192e-01 7.72023922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:1.93, Z:0.77 [[ 9.99477888e-01 -3.19114120e-02 -5.06101620e-03 1.56015019e+02] [ 3.19117068e-02 9.99490692e-01 -2.25164477e-05 1.93149001e+00] [ 5.05915711e-03 -1.39000973e-04 9.99987193e-01 7.72243123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:1.93, Z:0.77 [[ 9.99535961e-01 -3.00374681e-02 -5.06091346e-03 1.56044246e+02] [ 3.00376250e-02 9.99548768e-01 -4.50206341e-05 1.93235835e+00] [ 5.05998212e-03 -1.07018078e-04 9.99987192e-01 7.72973593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:1.93, Z:0.77 [[ 9.99677427e-01 -2.48883147e-02 -5.06092557e-03 1.56074566e+02] [ 2.48884194e-02 9.99690234e-01 -4.23128289e-05 1.93484594e+00] [ 5.06041096e-03 -8.36592580e-05 9.99987193e-01 7.72530687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:1.94, Z:0.77 [[ 9.99744205e-01 -2.20434163e-02 -5.06094109e-03 1.56104704e+02] [ 2.20435018e-02 9.99757012e-01 -3.88925136e-05 1.93571516e+00] [ 5.06056867e-03 -7.26782990e-05 9.99987193e-01 7.71755953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:1.94, Z:0.77 [[ 9.99798123e-01 -1.94447815e-02 -5.06101369e-03 1.56132823e+02] [ 1.94449155e-02 9.99810930e-01 -2.27219069e-05 1.93721316e+00] [ 5.06049863e-03 -7.56936639e-05 9.99987193e-01 7.70234644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:1.94, Z:0.77 [[ 9.99829023e-01 -1.77851502e-02 -5.06097538e-03 1.56162579e+02] [ 1.77852208e-02 9.99841830e-01 -3.10643065e-05 1.93853433e+00] [ 5.06072737e-03 -5.89515694e-05 9.99987193e-01 7.69482703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:1.94, Z:0.77 [[ 9.99880526e-01 -1.46054480e-02 -5.06100832e-03 1.56192231e+02] [ 1.46055128e-02 9.99893334e-01 -2.41657955e-05 1.94016015e+00] [ 5.06082144e-03 -4.97557133e-05 9.99987193e-01 7.68880390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:1.94, Z:0.77 [[ 9.99884700e-01 -1.43168773e-02 -5.06099885e-03 1.56221848e+02] [ 1.43169285e-02 9.99897507e-01 -2.61079990e-05 1.94125114e+00] [ 5.06085392e-03 -4.63529701e-05 9.99987193e-01 7.68905106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:1.94, Z:0.77 [[ 9.99894200e-01 -1.36373075e-02 -5.06097447e-03 1.56251002e+02] [ 1.36373258e-02 9.99907007e-01 -3.09087743e-05 1.94171920e+00] [ 5.06092535e-03 -3.81126534e-05 9.99987193e-01 7.69585615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:1.94, Z:0.77 [[ 9.99895138e-01 -1.35683269e-02 -5.06102106e-03 1.56279640e+02] [ 1.35683906e-02 9.99907945e-01 -2.17485905e-05 1.94315776e+00] [ 5.06085026e-03 -4.69236008e-05 9.99987193e-01 7.69735631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:1.94, Z:0.77 [[ 9.99881928e-01 -1.45091625e-02 -5.06100693e-03 1.56309081e+02] [ 1.45092243e-02 9.99894735e-01 -2.45087088e-05 1.94405776e+00] [ 5.06082979e-03 -4.89254697e-05 9.99987193e-01 7.70759620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:1.94, Z:0.77 [[ 9.99868217e-01 -1.54251392e-02 -5.06099395e-03 1.56338486e+02] [ 1.54252005e-02 9.99881024e-01 -2.69234952e-05 1.94434486e+00] [ 5.06080712e-03 -5.11468992e-05 9.99987193e-01 7.71110030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:1.94, Z:0.77 [[ 9.99806013e-01 -1.90347555e-02 -5.06100140e-03 1.56367210e+02] [ 1.90348699e-02 9.99818820e-01 -2.55590345e-05 1.94491559e+00] [ 5.06057096e-03 -7.07814268e-05 9.99987193e-01 7.71054817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:1.94, Z:0.77 [[ 9.99763822e-01 -2.11349756e-02 -5.06098921e-03 1.56397090e+02] [ 2.11351057e-02 9.99776628e-01 -2.77800778e-05 1.94451561e+00] [ 5.06044586e-03 -7.91910253e-05 9.99987193e-01 7.71589081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:1.95, Z:0.77 [[ 9.99627673e-01 -2.68123331e-02 -5.06100652e-03 1.56427057e+02] [ 2.68125515e-02 9.99640479e-01 -2.46981690e-05 1.94578602e+00] [ 5.05984919e-03 -1.11009525e-04 9.99987193e-01 7.72997220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:1.95, Z:0.77 [[ 9.99627673e-01 -2.68123573e-02 -5.06097867e-03 1.56458056e+02] [ 2.68125515e-02 9.99640478e-01 -2.94792441e-05 1.94596889e+00] [ 5.05994955e-03 -1.06229483e-04 9.99987193e-01 7.73154570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:1.95, Z:0.77 [[ 9.99562892e-01 -2.91274973e-02 -5.06097867e-03 1.56488037e+02] [ 2.91277211e-02 9.99575697e-01 -2.94792441e-05 1.94630541e+00] [ 5.05968994e-03 -1.17948417e-04 9.99987193e-01 7.73640222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:1.95, Z:0.77 [[ 9.99501522e-01 -3.11623787e-02 -5.06096800e-03 1.56517540e+02] [ 3.11626194e-02 9.99514327e-01 -3.13157461e-05 1.94676601e+00] [ 5.05948590e-03 -1.26412883e-04 9.99987193e-01 7.74995231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:1.95, Z:0.78 [[ 9.99365822e-01 -3.52468410e-02 -5.06097751e-03 1.56547695e+02] [ 3.52471422e-02 9.99378626e-01 -2.96947408e-05 1.94750913e+00] [ 5.05887939e-03 -1.48709085e-04 9.99987193e-01 7.77339418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:1.95, Z:0.78 [[ 9.99301182e-01 -3.70342314e-02 -5.06097751e-03 1.56577913e+02] [ 3.70345555e-02 9.99313985e-01 -2.96947408e-05 1.94847109e+00] [ 5.05860532e-03 -1.57757063e-04 9.99987193e-01 7.78298400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:1.95, Z:0.78 [[ 9.99278897e-01 -3.76307462e-02 -5.06097751e-03 1.56607847e+02] [ 3.76310780e-02 9.99291700e-01 -2.96947408e-05 1.94879903e+00] [ 5.05851025e-03 -1.60776711e-04 9.99987193e-01 7.78596746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:1.95, Z:0.78 [[ 9.99239019e-01 -3.86751877e-02 -5.06097684e-03 1.56638113e+02] [ 3.86755322e-02 9.99251821e-01 -2.98083632e-05 1.94941482e+00] [ 5.05834317e-03 -1.65950293e-04 9.99987193e-01 7.78511179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:1.95, Z:0.78 [[ 9.99224265e-01 -3.90544975e-02 -5.06097684e-03 1.56667212e+02] [ 3.90548469e-02 9.99237068e-01 -2.98083632e-05 1.95031832e+00] [ 5.05827981e-03 -1.67870436e-04 9.99987193e-01 7.78140238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:1.95, Z:0.78 [[ 9.99237767e-01 -3.87075142e-02 -5.06097699e-03 1.56697534e+02] [ 3.87078593e-02 9.99250570e-01 -2.97832176e-05 1.95085543e+00] [ 5.05833697e-03 -1.66139069e-04 9.99987193e-01 7.77923610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:1.95, Z:0.78 [[ 9.99270582e-01 -3.78508938e-02 -5.06097699e-03 1.56726945e+02] [ 3.78512279e-02 9.99283385e-01 -2.97832176e-05 1.95166936e+00] [ 5.05847754e-03 -1.61802700e-04 9.99987193e-01 7.77334574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:1.95, Z:0.78 [[ 9.99402195e-01 -3.41999938e-02 -5.06097636e-03 1.56756401e+02] [ 3.42002806e-02 9.99414999e-01 -2.98901660e-05 1.95408089e+00] [ 5.05903792e-03 -1.43214514e-04 9.99987193e-01 7.75650277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.824391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.79, Y:1.96, Z:0.78 [[ 9.99488024e-01 -3.15923480e-02 -5.06097574e-03 1.56787324e+02] [ 3.15926009e-02 9.99500829e-01 -2.99946487e-05 1.95618730e+00] [ 5.05939704e-03 -1.29910094e-04 9.99987193e-01 7.75326684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:1.96, Z:0.77 [[ 9.99704088e-01 -2.37933288e-02 -5.06097574e-03 1.56817168e+02] [ 2.37934817e-02 9.99716895e-01 -2.99946487e-05 1.96061279e+00] [ 5.06025662e-03 -9.04324608e-05 9.99987193e-01 7.73558463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:1.96, Z:0.77 [[ 9.99795978e-01 -1.95547814e-02 -5.06097592e-03 1.56847207e+02] [ 1.95548802e-02 9.99808785e-01 -2.99642840e-05 1.96282050e+00] [ 5.06059412e-03 -6.90086073e-05 9.99987193e-01 7.73377646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:1.97, Z:0.77 [[ 9.99862368e-01 -1.57997039e-02 -5.06097592e-03 1.56876693e+02] [ 1.57997546e-02 9.99875176e-01 -2.99642840e-05 1.96572172e+00] [ 5.06081761e-03 -5.00020174e-05 9.99987193e-01 7.74885324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:1.97, Z:0.77 [[ 9.99966190e-01 -6.48133664e-03 -5.06075259e-03 1.56906846e+02] [ 6.48108326e-03 9.99978995e-01 -6.64665000e-05 1.96706891e+00] [ 5.06107708e-03 3.36650939e-05 9.99987192e-01 7.74371558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:1.97, Z:0.77 [[ 9.99982010e-01 -3.21972723e-03 -5.06096965e-03 1.56935268e+02] [ 3.21961259e-03 9.99994817e-01 -3.07975659e-05 1.96847895e+00] [ 5.06104257e-03 1.45026502e-05 9.99987193e-01 7.74425666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:1.97, Z:0.77 [[ 9.99986540e-01 -1.14291893e-03 -5.06095995e-03 1.56964392e+02] [ 1.14277002e-03 9.99999347e-01 -3.23161640e-05 1.96996828e+00] [ 5.06099358e-03 2.65322158e-05 9.99987193e-01 7.74869336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:1.97, Z:0.78 [[ 9.99987180e-01 -1.64260196e-04 -5.06094977e-03 1.56993232e+02] [ 1.64091038e-04 9.99999986e-01 -3.38393344e-05 1.97107252e+00] [ 5.06095525e-03 3.30084441e-05 9.99987193e-01 7.75752393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:1.97, Z:0.77 [[ 9.99986690e-01 -1.00371613e-03 -5.06093866e-03 1.57021625e+02] [ 1.00354970e-03 9.99999496e-01 -3.54259021e-05 1.97191109e+00] [ 5.06097167e-03 3.03465271e-05 9.99987193e-01 7.74676964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:1.97, Z:0.78 [[ 9.99979117e-01 -4.01924881e-03 -5.06081205e-03 1.57050592e+02] [ 4.01902885e-03 9.99991922e-01 -5.36327914e-05 1.97162941e+00] [ 5.06098673e-03 3.32921217e-05 9.99987193e-01 7.76045214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:1.97, Z:0.78 [[ 9.99962232e-01 -7.06544509e-03 -5.06094118e-03 1.57079141e+02] [ 7.06535886e-03 9.99975039e-01 -3.49155305e-05 1.97063352e+00] [ 5.06106155e-03 -8.43153774e-07 9.99987193e-01 7.75229484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:1.97, Z:0.78 [[ 9.99920514e-01 -1.15478815e-02 -5.06084052e-03 1.57108454e+02] [ 1.15477788e-02 9.99933321e-01 -4.95129808e-05 1.96967890e+00] [ 5.06107484e-03 -8.93242168e-06 9.99987193e-01 7.75796920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:1.97, Z:0.78 [[ 9.99770851e-01 -2.07998436e-02 -5.06082573e-03 1.57138412e+02] [ 2.07998485e-02 9.99783658e-01 -5.16713154e-05 1.96655782e+00] [ 5.06080561e-03 -5.36049335e-05 9.99987193e-01 7.77631943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:1.97, Z:0.78 [[ 9.99648985e-01 -2.60056707e-02 -5.06089005e-03 1.57167774e+02] [ 2.60057901e-02 9.99661791e-01 -4.22265346e-05 1.96580552e+00] [ 5.06027654e-03 -8.94007320e-05 9.99987193e-01 7.79084673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:1.96, Z:0.78 [[ 9.99419354e-01 -3.36948425e-02 -5.06086117e-03 1.57198247e+02] [ 3.36950393e-02 9.99432160e-01 -4.64030307e-05 1.96316416e+00] [ 5.05955095e-03 -1.24149829e-04 9.99987193e-01 7.81346699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:1.96, Z:0.78 [[ 9.99305755e-01 -3.69106530e-02 -5.06088608e-03 1.57227358e+02] [ 3.69109090e-02 9.99318559e-01 -4.28466235e-05 1.96274036e+00] [ 5.05901888e-03 -1.43985028e-04 9.99987193e-01 7.81919890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:1.96, Z:0.78 [[ 9.99155751e-01 -4.07697587e-02 -5.06084103e-03 1.57257509e+02] [ 4.07700323e-02 9.99168555e-01 -4.91349601e-05 1.96223616e+00] [ 5.05863644e-03 -1.57237174e-04 9.99987193e-01 7.82451240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:1.96, Z:0.78 [[ 9.99171121e-01 -4.03913121e-02 -5.06093407e-03 1.57287659e+02] [ 4.03916468e-02 9.99183924e-01 -3.60866404e-05 1.96149735e+00] [ 5.05826155e-03 -1.68362733e-04 9.99987193e-01 7.80744286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:1.96, Z:0.78 [[ 9.99180931e-01 -4.01479120e-02 -5.06088514e-03 1.57318418e+02] [ 4.01482094e-02 9.99193735e-01 -4.28626510e-05 1.96189375e+00] [ 5.05852557e-03 -1.60357932e-04 9.99987193e-01 7.80624262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:1.96, Z:0.78 [[ 9.99307036e-01 -3.68759250e-02 -5.06093478e-03 1.57348731e+02] [ 3.68762159e-02 9.99319840e-01 -3.58547842e-05 1.96251966e+00] [ 5.05881472e-03 -1.50798186e-04 9.99987193e-01 7.78850082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:1.96, Z:0.78 [[ 9.99383908e-01 -3.47302663e-02 -5.06093560e-03 1.57379409e+02] [ 3.47305303e-02 9.99396713e-01 -3.57393980e-05 1.96368006e+00] [ 5.05912364e-03 -1.40051598e-04 9.99987193e-01 7.78334871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:1.96, Z:0.78 [[ 9.99464210e-01 -3.23369646e-02 -5.06093641e-03 1.57409783e+02] [ 3.23371985e-02 9.99477015e-01 -3.56238971e-05 1.96499399e+00] [ 5.05944159e-03 -1.28051695e-04 9.99987193e-01 7.78285536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:1.97, Z:0.78 [[ 9.99553894e-01 -2.94346731e-02 -5.06093641e-03 1.57439461e+02] [ 2.94348698e-02 9.99566700e-01 -3.56238971e-05 1.96653828e+00] [ 5.05979208e-03 -1.13359999e-04 9.99987193e-01 7.79218288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:1.97, Z:0.78 [[ 9.99728743e-01 -2.27338463e-02 -5.06093967e-03 1.57469089e+02] [ 2.27339596e-02 9.99741550e-01 -3.51627236e-05 1.96925113e+00] [ 5.06043105e-03 -7.99020124e-05 9.99987193e-01 7.80031462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:1.97, Z:0.78 [[ 9.99809450e-01 -1.88533964e-02 -5.06094887e-03 1.57500048e+02] [ 1.88534664e-02 9.99822257e-01 -3.38772620e-05 1.96989193e+00] [ 5.06068803e-03 -6.15456228e-05 9.99987193e-01 7.80219045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:1.97, Z:0.78 [[ 9.99914705e-01 -1.20403063e-02 -5.06103326e-03 1.57528296e+02] [ 1.20403483e-02 9.99927512e-01 -2.21764180e-05 1.97199511e+00] [ 5.06093341e-03 -3.87620767e-05 9.99987193e-01 7.79068040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.604391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.56, Y:1.97, Z:0.78 [[ 9.99947193e-01 -8.94421890e-03 -5.06091605e-03 1.57557281e+02] [ 8.94414188e-03 9.99960000e-01 -3.78498706e-05 1.97373863e+00] [ 5.06105215e-03 -7.41767935e-06 9.99987193e-01 7.78734726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:1.98, Z:0.78 [[ 9.99970870e-01 -5.71369457e-03 -5.06082123e-03 1.57585846e+02] [ 5.71351260e-03 9.99983676e-01 -5.04123873e-05 1.97546793e+00] [ 5.06102666e-03 2.14958529e-05 9.99987193e-01 7.78065533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:1.98, Z:0.78 [[ 9.99985643e-01 1.76176603e-03 -5.06064823e-03 1.57614658e+02] [-1.76215710e-03 9.99998445e-01 -7.28200736e-05 1.97696900e+00] [ 5.06051207e-03 8.17366854e-05 9.99987192e-01 7.76948651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.65, Y:1.98, Z:0.78 [[ 9.99970596e-01 5.76176863e-03 -5.06056511e-03 1.57645369e+02] [-5.76226329e-03 9.99983395e-01 -8.31742271e-05 1.97659643e+00] [ 5.06000185e-03 1.12332090e-04 9.99987192e-01 7.80187702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:1.98, Z:0.78 [[ 9.99947031e-01 8.96224181e-03 -5.06090671e-03 1.57672583e+02] [-8.96256273e-03 9.99959835e-01 -4.07344798e-05 1.97672618e+00] [ 5.06033836e-03 8.60910160e-05 9.99987193e-01 7.78111332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:1.98, Z:0.78 [[ 9.99918516e-01 1.17197153e-02 -5.06063378e-03 1.57702508e+02] [-1.17202371e-02 9.99931313e-01 -7.34663635e-05 1.97681994e+00] [ 5.05942518e-03 1.32772205e-04 9.99987192e-01 7.80223021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:1.97, Z:0.78 [[ 9.99849830e-01 1.65741988e-02 -5.06089502e-03 1.57729414e+02] [-1.65746233e-02 9.99862631e-01 -4.19539568e-05 1.97477785e+00] [ 5.05950445e-03 1.25830085e-04 9.99987193e-01 7.80127787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:1.97, Z:0.78 [[ 9.99820146e-01 1.82774011e-02 -5.06079280e-03 1.57757938e+02] [-1.82779086e-02 9.99832944e-01 -5.40306567e-05 1.97301859e+00] [ 5.05895982e-03 1.46521647e-04 9.99987193e-01 7.80935625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:1.97, Z:0.78 [[ 9.99799499e-01 1.93739763e-02 -5.06080437e-03 1.57785725e+02] [-1.93744909e-02 9.99812296e-01 -5.26826621e-05 1.97089941e+00] [ 5.05883376e-03 1.50722608e-04 9.99987193e-01 7.80227094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:1.97, Z:0.78 [[ 9.99757895e-01 2.14135137e-02 -5.06088204e-03 1.57814545e+02] [-2.14140089e-02 9.99770693e-01 -4.36845459e-05 1.96579526e+00] [ 5.05878610e-03 1.52047743e-04 9.99987193e-01 7.82740187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:1.96, Z:0.78 [[ 9.99744240e-01 2.20418481e-02 -5.06087834e-03 1.57842951e+02] [-2.20423536e-02 9.99757037e-01 -4.41096135e-05 1.96336130e+00] [ 5.05867647e-03 1.55652002e-04 9.99987193e-01 7.84543227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:1.96, Z:0.79 [[ 9.99721636e-01 2.30442460e-02 -5.06087436e-03 1.57871346e+02] [-2.30447665e-02 9.99734433e-01 -4.45606768e-05 1.96052155e+00] [ 5.05850350e-03 1.61174941e-04 9.99987193e-01 7.85355768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.90, Y:1.95, Z:0.79 [[ 9.99682117e-01 2.46992507e-02 -5.06087034e-03 1.57900441e+02] [-2.46997948e-02 9.99694913e-01 -4.50133380e-05 1.95416343e+00] [ 5.05821453e-03 1.70001488e-04 9.99987193e-01 7.85464615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.93, Y:1.95, Z:0.78 [[ 9.99674933e-01 2.49883343e-02 -5.06086624e-03 1.57928057e+02] [-2.49888843e-02 9.99687728e-01 -4.54695978e-05 1.95108719e+00] [ 5.05814966e-03 1.71920218e-04 9.99987193e-01 7.83807313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.96, Y:1.95, Z:0.78 [[ 9.99659307e-01 2.56058224e-02 -5.06086108e-03 1.57957021e+02] [-2.56063833e-02 9.99672102e-01 -4.60370456e-05 1.94745201e+00] [ 5.05802281e-03 1.75611709e-04 9.99987193e-01 7.84153160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.99, Y:1.94, Z:0.78 [[ 9.99654952e-01 2.57752724e-02 -5.06085698e-03 1.57987563e+02] [-2.57758376e-02 9.99667747e-01 -4.64828512e-05 1.93805432e+00] [ 5.05797739e-03 1.76914640e-04 9.99987193e-01 7.84387474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:1.93, Z:0.78 [[ 9.99657365e-01 2.56814242e-02 -5.06123802e-03 1.58014614e+02] [-2.56817759e-02 9.99670169e-01 -4.51034995e-06 1.93495620e+00] [ 5.05945283e-03 1.34490385e-04 9.99987192e-01 7.84017792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:158.04, Y:1.93, Z:0.78 [[ 9.99660592e-01 2.55556141e-02 -5.06083094e-03 1.58042531e+02] [-2.55561827e-02 9.99673386e-01 -4.77004370e-05 1.93103170e+00] [ 5.05795899e-03 1.77019767e-04 9.99987193e-01 7.83892363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:158.07, Y:1.92, Z:0.79 [[ 9.99679235e-01 2.48156197e-02 -5.06082540e-03 1.58071588e+02] [-2.48161818e-02 9.99692030e-01 -4.82810769e-05 1.92288707e+00] [ 5.05806869e-03 1.73855953e-04 9.99987193e-01 7.85320791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:158.10, Y:1.92, Z:0.79 [[ 9.99688679e-01 2.44322227e-02 -5.06082112e-03 1.58100578e+02] [-2.44327821e-02 9.99701474e-01 -4.87253291e-05 1.91904854e+00] [ 5.05811987e-03 1.72360099e-04 9.99987193e-01 7.86132398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:158.13, Y:1.92, Z:0.79 [[ 9.99691677e-01 2.43092499e-02 -5.06081684e-03 1.58128164e+02] [-2.43098099e-02 9.99704472e-01 -4.91663948e-05 1.91526275e+00] [ 5.05812603e-03 1.72178731e-04 9.99987193e-01 7.86401011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.16, Y:1.91, Z:0.79 [[ 9.99705522e-01 2.37330625e-02 -5.06081146e-03 1.58155757e+02] [-2.37336179e-02 9.99718317e-01 -4.97135050e-05 1.90684456e+00] [ 5.05820607e-03 1.69810231e-04 9.99987193e-01 7.85259482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:158.18, Y:1.90, Z:0.78 [[ 9.99721856e-01 2.30347187e-02 -5.06080609e-03 1.58184150e+02] [-2.30352680e-02 9.99734652e-01 -5.02549721e-05 1.90276856e+00] [ 5.05830560e-03 1.66818018e-04 9.99987193e-01 7.84020680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.294391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:158.21, Y:1.90, Z:0.78 [[ 9.99742461e-01 2.21224075e-02 -5.06080179e-03 1.58213219e+02] [-2.21229472e-02 9.99755256e-01 -5.06843275e-05 1.89902867e+00] [ 5.05844193e-03 1.62631125e-04 9.99987193e-01 7.82708531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.324391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:158.24, Y:1.89, Z:0.78 [[ 9.99756613e-01 2.14733092e-02 -5.06079750e-03 1.58242530e+02] [-2.14738427e-02 9.99769409e-01 -5.11089175e-05 1.89484449e+00] [ 5.05853305e-03 1.59771248e-04 9.99987193e-01 7.82007494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.354391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:158.27, Y:1.89, Z:0.78 [[ 9.99790639e-01 1.98258886e-02 -5.06079318e-03 1.58271072e+02] [-1.98264032e-02 9.99803436e-01 -5.15334567e-05 1.88703426e+00] [ 5.05877671e-03 1.51859994e-04 9.99987193e-01 7.83320612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.384391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:158.30, Y:1.88, Z:0.78 [[ 9.99804952e-01 1.90904902e-02 -5.06078855e-03 1.58300687e+02] [-1.90909977e-02 9.99817749e-01 -5.19842756e-05 1.88306115e+00] [ 5.05887381e-03 1.48589638e-04 9.99987193e-01 7.83884314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:158.33, Y:1.88, Z:0.78 [[ 9.99830272e-01 1.77148021e-02 -5.06087575e-03 1.58328569e+02] [-1.77152490e-02 9.99843072e-01 -4.34794264e-05 1.87955396e+00] [ 5.05931133e-03 1.33126721e-04 9.99987193e-01 7.84134867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:158.36, Y:1.88, Z:0.78 [[ 9.99831712e-01 1.76333913e-02 -5.06078192e-03 1.58357893e+02] [-1.76338828e-02 9.99844510e-01 -5.25206173e-05 1.87996752e+00] [ 5.05906890e-03 1.41753014e-04 9.99987193e-01 7.84283397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474391418 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:158.39, Y:1.87, Z:0.79 [[ 9.99901068e-01 1.31241413e-02 -5.06077761e-03 1.58386203e+02] [-1.31245772e-02 9.99913868e-01 -5.29324628e-05 1.87127899e+00] [ 5.05964702e-03 1.19347793e-04 9.99987193e-01 7.85580942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:158.42, Y:1.87, Z:0.79 [[ 9.99931730e-01 1.05320550e-02 -5.06077527e-03 1.58415765e+02] [-1.05324588e-02 9.99944531e-01 -5.31553348e-05 1.86691501e+00] [ 5.05993472e-03 1.06454113e-04 9.99987193e-01 7.87565581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.44, Y:1.86, Z:0.79 [[ 9.99973629e-01 5.20856027e-03 -5.06077301e-03 1.58444757e+02] [-5.20889706e-03 9.99986432e-01 -5.33700262e-05 1.85785341e+00] [ 5.06042636e-03 7.97296644e-05 9.99987193e-01 7.89474080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.47, Y:1.85, Z:0.79 [[ 9.99983455e-01 2.73483083e-03 -5.06076962e-03 1.58473138e+02] [-2.73513756e-03 9.99996258e-01 -5.36891524e-05 1.85380053e+00] [ 5.06060386e-03 6.75301652e-05 9.99987193e-01 7.90199654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:1.85, Z:0.79 [[ 9.99987111e-01 4.09027678e-04 -5.06076511e-03 1.58501627e+02] [-4.09306761e-04 9.99999915e-01 -5.41108283e-05 1.85009067e+00] [ 5.06074255e-03 5.61815362e-05 9.99987193e-01 7.90463467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:1.84, Z:0.79 [[ 9.99979828e-01 -3.83829504e-03 -5.06076058e-03 1.58529576e+02] [ 3.83806822e-03 9.99992633e-01 -5.45311659e-05 1.84283992e+00] [ 5.06093261e-03 3.51065216e-05 9.99987193e-01 7.90124206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:1.84, Z:0.79 [[ 9.99967504e-01 -6.27537573e-03 -5.06075495e-03 1.58557216e+02] [ 6.27517749e-03 9.99980309e-01 -5.50489270e-05 1.83958434e+00] [ 5.06100076e-03 2.32900026e-05 9.99987193e-01 7.89488346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.59, Y:1.84, Z:0.79 [[ 9.99951013e-01 -8.50646188e-03 -5.06073646e-03 1.58585156e+02] [ 8.50628386e-03 9.99963819e-01 -5.66999467e-05 1.83661183e+00] [ 5.06103567e-03 1.36491083e-05 9.99987193e-01 7.89052654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:1.83, Z:0.79 [[ 9.99937511e-01 -9.96810450e-03 -5.06071756e-03 1.58613594e+02] [ 9.96793691e-03 9.99950317e-01 -5.83386643e-05 1.83356909e+00] [ 5.06104766e-03 7.89010535e-06 9.99987193e-01 7.89386053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:1.83, Z:0.79 [[ 9.99925770e-01 -1.10834828e-02 -5.06069839e-03 1.58641681e+02] [ 1.10833213e-02 9.99938576e-01 -5.99569008e-05 1.82842855e+00] [ 5.06105208e-03 3.86310413e-06 9.99987193e-01 7.89622381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:1.83, Z:0.79 [[ 9.99925798e-01 -1.10809298e-02 -5.06069239e-03 1.58669371e+02] [ 1.10807657e-02 9.99938605e-01 -6.04594852e-05 1.82669199e+00] [ 5.06105163e-03 4.37865225e-06 9.99987193e-01 7.90481283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.70, Y:1.83, Z:0.79 [[ 9.99932398e-01 -1.04684414e-02 -5.06067298e-03 1.58697120e+02] [ 1.04682614e-02 9.99945204e-01 -6.20425459e-05 1.82510442e+00] [ 5.06104517e-03 9.06190398e-06 9.99987193e-01 7.91592089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.72, Y:1.82, Z:0.79 [[ 9.99952944e-01 -8.27639478e-03 -5.06065312e-03 1.58724784e+02] [ 8.27617878e-03 9.99965750e-01 -6.36221784e-05 1.82217608e+00] [ 5.06100636e-03 2.17363147e-05 9.99987193e-01 7.92963050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.75, Y:1.82, Z:0.79 [[ 9.99961463e-01 -7.17374931e-03 -5.06063296e-03 1.58752837e+02] [ 7.17351127e-03 9.99974268e-01 -6.51869568e-05 1.82083952e+00] [ 5.06097038e-03 2.88819370e-05 9.99987193e-01 7.92997029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.78, Y:1.82, Z:0.79 [[ 9.99962565e-01 -7.01840694e-03 -5.06062669e-03 1.58780853e+02] [ 7.01816447e-03 9.99975370e-01 -6.56704586e-05 1.81989264e+00] [ 5.06096295e-03 3.01516899e-05 9.99987193e-01 7.92374121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:1.82, Z:0.79 [[ 9.99954972e-01 -8.02776689e-03 -5.06060627e-03 1.58809169e+02] [ 8.02752956e-03 9.99967777e-01 -6.72083970e-05 1.81678776e+00] [ 5.06098273e-03 2.65812043e-05 9.99987193e-01 7.92261011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:1.82, Z:0.79 [[ 9.99938398e-01 -9.87884226e-03 -5.06058339e-03 1.58837331e+02] [ 9.87862013e-03 9.99951203e-01 -6.88886378e-05 1.81552336e+00] [ 5.06101699e-03 1.88928131e-05 9.99987193e-01 7.92083508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:1.81, Z:0.79 [[ 9.99910583e-01 -1.23780901e-02 -5.06055959e-03 1.58865766e+02] [ 1.23778913e-02 9.99923388e-01 -7.05949308e-05 1.81424029e+00] [ 5.06104572e-03 7.94956189e-06 9.99987193e-01 7.92976384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:1.81, Z:0.79 [[ 9.99818421e-01 -1.83716255e-02 -5.06053363e-03 1.58893325e+02] [ 1.83714943e-02 9.99831227e-01 -7.24092945e-05 1.81089791e+00] [ 5.06100983e-03 -2.05734182e-05 9.99987193e-01 7.92247665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:1.81, Z:0.79 [[ 9.99747777e-01 -2.18809148e-02 -5.06050733e-03 1.58921418e+02] [ 2.18808195e-02 9.99760583e-01 -7.42027193e-05 1.80963136e+00] [ 5.06091939e-03 -3.65440441e-05 9.99987193e-01 7.94121882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:1.81, Z:0.80 [[ 9.99619020e-01 -2.71331192e-02 -5.06047988e-03 1.58949675e+02] [ 2.71330820e-02 9.99631827e-01 -7.60301504e-05 1.80698269e+00] [ 5.06067968e-03 -6.13052307e-05 9.99987193e-01 7.95542476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:1.81, Z:0.80 [[ 9.99557380e-01 -2.93161273e-02 -5.06047130e-03 1.58977037e+02] [ 2.93161151e-02 9.99570187e-01 -7.65965841e-05 1.80651111e+00] [ 5.06054176e-03 -7.17906781e-05 9.99987193e-01 7.95379787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:1.81, Z:0.80 [[ 9.99510840e-01 -3.08621366e-02 -5.06046273e-03 1.59005803e+02] [ 3.08621414e-02 9.99523648e-01 -7.71588024e-05 1.80581940e+00] [ 5.06043345e-03 -7.90556570e-05 9.99987193e-01 7.98914534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:1.81, Z:0.80 [[ 9.99471413e-01 -3.21136358e-02 -5.06043612e-03 1.59032768e+02] [ 3.21136480e-02 9.99484221e-01 -7.88671984e-05 1.80536271e+00] [ 5.06035877e-03 -8.36835542e-05 9.99987193e-01 7.97427748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:1.81, Z:0.80 [[ 9.99440864e-01 -3.30507544e-02 -5.06038000e-03 1.59061625e+02] [ 3.30507608e-02 9.99453671e-01 -8.23760585e-05 1.80530121e+00] [ 5.06033796e-03 -8.49194100e-05 9.99987193e-01 7.95811561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:1.81, Z:0.80 [[ 9.99432187e-01 -3.33120881e-02 -5.06039472e-03 1.59089899e+02] [ 3.33121025e-02 9.99444995e-01 -8.14616330e-05 1.80624174e+00] [ 5.06029984e-03 -8.71570098e-05 9.99987193e-01 7.96050778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:1.81, Z:0.79 [[ 9.99425619e-01 -3.35085701e-02 -5.06036497e-03 1.59117875e+02] [ 3.35085779e-02 9.99438426e-01 -8.32697455e-05 1.80706313e+00] [ 5.06031345e-03 -8.63437170e-05 9.99987193e-01 7.92375649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:1.81, Z:0.79 [[ 9.99397069e-01 -3.43495337e-02 -5.06035090e-03 1.59147131e+02] [ 3.43495480e-02 9.99409877e-01 -8.41164062e-05 1.80839980e+00] [ 5.06025403e-03 -8.97550760e-05 9.99987193e-01 7.89598103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:1.81, Z:0.79 [[ 9.99371352e-01 -3.50897936e-02 -5.06032794e-03 1.59176381e+02] [ 3.50898105e-02 9.99384159e-01 -8.54753390e-05 1.80938854e+00] [ 5.06021090e-03 -9.21443434e-05 9.99987193e-01 7.91531898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:1.81, Z:0.79 [[ 9.99336483e-01 -3.60691948e-02 -5.06030116e-03 1.59204313e+02] [ 3.60692164e-02 9.99349290e-01 -8.70328387e-05 1.81037587e+00] [ 5.06014757e-03 -9.55460064e-05 9.99987193e-01 7.91858250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.23, Y:1.81, Z:0.79 [[ 9.99274207e-01 -3.77551606e-02 -5.06027000e-03 1.59232029e+02] [ 3.77551948e-02 9.99287015e-01 -8.88081544e-05 1.81190995e+00] [ 5.06001507e-03 -1.02307781e-04 9.99987193e-01 7.94093804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:1.81, Z:0.80 [[ 9.99233514e-01 -3.88172318e-02 -5.06026032e-03 1.59260032e+02] [ 3.88172768e-02 9.99246322e-01 -8.93561101e-05 1.81330507e+00] [ 5.05991507e-03 -1.07137906e-04 9.99987193e-01 7.95515223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:1.81, Z:0.80 [[ 9.99196704e-01 -3.97534975e-02 -5.06022921e-03 1.59287917e+02] [ 3.97535458e-02 9.99209511e-01 -9.10845537e-05 1.81473098e+00] [ 5.05985009e-03 -1.10150668e-04 9.99987193e-01 7.96887067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:1.82, Z:0.80 [[ 9.99112122e-01 -4.18253640e-02 -5.06021954e-03 1.59315459e+02] [ 4.18254361e-02 9.99124929e-01 -9.16189686e-05 1.81747080e+00] [ 5.05962348e-03 -1.20108267e-04 9.99987193e-01 7.98228143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:1.82, Z:0.80 [[ 9.99059971e-01 -4.30530806e-02 -5.06020994e-03 1.59343518e+02] [ 4.30531658e-02 9.99072778e-01 -9.21457321e-05 1.81923246e+00] [ 5.05948516e-03 -1.25798945e-04 9.99987193e-01 7.98318302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:1.82, Z:0.80 [[ 9.99032694e-01 -4.36814706e-02 -5.06017876e-03 1.59371818e+02] [ 4.36815553e-02 9.99045501e-01 -9.38275279e-05 1.82092525e+00] [ 5.05944735e-03 -1.27299710e-04 9.99987193e-01 7.99309462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:1.82, Z:0.80 [[ 9.98942922e-01 -4.56884590e-02 -5.06004954e-03 1.59400518e+02] [ 4.56885345e-02 9.98955729e-01 -1.00741454e-04 1.82432019e+00] [ 5.05936820e-03 -1.30551286e-04 9.99987193e-01 7.98984918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:1.83, Z:0.80 [[ 9.98955603e-01 -4.54103292e-02 -5.06014708e-03 1.59427304e+02] [ 4.54104273e-02 9.98968410e-01 -9.55771788e-05 1.82642734e+00] [ 5.05926728e-03 -1.34306083e-04 9.99987193e-01 7.98457826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:1.83, Z:0.80 [[ 9.98983994e-01 -4.47814107e-02 -5.06013288e-03 1.59455039e+02] [ 4.47814969e-02 9.98996801e-01 -9.63233447e-05 1.82924882e+00] [ 5.05937005e-03 -1.30374845e-04 9.99987193e-01 7.99043058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:1.83, Z:0.80 [[ 9.99090509e-01 -4.23385185e-02 -5.06004763e-03 1.59483741e+02] [ 4.23385509e-02 9.99103316e-01 -1.00759193e-04 1.83405518e+00] [ 5.05977636e-03 -1.13567531e-04 9.99987193e-01 8.01649798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:1.84, Z:0.80 [[ 9.99130159e-01 -4.13922848e-02 -5.06010099e-03 1.59512133e+02] [ 4.13923190e-02 9.99142966e-01 -9.80041888e-05 1.83685047e+00] [ 5.05982093e-03 -1.11530373e-04 9.99987193e-01 8.02583124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:1.84, Z:0.80 [[ 9.99168131e-01 -4.04653096e-02 -5.06006662e-03 1.59539944e+02] [ 4.04653232e-02 9.99180938e-01 -9.97478378e-05 1.83952664e+00] [ 5.05995844e-03 -1.05092370e-04 9.99987193e-01 8.03282858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.57, Y:1.84, Z:0.80 [[ 9.99145735e-01 -4.10145817e-02 -5.06005592e-03 1.59566935e+02] [ 4.10145995e-02 9.99158542e-01 -1.00287460e-04 1.84436551e+00] [ 5.05991135e-03 -1.07334379e-04 9.99987193e-01 8.03151023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.59, Y:1.85, Z:0.80 [[ 9.99100056e-01 -4.21126445e-02 -5.06004105e-03 1.59594065e+02] [ 4.21126727e-02 9.99112863e-01 -1.01032044e-04 1.84681305e+00] [ 5.05980683e-03 -1.12150731e-04 9.99987193e-01 8.01602629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:1.85, Z:0.80 [[ 9.98942401e-01 -4.56998458e-02 -5.06002618e-03 1.59621992e+02] [ 4.56999162e-02 9.98955208e-01 -1.01771422e-04 1.85077920e+00] [ 5.05939045e-03 -1.29578984e-04 9.99987193e-01 8.01416319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:1.85, Z:0.80 [[ 9.98813121e-01 -4.84432256e-02 -5.05999027e-03 1.59650421e+02] [ 4.84433223e-02 9.98825928e-01 -1.03526596e-04 1.85336844e+00] [ 5.05906464e-03 -1.41719017e-04 9.99987193e-01 8.01066927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:1.86, Z:0.80 [[ 9.98680420e-01 -5.11059348e-02 -5.05995314e-03 1.59678555e+02] [ 5.11060566e-02 9.98693226e-01 -1.05310767e-04 1.85570152e+00] [ 5.05872293e-03 -1.53422450e-04 9.99987193e-01 8.00223694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:1.86, Z:0.80 [[ 9.98550894e-01 -5.35771312e-02 -5.05991577e-03 1.59706484e+02] [ 5.35772758e-02 9.98563701e-01 -1.07076543e-04 1.85834125e+00] [ 5.05838507e-03 -1.64175125e-04 9.99987193e-01 7.99343948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:159.73, Y:1.86, Z:0.80 [[ 9.98358451e-01 -5.70508646e-02 -5.05987809e-03 1.59734310e+02] [ 5.70510449e-02 9.98371257e-01 -1.08828776e-04 1.86363749e+00] [ 5.05784562e-03 -1.80021203e-04 9.99987193e-01 7.97953006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.76, Y:1.87, Z:0.80 [[ 9.98297567e-01 -5.81064956e-02 -5.05986647e-03 1.59762039e+02] [ 5.81066866e-02 9.98310373e-01 -1.09366291e-04 1.86643939e+00] [ 5.05767207e-03 -1.84831973e-04 9.99987193e-01 7.97795255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:1.87, Z:0.80 [[ 9.98245066e-01 -5.90015829e-02 -5.05982889e-03 1.59789763e+02] [ 5.90017768e-02 9.98257872e-01 -1.11077849e-04 1.86932574e+00] [ 5.05756779e-03 -1.87655980e-04 9.99987193e-01 7.99225236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:1.87, Z:0.80 [[ 9.98215869e-01 -5.94935137e-02 -5.05978832e-03 1.59817365e+02] [ 5.94937047e-02 9.98228674e-01 -1.12896198e-04 1.87259970e+00] [ 5.05754238e-03 -1.88330775e-04 9.99987193e-01 7.99659314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.84, Y:1.88, Z:0.80 [[ 9.98291997e-01 -5.82021215e-02 -5.05974735e-03 1.59844698e+02] [ 5.82022868e-02 9.98304803e-01 -1.14703526e-04 1.87885805e+00] [ 5.05784607e-03 -1.79981255e-04 9.99987193e-01 7.99828411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.87, Y:1.88, Z:0.80 [[ 9.98341272e-01 -5.73507059e-02 -5.05973465e-03 1.59873857e+02] [ 5.73508574e-02 9.98354078e-01 -1.15260932e-04 1.88251071e+00] [ 5.05801702e-03 -1.75110375e-04 9.99987193e-01 8.02269745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09439141800001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.90, Y:1.89, Z:0.80 [[ 9.98544840e-01 -5.36898620e-02 -5.05969882e-03 1.59901160e+02] [ 5.36899587e-02 9.98557647e-01 -1.16813032e-04 1.88940740e+00] [ 5.05867262e-03 -1.55011970e-04 9.99987193e-01 8.04196292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.93, Y:1.89, Z:0.81 [[ 9.98636858e-01 -5.19502226e-02 -5.05968004e-03 1.59929065e+02] [ 5.19502929e-02 9.98649665e-01 -1.17620941e-04 1.89372545e+00] [ 5.05895821e-03 -1.45391252e-04 9.99987193e-01 8.05119332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15439141800002 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:159.96, Y:1.90, Z:0.81 [[ 9.98769582e-01 -4.93327702e-02 -5.05963879e-03 1.59956708e+02] [ 4.93327981e-02 9.98782389e-01 -1.19369142e-04 1.89746399e+00] [ 5.05936693e-03 -1.30383871e-04 9.99987193e-01 8.05660520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.98, Y:1.90, Z:0.81 [[ 9.98884625e-01 -4.69457798e-02 -5.05962597e-03 1.59984883e+02] [ 4.69457743e-02 9.98897432e-01 -1.19910210e-04 1.90121131e+00] [ 5.05967667e-03 -1.17751594e-04 9.99987193e-01 8.05974435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21439141800002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.01, Y:1.90, Z:0.81 [[ 9.99016558e-01 -4.40490403e-02 -5.05958433e-03 1.60011815e+02] [ 4.40489889e-02 9.99029365e-01 -1.21642293e-04 1.90459097e+00] [ 5.06003154e-03 -1.01346909e-04 9.99987193e-01 8.05569792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:1.91, Z:0.80 [[ 9.99261443e-01 -3.80915955e-02 -5.05956606e-03 1.60039503e+02] [ 3.80914639e-02 9.99274249e-01 -1.22397347e-04 1.91098165e+00] [ 5.06055639e-03 -7.04193288e-05 9.99987193e-01 8.04935745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:1.91, Z:0.80 [[ 9.99379702e-01 -3.48512969e-02 -5.05952399e-03 1.60067001e+02] [ 3.48511151e-02 9.99392508e-01 -1.24112587e-04 1.91435892e+00] [ 5.06077585e-03 -5.22944533e-05 9.99987193e-01 8.04323901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.10, Y:1.92, Z:0.80 [[ 9.99368008e-01 -3.51850351e-02 -5.05951087e-03 1.60095468e+02] [ 3.51848549e-02 9.99380814e-01 -1.24644943e-04 1.91529644e+00] [ 5.06076373e-03 -5.34519873e-05 9.99987193e-01 8.04468048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:1.92, Z:0.80 [[ 9.99476323e-01 -3.19606365e-02 -5.05946868e-03 1.60122948e+02] [ 3.19604064e-02 9.99489128e-01 -1.26334547e-04 1.91864969e+00] [ 5.06092167e-03 -3.54342866e-05 9.99987193e-01 8.04707668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:1.92, Z:0.80 [[ 9.99681772e-01 -2.47134967e-02 -5.05942330e-03 1.60150191e+02] [ 2.47131648e-02 9.99694575e-01 -1.28126477e-04 1.92344902e+00] [ 5.06104448e-03 3.05134220e-06 9.99987193e-01 8.04800640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:1.93, Z:0.81 [[ 9.99755470e-01 -2.15267946e-02 -5.05940917e-03 1.60179139e+02] [ 2.15264191e-02 9.99768272e-01 -1.28682047e-04 1.92638867e+00] [ 5.06100688e-03 1.97396180e-05 9.99987193e-01 8.05002742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.21, Y:1.93, Z:0.81 [[ 9.99818374e-01 -1.83744821e-02 -5.05936885e-03 1.60207848e+02] [ 1.83740583e-02 9.99831174e-01 -1.30248477e-04 1.92914535e+00] [ 5.06090794e-03 3.72636822e-05 9.99987193e-01 8.05081426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.24, Y:1.93, Z:0.80 [[ 9.99909789e-01 -1.24425512e-02 -5.05932810e-03 1.60235136e+02] [ 1.24420435e-02 9.99922586e-01 -1.31812252e-04 1.93301288e+00] [ 5.06057652e-03 6.88519808e-05 9.99987193e-01 8.04704568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.26, Y:1.93, Z:0.80 [[ 9.99937432e-01 -9.97677410e-03 -5.05930638e-03 1.60263873e+02] [ 9.97623066e-03 9.99950227e-01 -1.32640954e-04 1.93490110e+00] [ 5.06037789e-03 8.21598477e-05 9.99987193e-01 8.04277717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:1.94, Z:0.80 [[ 9.99970817e-01 -5.72442664e-03 -5.05926590e-03 1.60292880e+02] [ 5.72382107e-03 9.99983610e-01 -1.34167370e-04 1.93601196e+00] [ 5.05995101e-03 1.05205122e-04 9.99987193e-01 8.02687008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.544391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:160.32, Y:1.94, Z:0.80 [[ 9.99978618e-01 -4.14353494e-03 -5.05916794e-03 1.60320973e+02] [ 4.14289064e-03 9.99991409e-01 -1.37825510e-04 1.93642770e+00] [ 5.05969556e-03 1.16862983e-04 9.99987193e-01 8.02846949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.574391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:160.35, Y:1.94, Z:0.80 [[ 9.99982739e-01 -2.98759717e-03 -5.05921109e-03 1.60350215e+02] [ 2.98694619e-03 9.99995530e-01 -1.36223086e-04 1.93684896e+00] [ 5.05959545e-03 1.21109143e-04 9.99987193e-01 8.02524131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:1.94, Z:0.80 [[ 9.99986870e-01 -8.15516486e-04 -5.05917009e-03 1.60378569e+02] [ 8.14830111e-04 9.99999659e-01 -1.37729224e-04 1.93568590e+00] [ 5.05928068e-03 1.33605052e-04 9.99987193e-01 8.02198363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.634391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.41, Y:1.94, Z:0.80 [[ 9.99987128e-01 -3.86886345e-04 -5.05915555e-03 1.60407180e+02] [ 3.86191799e-04 9.99999916e-01 -1.38261216e-04 1.93514391e+00] [ 5.05920861e-03 1.36305632e-04 9.99987193e-01 8.02437637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.44, Y:1.93, Z:0.80 [[ 9.99987179e-01 -2.15723785e-04 -5.05911474e-03 1.60435705e+02] [ 2.15019581e-04 9.99999967e-01 -1.39738538e-04 1.93420703e+00] [ 5.05914472e-03 1.38648937e-04 9.99987193e-01 8.03232023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:160.46, Y:1.93, Z:0.80 [[ 9.99987197e-01 1.09557731e-04 -5.05907353e-03 1.60464710e+02] [-1.10273559e-04 9.99999984e-01 -1.41215068e-04 1.93275674e+00] [ 5.05905797e-03 1.41771142e-04 9.99987193e-01 8.04391863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:1.93, Z:0.81 [[ 9.99986422e-01 1.25017080e-03 -5.05903104e-03 1.60492987e+02] [-1.25090883e-03 9.99999207e-01 -1.42721165e-04 1.92831550e+00] [ 5.05884860e-03 1.49047614e-04 9.99987193e-01 8.07141415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:160.52, Y:1.93, Z:0.81 [[ 9.99985925e-01 1.59826326e-03 -5.05916272e-03 1.60521443e+02] [-1.59898237e-03 9.99998712e-01 -1.38099348e-04 1.92714820e+00] [ 5.05893548e-03 1.46186916e-04 9.99987193e-01 8.08090631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:1.93, Z:0.81 [[ 9.99984508e-01 2.32154408e-03 -5.05899369e-03 1.60548979e+02] [-2.32230245e-03 9.99997293e-01 -1.44036131e-04 1.92558729e+00] [ 5.05864561e-03 1.55782413e-04 9.99987193e-01 8.08553008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:1.92, Z:0.81 [[ 9.99983236e-01 2.81669579e-03 -5.05897813e-03 1.60577542e+02] [-2.81746324e-03 9.99996020e-01 -1.44580623e-04 1.92395790e+00] [ 5.05855075e-03 1.58831684e-04 9.99987193e-01 8.08927872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.61, Y:1.92, Z:0.81 [[ 9.99976549e-01 4.61605765e-03 -5.05896641e-03 1.60605670e+02] [-4.61685017e-03 9.99989332e-01 -1.44989340e-04 1.91868019e+00] [ 5.05824316e-03 1.68342430e-04 9.99987193e-01 8.06578128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87439141800002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.63, Y:1.92, Z:0.81 [[ 9.99973053e-01 5.31982400e-03 -5.05895183e-03 1.60634556e+02] [-5.32062807e-03 9.99985835e-01 -1.45496311e-04 1.91627211e+00] [ 5.05810616e-03 1.72409191e-04 9.99987193e-01 8.05113394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90439141800002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.66, Y:1.91, Z:0.80 [[ 9.99972220e-01 5.47421154e-03 -5.05893886e-03 1.60662703e+02] [-5.47501986e-03 9.99985001e-01 -1.45945907e-04 1.91366871e+00] [ 5.05806405e-03 1.73639643e-04 9.99987193e-01 8.03917310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.69, Y:1.91, Z:0.80 [[ 9.99977424e-01 4.42259835e-03 -5.05892281e-03 1.60690357e+02] [-4.42339603e-03 9.99990206e-01 -1.46500137e-04 1.90749690e+00] [ 5.05822535e-03 1.68874449e-04 9.99987193e-01 8.02029884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:1.90, Z:0.80 [[ 9.99982428e-01 3.09063208e-03 -5.05890848e-03 1.60719221e+02] [-3.09141523e-03 9.99995211e-01 -1.46993505e-04 1.90458227e+00] [ 5.05842995e-03 1.62630109e-04 9.99987193e-01 8.01882173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:160.75, Y:1.90, Z:0.80 [[ 9.99985258e-01 -1.97285147e-03 -5.05889547e-03 1.60747724e+02] [ 1.97213080e-03 9.99998044e-01 -1.47439889e-04 1.89730909e+00] [ 5.05917645e-03 1.37460912e-04 9.99987193e-01 8.02489381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:1.89, Z:0.80 [[ 9.99970415e-01 -5.79460024e-03 -5.05887930e-03 1.60776913e+02] [ 5.79392565e-03 9.99983204e-01 -1.47992618e-04 1.89382409e+00] [ 5.05965189e-03 1.18677469e-04 9.99987193e-01 8.03480393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:1.89, Z:0.80 [[ 9.99933684e-01 -1.03457976e-02 -5.05886600e-03 1.60805272e+02] [ 1.03451790e-02 9.99946476e-01 -1.48445816e-04 1.89046839e+00] [ 5.06013102e-03 9.61010979e-05 9.99987193e-01 8.04675962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:1.88, Z:0.81 [[ 9.99769613e-01 -2.08597368e-02 -5.05884947e-03 1.60833818e+02] [ 2.08592498e-02 9.99782411e-01 -1.49006974e-04 1.88332651e+00] [ 5.06085697e-03 4.34488395e-05 9.99987193e-01 8.05717245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:1.88, Z:0.81 [[ 9.99631541e-01 -2.66681572e-02 -5.05883304e-03 1.60862246e+02] [ 2.66677418e-02 9.99644341e-01 -1.49562768e-04 1.88019748e+00] [ 5.06102238e-03 1.46000066e-05 9.99987193e-01 8.05797705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:1.88, Z:0.81 [[ 9.99463129e-01 -3.23707169e-02 -5.05877932e-03 1.60890283e+02] [ 3.23703654e-02 9.99475931e-01 -1.51358062e-04 1.87730304e+00] [ 5.06102774e-03 -1.24777335e-05 9.99987193e-01 8.05783367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:1.87, Z:0.80 [[ 9.99038197e-01 -4.35555889e-02 -5.05872475e-03 1.60917901e+02] [ 4.35553716e-02 9.99051003e-01 -1.53160564e-04 1.87087614e+00] [ 5.06059503e-03 -6.73213827e-05 9.99987193e-01 8.04770814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:1.87, Z:0.80 [[ 9.98786223e-01 -4.89947967e-02 -5.05868731e-03 1.60946448e+02] [ 4.89946429e-02 9.98799029e-01 -1.54387206e-04 1.86864957e+00] [ 5.06017615e-03 -9.36487644e-05 9.99987193e-01 8.04719263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.97, Y:1.87, Z:0.81 [[ 9.98531529e-01 -5.39369694e-02 -5.05863248e-03 1.60973929e+02] [ 5.39368700e-02 9.98544335e-01 -1.56163288e-04 1.86672528e+00] [ 5.05969179e-03 -1.16912837e-04 9.99987193e-01 8.05659425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:1.87, Z:0.81 [[ 9.98257370e-01 -5.87931530e-02 -5.05859467e-03 1.61000977e+02] [ 5.87931098e-02 9.98270177e-01 -1.57378611e-04 1.86559374e+00] [ 5.05909698e-03 -1.40306154e-04 9.99987193e-01 8.06994061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:1.86, Z:0.81 [[ 9.97760724e-01 -6.66929371e-02 -5.05855673e-03 1.61028335e+02] [ 6.66929892e-02 9.97773531e-01 -1.58588801e-04 1.86412697e+00] [ 5.05787077e-03 -1.79136593e-04 9.99987193e-01 8.09973506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:1.86, Z:0.81 [[ 9.97523886e-01 -7.01463370e-02 -5.05852008e-03 1.61056162e+02] [ 7.01464275e-02 9.97536693e-01 -1.59749497e-04 1.86486934e+00] [ 5.05726523e-03 -1.95483173e-04 9.99987193e-01 8.10983951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:1.87, Z:0.81 [[ 9.97336868e-01 -7.27570122e-02 -5.05846631e-03 1.61083124e+02] [ 7.27571277e-02 9.97349675e-01 -1.61434377e-04 1.86558546e+00] [ 5.05680521e-03 -2.07035023e-04 9.99987193e-01 8.12063811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:1.87, Z:0.81 [[ 9.97134785e-01 -7.54760394e-02 -5.05844299e-03 1.61110661e+02] [ 7.54761861e-02 9.97147591e-01 -1.62161921e-04 1.86701846e+00] [ 5.05625358e-03 -2.20094692e-04 9.99987193e-01 8.11570318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:1.87, Z:0.81 [[ 9.96742562e-01 -8.04902364e-02 -5.05838293e-03 1.61134225e+02] [ 8.04904381e-02 9.96755367e-01 -1.64014145e-04 1.87243262e+00] [ 5.05517187e-03 -2.43671579e-04 9.99987193e-01 8.12059361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:1.87, Z:0.81 [[ 9.96858113e-01 -7.90464702e-02 -5.05545406e-03 1.61167172e+02] [ 7.90462044e-02 9.96870921e-01 -2.52666810e-04 1.87209611e+00] [ 5.05960757e-03 -1.47741496e-04 9.99987189e-01 8.10498060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:1.88, Z:0.81 [[ 9.96824883e-01 -7.94642483e-02 -5.05831771e-03 1.61195474e+02] [ 7.94644332e-02 9.96837688e-01 -1.64739038e-04 1.87555231e+00] [ 5.05541260e-03 -2.37740378e-04 9.99987193e-01 8.08864427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:1.88, Z:0.81 [[ 9.96867194e-01 -7.89316890e-02 -5.05825600e-03 1.61222890e+02] [ 7.89318575e-02 9.96880000e-01 -1.66612343e-04 1.88273198e+00] [ 5.05562524e-03 -2.33167163e-04 9.99987193e-01 8.05864762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:1.89, Z:0.80 [[ 9.96906461e-01 -7.84341863e-02 -5.05823694e-03 1.61251161e+02] [ 7.84343455e-02 9.96919267e-01 -1.67189073e-04 1.88715017e+00] [ 5.05576720e-03 -2.30067637e-04 9.99987193e-01 8.04883789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:1.89, Z:0.80 [[ 9.96969599e-01 -7.76275360e-02 -5.05817656e-03 1.61277823e+02] [ 7.76276757e-02 9.96982405e-01 -1.68996403e-04 1.89162868e+00] [ 5.05603180e-03 -2.24170213e-04 9.99987193e-01 8.04277211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:1.90, Z:0.80 [[ 9.97041509e-01 -7.66983947e-02 -5.05815034e-03 1.61305535e+02] [ 7.66985185e-02 9.97054316e-01 -1.69777474e-04 1.89997018e+00] [ 5.05627229e-03 -2.18677448e-04 9.99987193e-01 8.04577473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.33, Y:1.91, Z:0.81 [[ 9.97062487e-01 -7.64252147e-02 -5.05809046e-03 1.61333601e+02] [ 7.64253261e-02 9.97075293e-01 -1.71543152e-04 1.90500333e+00] [ 5.05640725e-03 -2.15526971e-04 9.99987193e-01 8.05466535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.36, Y:1.91, Z:0.81 [[ 9.97074985e-01 -7.62619901e-02 -5.05802943e-03 1.61361492e+02] [ 7.62620904e-02 9.97087791e-01 -1.73324195e-04 1.91023722e+00] [ 5.05651744e-03 -2.12918678e-04 9.99987193e-01 8.06652534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.39, Y:1.92, Z:0.81 [[ 9.97110757e-01 -7.57928488e-02 -5.05796622e-03 1.61389198e+02] [ 7.57929338e-02 9.97123563e-01 -1.75149566e-04 1.91557774e+00] [ 5.05669238e-03 -2.08714583e-04 9.99987193e-01 8.07833787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:1.92, Z:0.81 [[ 9.97124642e-01 -7.56099650e-02 -5.05790215e-03 1.61416405e+02] [ 7.56100384e-02 9.97137448e-01 -1.76980646e-04 1.92127914e+00] [ 5.05680514e-03 -2.05956412e-04 9.99987193e-01 8.08607425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.44, Y:1.93, Z:0.81 [[ 9.97163281e-01 -7.50986601e-02 -5.05787435e-03 1.61443818e+02] [ 7.50987229e-02 9.97176088e-01 -1.77771515e-04 1.93125107e+00] [ 5.05694176e-03 -2.02572677e-04 9.99987193e-01 8.09977069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:1.94, Z:0.81 [[ 9.97151936e-01 -7.52491591e-02 -5.05781071e-03 1.61471726e+02] [ 7.52492148e-02 9.97164742e-01 -1.79563984e-04 1.93663521e+00] [ 5.05698256e-03 -2.01543710e-04 9.99987193e-01 8.10407358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.50, Y:1.95, Z:0.81 [[ 9.97215265e-01 -7.44052068e-02 -5.05774690e-03 1.61499671e+02] [ 7.44052426e-02 9.97228072e-01 -1.81343831e-04 1.94629907e+00] [ 5.05722011e-03 -1.95484048e-04 9.99987193e-01 8.10474200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:1.95, Z:0.81 [[ 9.97260867e-01 -7.37914768e-02 -5.05768209e-03 1.61525591e+02] [ 7.37914957e-02 9.97273674e-01 -1.83133781e-04 1.95305450e+00] [ 5.05740691e-03 -1.90581773e-04 9.99987193e-01 8.09977319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:161.55, Y:1.96, Z:0.81 [[ 9.97315171e-01 -7.30540014e-02 -5.05601715e-03 1.61553625e+02] [ 7.30537814e-02 9.97327977e-01 -2.28421350e-04 1.95865907e+00] [ 5.05919445e-03 -1.41553094e-04 9.99987192e-01 8.09275918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:1.97, Z:0.81 [[ 9.97328854e-01 -7.28669389e-02 -5.05635026e-03 1.61581508e+02] [ 7.28667623e-02 9.97341660e-01 -2.19376921e-04 1.96517247e+00] [ 5.05889409e-03 -1.49648939e-04 9.99987193e-01 8.08386975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:161.61, Y:1.98, Z:0.81 [[ 9.97451433e-01 -7.11693102e-02 -5.05642869e-03 1.61609408e+02] [ 7.11691227e-02 9.97464239e-01 -2.17231771e-04 1.97586011e+00] [ 5.05906703e-03 -1.43183452e-04 9.99987193e-01 8.07518540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:1.98, Z:0.81 [[ 9.97532548e-01 -7.00232276e-02 -5.05598808e-03 1.61637509e+02] [ 7.00229648e-02 9.97545353e-01 -2.29195354e-04 1.98102570e+00] [ 5.05962642e-03 -1.25405450e-04 9.99987192e-01 8.08600530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984391418 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:161.66, Y:1.99, Z:0.81 [[ 9.97604198e-01 -6.89949196e-02 -5.05620207e-03 1.61664403e+02] [ 6.89946726e-02 9.97617003e-01 -2.23467399e-04 1.98648685e+00] [ 5.05957127e-03 -1.25918992e-04 9.99987192e-01 8.08785179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:161.69, Y:2.00, Z:0.81 [[ 9.97759626e-01 -6.67095630e-02 -5.05599132e-03 1.61691705e+02] [ 6.67092583e-02 9.97772430e-01 -2.29061343e-04 1.99577205e+00] [ 5.06000933e-03 -1.08733271e-04 9.99987192e-01 8.11110449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.044391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:161.72, Y:2.00, Z:0.81 [[ 9.97818189e-01 -6.58278035e-02 -5.05581810e-03 1.61719535e+02] [ 6.58274644e-02 9.97830993e-01 -2.33630432e-04 2.00088631e+00] [ 5.06023137e-03 -9.96909915e-05 9.99987192e-01 8.11127984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.074391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:161.75, Y:2.01, Z:0.81 [[ 9.97930659e-01 -6.41002197e-02 -5.05593359e-03 1.61747505e+02] [ 6.40998742e-02 9.97943462e-01 -2.30512184e-04 2.00520948e+00] [ 5.06031175e-03 -9.40495316e-05 9.99987192e-01 8.10991105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.104391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:161.78, Y:2.01, Z:0.81 [[ 9.98119918e-01 -6.10824750e-02 -5.05579576e-03 1.61775623e+02] [ 6.10820719e-02 9.98132719e-01 -2.34245513e-04 2.01332667e+00] [ 5.06066346e-03 -7.50133676e-05 9.99987192e-01 8.09241140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:2.02, Z:0.81 [[ 9.98227198e-01 -5.93034507e-02 -5.05595853e-03 1.61805728e+02] [ 5.93030470e-02 9.98239999e-01 -2.29858997e-04 2.01696978e+00] [ 5.06069147e-03 -7.03822442e-05 9.99987192e-01 8.08349913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:161.83, Y:2.02, Z:0.81 [[ 9.98313351e-01 -5.78348886e-02 -5.05754693e-03 1.61833306e+02] [ 5.78346838e-02 9.98326156e-01 -1.86869828e-04 2.02260239e+00] [ 5.05988898e-03 -1.05946983e-04 9.99987193e-01 8.07513237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:161.86, Y:2.03, Z:0.81 [[ 9.98521612e-01 -5.41204816e-02 -5.05602748e-03 1.61862898e+02] [ 5.41200264e-02 9.98534412e-01 -2.26913893e-04 2.02962066e+00] [ 5.06089811e-03 -4.70539140e-05 9.99987192e-01 8.07857853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.89, Y:2.03, Z:0.81 [[ 9.98625043e-01 -5.21770767e-02 -5.05738105e-03 1.61891388e+02] [ 5.21767779e-02 9.98637846e-01 -1.91090615e-04 2.03359910e+00] [ 5.06046266e-03 -7.30499740e-05 9.99987193e-01 8.08755614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.92, Y:2.03, Z:0.81 [[ 9.98610573e-01 -5.24532837e-02 -5.05732797e-03 1.61920661e+02] [ 5.24529814e-02 9.98623376e-01 -1.92485190e-04 2.03490163e+00] [ 5.06046241e-03 -7.30541836e-05 9.99987193e-01 8.08903995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:161.95, Y:2.04, Z:0.81 [[ 9.98688989e-01 -5.09384573e-02 -5.05727434e-03 1.61950164e+02] [ 5.09381285e-02 9.98701792e-01 -1.93883961e-04 2.03901525e+00] [ 5.06058510e-03 -6.39783134e-05 9.99987193e-01 8.10305992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.98, Y:2.05, Z:0.81 [[ 9.98807741e-01 -4.85543134e-02 -5.05726592e-03 1.61978957e+02] [ 4.85539529e-02 9.98820542e-01 -1.94103371e-04 2.04537325e+00] [ 5.06072565e-03 -5.16783015e-05 9.99987193e-01 8.10808015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34439141800001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.01, Y:2.05, Z:0.81 [[ 9.98820449e-01 -4.82922727e-02 -5.05644649e-03 1.62008706e+02] [ 4.82918010e-02 9.98833247e-01 -2.15416084e-04 2.04859185e+00] [ 5.06094980e-03 -2.90229186e-05 9.99987193e-01 8.11192648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37439141800002 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.04, Y:2.05, Z:0.81 [[ 9.98793890e-01 -4.88384647e-02 -5.05663252e-03 1.62038215e+02] [ 4.88380244e-02 9.98806690e-01 -2.10587163e-04 2.05196529e+00] [ 5.06088314e-03 -3.66227704e-05 9.99987193e-01 8.11292106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.07, Y:2.05, Z:0.81 [[ 9.98783476e-01 -4.90509507e-02 -5.05688261e-03 1.62067817e+02] [ 4.90505459e-02 9.98796277e-01 -2.04111581e-04 2.05498397e+00] [ 5.06080739e-03 -4.41795780e-05 9.99987193e-01 8.10940726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:2.06, Z:0.81 [[ 9.98700360e-01 -5.07150972e-02 -5.05666196e-03 1.62097155e+02] [ 5.07146849e-02 9.98713160e-01 -2.09801699e-04 2.05967174e+00] [ 5.06079496e-03 -4.69179861e-05 9.99987193e-01 8.10516038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46439141800002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:162.13, Y:2.06, Z:0.81 [[ 9.98686371e-01 -5.09897701e-02 -5.05720503e-03 1.62126744e+02] [ 5.09894324e-02 9.98699174e-01 -1.95773366e-04 2.06135741e+00] [ 5.06060892e-03 -6.23478210e-05 9.99987193e-01 8.07558377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.16, Y:2.06, Z:0.81 [[ 9.98616114e-01 -5.23476750e-02 -5.05736368e-03 1.62156441e+02] [ 5.23473753e-02 9.98628918e-01 -1.91696570e-04 2.06327184e+00] [ 5.06046449e-03 -7.33084313e-05 9.99987193e-01 8.07130794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.19, Y:2.07, Z:0.80 [[ 9.98439717e-01 -5.56107249e-02 -5.05755007e-03 1.62185437e+02] [ 5.56104913e-02 9.98452522e-01 -1.86927982e-04 2.06627930e+00] [ 5.06011883e-03 -9.46165233e-05 9.99987193e-01 8.04811548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.22, Y:2.07, Z:0.80 [[ 9.98369184e-01 -5.68629772e-02 -5.05711298e-03 1.62215874e+02] [ 5.68627031e-02 9.98381988e-01 -1.98086817e-04 2.06738494e+00] [ 5.06019432e-03 -8.97973404e-05 9.99987193e-01 8.04650978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.24, Y:2.07, Z:0.80 [[ 9.98267959e-01 -5.86131323e-02 -5.05787164e-03 1.62244627e+02] [ 5.86129784e-02 9.98280766e-01 -1.78787366e-04 2.06988342e+00] [ 5.05965526e-03 -1.17979222e-04 9.99987193e-01 8.04932223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:162.27, Y:2.07, Z:0.80 [[ 9.98205577e-01 -5.96661779e-02 -5.05705388e-03 1.62274622e+02] [ 5.96659325e-02 9.98218381e-01 -1.99514910e-04 2.07092591e+00] [ 5.05994843e-03 -1.02576939e-04 9.99987193e-01 8.03826800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.30, Y:2.07, Z:0.81 [[ 9.98094416e-01 -6.14976164e-02 -5.05764344e-03 1.62304887e+02] [ 6.14974696e-02 9.98107222e-01 -1.84700964e-04 2.07316052e+00] [ 5.05942911e-03 -1.26683273e-04 9.99987193e-01 8.07009469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:2.07, Z:0.81 [[ 9.98098803e-01 -6.14263417e-02 -5.05807646e-03 1.62335265e+02] [ 6.14262488e-02 9.98111610e-01 -1.73849575e-04 2.07478901e+00] [ 5.05920379e-03 -1.37179611e-04 9.99987193e-01 8.06535153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:162.36, Y:2.08, Z:0.81 [[ 9.98065543e-01 -6.19644090e-02 -5.05795791e-03 1.62364024e+02] [ 6.19643081e-02 9.98078350e-01 -1.76804550e-04 2.07773689e+00] [ 5.05919388e-03 -1.36950333e-04 9.99987193e-01 8.06653436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:2.08, Z:0.81 [[ 9.98181394e-01 -6.00693980e-02 -5.05684548e-03 1.62393786e+02] [ 6.00691334e-02 9.98194198e-01 -2.04334985e-04 2.08051878e+00] [ 5.05998809e-03 -9.97969456e-05 9.99987193e-01 8.07325367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:2.08, Z:0.81 [[ 9.98248940e-01 -5.89362599e-02 -5.05684111e-03 1.62424580e+02] [ 5.89359802e-02 9.98261743e-01 -2.04442837e-04 2.08290359e+00] [ 5.06010012e-03 -9.39450431e-05 9.99987193e-01 8.08177808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.794391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.45, Y:2.09, Z:0.81 [[ 9.98332706e-01 -5.74998742e-02 -5.05684111e-03 1.62454641e+02] [ 5.74995760e-02 9.98345510e-01 -2.04442837e-04 2.08513812e+00] [ 5.06023006e-03 -8.66642498e-05 9.99987193e-01 8.09384671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:2.09, Z:0.81 [[ 9.98424267e-01 -5.58874977e-02 -5.05684111e-03 1.62485558e+02] [ 5.58871789e-02 9.98437069e-01 -2.04442837e-04 2.08707654e+00] [ 5.06036342e-03 -7.84918950e-05 9.99987193e-01 8.10032889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.854391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.52, Y:2.09, Z:0.81 [[ 9.98610820e-01 -5.24486287e-02 -5.05684111e-03 1.62515308e+02] [ 5.24482658e-02 9.98623622e-01 -2.04442837e-04 2.09005585e+00] [ 5.06060373e-03 -6.10637183e-05 9.99987193e-01 8.10818529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:2.09, Z:0.81 [[ 9.98710348e-01 -5.05180082e-02 -5.05683668e-03 1.62546200e+02] [ 5.05176200e-02 9.98723149e-01 -2.04552475e-04 2.09214462e+00] [ 5.06071344e-03 -5.11706801e-05 9.99987193e-01 8.11476549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:2.09, Z:0.81 [[ 9.98809441e-01 -4.85193684e-02 -5.05683668e-03 1.62577032e+02] [ 4.85189546e-02 9.98822241e-01 -2.04552475e-04 2.09434439e+00] [ 5.06080570e-03 -4.10434860e-05 9.99987193e-01 8.12068737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.61, Y:2.10, Z:0.81 [[ 9.98911437e-01 -4.63720724e-02 -5.05683668e-03 1.62607488e+02] [ 4.63716311e-02 9.98924236e-01 -2.04552475e-04 2.09638340e+00] [ 5.06088224e-03 -3.01639582e-05 9.99987193e-01 8.12750266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:2.10, Z:0.81 [[ 9.99069927e-01 -4.28218311e-02 -5.05685119e-03 1.62638129e+02] [ 4.28213461e-02 9.99082725e-01 -2.04193024e-04 2.09857755e+00] [ 5.06095659e-03 -1.25380651e-05 9.99987193e-01 8.13526960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:2.10, Z:0.81 [[ 9.99115588e-01 -4.17428996e-02 -5.05685119e-03 1.62668969e+02] [ 4.17424008e-02 9.99128385e-01 -2.04193024e-04 2.10000117e+00] [ 5.06096718e-03 -7.07267555e-06 9.99987193e-01 8.13831819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:2.10, Z:0.81 [[ 9.99144561e-01 -4.10435636e-02 -5.05685119e-03 1.62698108e+02] [ 4.10430558e-02 9.99157358e-01 -2.04193024e-04 2.10084737e+00] [ 5.06097089e-03 -3.53027618e-06 9.99987193e-01 8.13703085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:2.10, Z:0.81 [[ 9.99107349e-01 -4.19396433e-02 -5.05684672e-03 1.62728534e+02] [ 4.19391464e-02 9.99120146e-01 -2.04303892e-04 2.10090746e+00] [ 5.06096586e-03 -7.95831497e-06 9.99987193e-01 8.11588081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:2.10, Z:0.81 [[ 9.99049313e-01 -4.33001062e-02 -5.05684672e-03 1.62758733e+02] [ 4.32996268e-02 9.99062110e-01 -2.04303892e-04 2.10149422e+00] [ 5.06095033e-03 -1.48499128e-05 9.99987193e-01 8.10543136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:2.10, Z:0.81 [[ 9.98989417e-01 -4.46606478e-02 -5.05684672e-03 1.62789221e+02] [ 4.46601858e-02 9.99002215e-01 -2.04303892e-04 2.10207531e+00] [ 5.06092541e-03 -2.17422881e-05 9.99987193e-01 8.09216185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:2.10, Z:0.81 [[ 9.98889007e-01 -4.68527408e-02 -5.05684672e-03 1.62819837e+02] [ 4.68523068e-02 9.98901807e-01 -2.04303892e-04 2.10181390e+00] [ 5.06086552e-03 -3.28480222e-05 9.99987193e-01 8.08253975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:2.10, Z:0.81 [[ 9.98838460e-01 -4.79182538e-02 -5.05684672e-03 1.62849524e+02] [ 4.79178335e-02 9.98851260e-01 -2.04303892e-04 2.10230233e+00] [ 5.06082760e-03 -3.82465542e-05 9.99987193e-01 8.08083281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:2.10, Z:0.81 [[ 9.98795771e-01 -4.87999555e-02 -5.05684224e-03 1.62880433e+02] [ 4.87995459e-02 9.98808572e-01 -2.04414631e-04 2.10279700e+00] [ 5.06079280e-03 -4.26031361e-05 9.99987193e-01 8.08707734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:2.10, Z:0.81 [[ 9.98769620e-01 -4.93322901e-02 -5.05684224e-03 1.62911233e+02] [ 4.93318874e-02 9.98782420e-01 -2.04414631e-04 2.10340298e+00] [ 5.06076937e-03 -4.53004488e-05 9.99987193e-01 8.09760746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:2.10, Z:0.81 [[ 9.98759710e-01 -4.95325128e-02 -5.05684224e-03 1.62940783e+02] [ 4.95321126e-02 9.98772511e-01 -2.04414631e-04 2.10399694e+00] [ 5.06076019e-03 -4.63149817e-05 9.99987193e-01 8.09956812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.97, Y:2.10, Z:0.81 [[ 9.98792589e-01 -4.88650503e-02 -5.05684324e-03 1.62971126e+02] [ 4.88646418e-02 9.98805389e-01 -2.04389803e-04 2.10390005e+00] [ 5.06078980e-03 -4.29578133e-05 9.99987193e-01 8.11862074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.00, Y:2.10, Z:0.81 [[ 9.98813098e-01 -4.84440301e-02 -5.05684324e-03 1.63001315e+02] [ 4.84436162e-02 9.98825898e-01 -2.04389803e-04 2.10458820e+00] [ 5.06080746e-03 -4.08245610e-05 9.99987193e-01 8.12942082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.03, Y:2.11, Z:0.81 [[ 9.98830227e-01 -4.80895651e-02 -5.05684324e-03 1.63030499e+02] [ 4.80891466e-02 9.98843027e-01 -2.04389803e-04 2.10513812e+00] [ 5.06082163e-03 -3.90285628e-05 9.99987193e-01 8.13254631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:2.11, Z:0.81 [[ 9.98813932e-01 -4.84268192e-02 -5.05683880e-03 1.63061402e+02] [ 4.84264044e-02 9.98826732e-01 -2.04499567e-04 2.10508480e+00] [ 5.06080904e-03 -4.06275043e-05 9.99987193e-01 8.14856133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:2.11, Z:0.82 [[ 9.98800099e-01 -4.87112939e-02 -5.05683880e-03 1.63091908e+02] [ 4.87108828e-02 9.98812899e-01 -2.04499567e-04 2.10536640e+00] [ 5.06079727e-03 -4.20688945e-05 9.99987193e-01 8.16414284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:2.11, Z:0.82 [[ 9.98782641e-01 -4.90679481e-02 -5.05683880e-03 1.63121166e+02] [ 4.90675416e-02 9.98795442e-01 -2.04499567e-04 2.10535904e+00] [ 5.06078192e-03 -4.38760305e-05 9.99987193e-01 8.15639420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:2.10, Z:0.82 [[ 9.98797819e-01 -4.87580241e-02 -5.05683419e-03 1.63152126e+02] [ 4.87576130e-02 9.98810619e-01 -2.04613669e-04 2.10323553e+00] [ 5.06079624e-03 -4.21914780e-05 9.99987193e-01 8.17669484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:2.10, Z:0.82 [[ 9.98796657e-01 -4.87817587e-02 -5.05754094e-03 1.63181709e+02] [ 4.87814361e-02 9.98809460e-01 -1.87198656e-04 2.10370488e+00] [ 5.06065162e-03 -5.97407181e-05 9.99987193e-01 8.18511350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:2.10, Z:0.82 [[ 9.98821416e-01 -4.82721682e-02 -5.05743707e-03 1.63211639e+02] [ 4.82718262e-02 9.98834218e-01 -1.89738013e-04 2.10422048e+00] [ 5.06070027e-03 -5.46173322e-05 9.99987193e-01 8.19379676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:2.10, Z:0.82 [[ 9.98881823e-01 -4.70056152e-02 -5.05733723e-03 1.63241407e+02] [ 4.70052447e-02 9.98894624e-01 -1.92156739e-04 2.10444884e+00] [ 5.06077942e-03 -4.57795005e-05 9.99987193e-01 8.19303904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:2.10, Z:0.82 [[ 9.98987700e-01 -4.46989809e-02 -5.05734243e-03 1.63271189e+02] [ 4.46985815e-02 9.99000500e-01 -1.92031243e-04 2.10398805e+00] [ 5.06087122e-03 -3.42191822e-05 9.99987193e-01 8.18461974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:2.10, Z:0.82 [[ 9.99016583e-01 -4.40487500e-02 -5.05705628e-03 1.63300500e+02] [ 4.40483075e-02 9.99029382e-01 -1.98910608e-04 2.10492565e+00] [ 5.06090958e-03 -2.40397746e-05 9.99987193e-01 8.16464045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:2.10, Z:0.82 [[ 9.99058918e-01 -4.30779508e-02 -5.05657037e-03 1.63330081e+02] [ 4.30774367e-02 9.99071714e-01 -2.10578842e-04 2.10469000e+00] [ 5.06094773e-03 -7.44342024e-06 9.99987193e-01 8.16548506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:2.10, Z:0.82 [[ 9.99038203e-01 -4.35557343e-02 -5.05646629e-03 1.63358980e+02] [ 4.35552138e-02 9.99050999e-01 -2.13063853e-04 2.10402924e+00] [ 5.06094785e-03 -7.37654127e-06 9.99987193e-01 8.15985140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:2.10, Z:0.82 [[ 9.99015827e-01 -4.40659645e-02 -5.05650057e-03 1.63388937e+02] [ 4.40654547e-02 9.99028624e-01 -2.12247058e-04 2.10419681e+00] [ 5.06094168e-03 -1.07788267e-05 9.99987193e-01 8.15613278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:2.10, Z:0.82 [[ 9.98979631e-01 -4.48790461e-02 -5.05649143e-03 1.63418484e+02] [ 4.48785456e-02 9.98992428e-01 -2.12464632e-04 2.10444630e+00] [ 5.06093186e-03 -1.46801416e-05 9.99987193e-01 8.15322229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:2.10, Z:0.81 [[ 9.98935787e-01 -4.58445711e-02 -5.05648225e-03 1.63447165e+02] [ 4.58440818e-02 9.98948585e-01 -2.12682786e-04 2.10458926e+00] [ 5.06091614e-03 -1.93533401e-05 9.99987193e-01 8.14847311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:2.10, Z:0.81 [[ 9.98813071e-01 -4.84446284e-02 -5.05646447e-03 1.63475545e+02] [ 4.84441703e-02 9.98825869e-01 -2.13104860e-04 2.10353477e+00] [ 5.06085130e-03 -3.21043066e-05 9.99987193e-01 8.14269647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:2.10, Z:0.81 [[ 9.98732963e-01 -5.00689596e-02 -5.05645096e-03 1.63504482e+02] [ 5.00685207e-02 9.98745762e-01 -2.13424741e-04 2.10360192e+00] [ 5.06079493e-03 -4.00146960e-05 9.99987193e-01 8.14487858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:2.10, Z:0.82 [[ 9.98640289e-01 -5.18845404e-02 -5.05638722e-03 1.63533131e+02] [ 5.18841172e-02 9.98653089e-01 -2.14924371e-04 2.10360861e+00] [ 5.06072797e-03 -4.77140508e-05 9.99987193e-01 8.15050396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:2.10, Z:0.82 [[ 9.98413825e-01 -5.60737682e-02 -5.05637368e-03 1.63563188e+02] [ 5.60733971e-02 9.98426626e-01 -2.15242552e-04 2.10269195e+00] [ 5.06048757e-03 -6.86269098e-05 9.99987193e-01 8.18357031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:2.10, Z:0.82 [[ 9.98269917e-01 -5.85799117e-02 -5.05636422e-03 1.63591726e+02] [ 5.85795716e-02 9.98282719e-01 -2.15464498e-04 2.10308633e+00] [ 5.06030291e-03 -8.11079230e-05 9.99987193e-01 8.19784935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:2.10, Z:0.82 [[ 9.98151604e-01 -6.05624335e-02 -5.05629757e-03 1.63620780e+02] [ 6.05621110e-02 9.98164407e-01 -2.17017294e-04 2.10354157e+00] [ 5.06015936e-03 -8.96038946e-05 9.99987193e-01 8.20727290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:2.10, Z:0.82 [[ 9.98043145e-01 -6.23242774e-02 -5.05628348e-03 1.63649650e+02] [ 6.23239758e-02 9.98055948e-01 -2.17345253e-04 2.10422803e+00] [ 5.05999968e-03 -9.82077491e-05 9.99987193e-01 8.21630307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:2.11, Z:0.82 [[ 9.97974844e-01 -6.34085615e-02 -5.05621791e-03 1.63677987e+02] [ 6.34082662e-02 9.97987647e-01 -2.18859948e-04 2.10503329e+00] [ 5.05992061e-03 -1.02189289e-04 9.99987193e-01 8.22997077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:2.11, Z:0.82 [[ 9.98013222e-01 -6.28016180e-02 -5.05615081e-03 1.63706709e+02] [ 6.28013070e-02 9.98026025e-01 -2.20399372e-04 2.10550397e+00] [ 5.06001153e-03 -9.75713915e-05 9.99987193e-01 8.23101059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.74, Y:2.11, Z:0.82 [[ 9.98058568e-01 -6.20768083e-02 -5.05613660e-03 1.63735914e+02] [ 6.20764864e-02 9.98071371e-01 -2.20724800e-04 2.10697032e+00] [ 5.06008708e-03 -9.35709172e-05 9.99987193e-01 8.22807907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.77, Y:2.11, Z:0.82 [[ 9.98039778e-01 -6.23781803e-02 -5.05606944e-03 1.63765180e+02] [ 6.23778546e-02 9.98052581e-01 -2.22252767e-04 2.10842687e+00] [ 5.06008687e-03 -9.35696614e-05 9.99987193e-01 8.22956283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:2.11, Z:0.82 [[ 9.98101725e-01 -6.13790077e-02 -5.05600186e-03 1.63794111e+02] [ 6.13786614e-02 9.98114527e-01 -2.23779463e-04 2.11003017e+00] [ 5.06020427e-03 -8.69759580e-05 9.99987193e-01 8.22069815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:2.11, Z:0.82 [[ 9.98250689e-01 -5.89067025e-02 -5.05593396e-03 1.63823232e+02] [ 5.89063167e-02 9.98263490e-01 -2.25303212e-04 2.11153481e+00] [ 5.06042615e-03 -7.29173604e-05 9.99987193e-01 8.20482242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:2.11, Z:0.82 [[ 9.98359635e-01 -5.70304943e-02 -5.05586392e-03 1.63852129e+02] [ 5.70300766e-02 9.98372435e-01 -2.26864156e-04 2.11301936e+00] [ 5.06057335e-03 -6.18442910e-05 9.99987193e-01 8.19937635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:2.11, Z:0.82 [[ 9.98451948e-01 -5.53908503e-02 -5.05584900e-03 1.63880686e+02] [ 5.53904099e-02 9.98464747e-01 -2.27196135e-04 2.11457879e+00] [ 5.06067158e-03 -5.32011250e-05 9.99987193e-01 8.20148591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:2.12, Z:0.82 [[ 9.98559000e-01 -5.34262380e-02 -5.05578064e-03 1.63909361e+02] [ 5.34257647e-02 9.98571798e-01 -2.28707411e-04 2.11601882e+00] [ 5.06077894e-03 -4.17311038e-05 9.99987193e-01 8.21023775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.94, Y:2.12, Z:0.82 [[ 9.98688113e-01 -5.09557919e-02 -5.05570930e-03 1.63937802e+02] [ 5.09552791e-02 9.98700909e-01 -2.30273584e-04 2.11742889e+00] [ 5.06087525e-03 -2.76435880e-05 9.99987193e-01 8.21184453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:2.12, Z:0.82 [[ 9.98916078e-01 -4.62721298e-02 -5.05569413e-03 1.63966180e+02] [ 4.62715553e-02 9.98928871e-01 -2.30606109e-04 2.11977362e+00] [ 5.06094947e-03 -3.57868115e-06 9.99987193e-01 8.22475972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.354391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.99, Y:2.12, Z:0.82 [[ 9.98999615e-01 -4.44320748e-02 -5.05562258e-03 1.63994714e+02] [ 4.44314689e-02 9.99012408e-01 -2.32164352e-04 2.12173375e+00] [ 5.06094523e-03 7.30336169e-06 9.99987193e-01 8.22736800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.02, Y:2.12, Z:0.82 [[ 9.99088194e-01 -4.23936610e-02 -5.05555082e-03 1.64023535e+02] [ 4.23930211e-02 9.99100984e-01 -2.33716488e-04 2.12321161e+00] [ 5.06091390e-03 1.91833113e-05 9.99987193e-01 8.22154231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:2.12, Z:0.82 [[ 9.99189802e-01 -3.99272029e-02 -5.05553087e-03 1.64052679e+02] [ 3.99265292e-02 9.99202591e-01 -2.34147266e-04 2.12428119e+00] [ 5.06084839e-03 3.21077595e-05 9.99987193e-01 8.21173474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:2.12, Z:0.82 [[ 9.99238591e-01 -3.86869574e-02 -5.05545977e-03 1.64084752e+02] [ 3.86862602e-02 9.99251379e-01 -2.35672534e-04 2.12352783e+00] [ 5.06079259e-03 3.99162585e-05 9.99987193e-01 8.20810465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:2.13, Z:0.82 [[ 9.99232807e-01 -3.88356944e-02 -5.05837112e-03 1.64111581e+02] [ 3.88353157e-02 9.99245610e-01 -1.73085745e-04 2.12637207e+00] [ 5.06127704e-03 -2.34904846e-05 9.99987191e-01 8.20183665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:2.13, Z:0.82 [[ 9.99217573e-01 -3.92260813e-02 -5.05535982e-03 1.64143522e+02] [ 3.92253830e-02 9.99230360e-01 -2.37250957e-04 2.12605496e+00] [ 5.06077544e-03 3.87669003e-05 9.99987193e-01 8.20477234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:2.13, Z:0.82 [[ 9.99089450e-01 -4.23637694e-02 -5.05790167e-03 1.64173552e+02] [ 4.23633851e-02 9.99102252e-01 -1.83131120e-04 2.12534531e+00] [ 5.06111907e-03 -3.13054659e-05 9.99987192e-01 8.21473202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.20, Y:2.13, Z:0.82 [[ 9.98934395e-01 -4.58747456e-02 -5.05796187e-03 1.64202266e+02] [ 4.58744128e-02 9.98947198e-01 -1.81861530e-04 2.12567144e+00] [ 5.06097970e-03 -5.03632931e-05 9.99987192e-01 8.22719122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.23, Y:2.13, Z:0.82 [[ 9.98751670e-01 -4.96942601e-02 -5.05785874e-03 1.64231412e+02] [ 4.96939654e-02 9.98764475e-01 -1.84011779e-04 2.12622706e+00] [ 5.06075396e-03 -6.75629855e-05 9.99987192e-01 8.23957419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:2.13, Z:0.83 [[ 9.98554393e-01 -5.35121187e-02 -5.05736375e-03 1.64260582e+02] [ 5.35118211e-02 9.98567197e-01 -1.94236935e-04 2.12608950e+00] [ 5.06051157e-03 -7.66725996e-05 9.99987193e-01 8.25892247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:2.12, Z:0.83 [[ 9.98171001e-01 -6.02418095e-02 -5.05740676e-03 1.64287917e+02] [ 6.02416027e-02 9.98183807e-01 -1.93354025e-04 2.12435533e+00] [ 5.05986953e-03 -1.11665908e-04 9.99987193e-01 8.29228533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:2.12, Z:0.83 [[ 9.97900120e-01 -6.45739949e-02 -5.05473089e-03 1.64315612e+02] [ 6.45735674e-02 9.97912919e-01 -2.47912930e-04 2.12428725e+00] [ 5.06018998e-03 -7.90096627e-05 9.99987194e-01 8.30384783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71439141800002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:164.34, Y:2.12, Z:0.83 [[ 9.97633391e-01 -6.85716179e-02 -5.05464514e-03 1.64343222e+02] [ 6.85712328e-02 9.97646192e-01 -2.49648998e-04 2.12428798e+00] [ 5.05986631e-03 -9.75450721e-05 9.99987194e-01 8.30591164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.37, Y:2.12, Z:0.83 [[ 9.97141534e-01 -7.53870903e-02 -5.05455958e-03 1.64370040e+02] [ 7.53867840e-02 9.97154336e-01 -2.51369379e-04 2.12352789e+00] [ 5.05912601e-03 -1.30396143e-04 9.99987194e-01 8.28971674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:2.12, Z:0.83 [[ 9.96892909e-01 -7.86064869e-02 -5.05452253e-03 1.64397901e+02] [ 7.86062182e-02 9.96905712e-01 -2.52112326e-04 2.12450690e+00] [ 5.05870004e-03 -1.45987910e-04 9.99987194e-01 8.27695486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:2.13, Z:0.83 [[ 9.96709772e-01 -8.08955018e-02 -5.05443840e-03 1.64425648e+02] [ 8.08952540e-02 9.96722576e-01 -2.53787871e-04 2.12589119e+00] [ 5.05840316e-03 -1.55927227e-04 9.99987194e-01 8.26065702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.45, Y:2.13, Z:0.82 [[ 9.96502276e-01 -8.34126323e-02 -5.05435403e-03 1.64453831e+02] [ 8.34124084e-02 9.96515080e-01 -2.55457134e-04 2.12793478e+00] [ 5.05804836e-03 -1.67032227e-04 9.99987194e-01 8.24273938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.48, Y:2.13, Z:0.82 [[ 9.96417707e-01 -8.44168676e-02 -5.05432798e-03 1.64482165e+02] [ 8.44166540e-02 9.96430511e-01 -2.55971518e-04 2.13021564e+00] [ 5.05789492e-03 -1.71614904e-04 9.99987194e-01 8.24416769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:2.13, Z:0.83 [[ 9.96404181e-01 -8.45763734e-02 -5.05424484e-03 1.64508759e+02] [ 8.45761535e-02 9.96416985e-01 -2.57602633e-04 2.13273498e+00] [ 5.05792251e-03 -1.70792247e-04 9.99987194e-01 8.25093200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:164.54, Y:2.14, Z:0.83 [[ 9.96419381e-01 -8.43971127e-02 -5.05420879e-03 1.64536602e+02] [ 8.43968870e-02 9.96432185e-01 -2.58308183e-04 2.13568796e+00] [ 5.05797677e-03 -1.69176208e-04 9.99987194e-01 8.26779290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:164.56, Y:2.14, Z:0.83 [[ 9.96478702e-01 -8.36937955e-02 -5.05412369e-03 1.64561699e+02] [ 8.36935523e-02 9.96491506e-01 -2.59962672e-04 2.14190295e+00] [ 5.05814859e-03 -1.63950299e-04 9.99987194e-01 8.28488236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:164.59, Y:2.14, Z:0.83 [[ 9.96567505e-01 -8.26297672e-02 -5.05264193e-03 1.64592304e+02] [ 8.26293652e-02 9.96580305e-01 -2.88629512e-04 2.14386662e+00] [ 5.05921282e-03 -1.29857803e-04 9.99987194e-01 8.29471384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:164.62, Y:2.15, Z:0.83 [[ 9.96609871e-01 -8.21171213e-02 -5.05403744e-03 1.64619482e+02] [ 8.21168492e-02 9.96622674e-01 -2.61676564e-04 2.14711343e+00] [ 5.05845643e-03 -1.54232184e-04 9.99987194e-01 8.29548593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.044391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:164.65, Y:2.15, Z:0.83 [[ 9.96643487e-01 -8.17081236e-02 -5.05397965e-03 1.64646347e+02] [ 8.17078406e-02 9.96656290e-01 -2.62787931e-04 2.15252833e+00] [ 5.05855252e-03 -1.51043884e-04 9.99987194e-01 8.28317134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.074391418 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:164.67, Y:2.16, Z:0.83 [[ 9.96619171e-01 -8.20041748e-02 -5.05394362e-03 1.64673043e+02] [ 8.20038921e-02 9.96631974e-01 -2.63479104e-04 2.15587493e+00] [ 5.05852819e-03 -1.51854721e-04 9.99987194e-01 8.27165357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.104391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:164.70, Y:2.16, Z:0.83 [[ 9.96531426e-01 -8.30636804e-02 -5.05390798e-03 1.64700452e+02] [ 8.30634079e-02 9.96544229e-01 -2.64161035e-04 2.15969199e+00] [ 5.05838502e-03 -1.56550046e-04 9.99987194e-01 8.26655471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.134391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:164.73, Y:2.16, Z:0.82 [[ 9.96355102e-01 -8.51526273e-02 -5.05382618e-03 1.64727916e+02] [ 8.51523737e-02 9.96367905e-01 -2.65716818e-04 2.16494772e+00] [ 5.05809669e-03 -1.65596988e-04 9.99987194e-01 8.24791456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:2.17, Z:0.83 [[ 9.96097968e-01 -8.81096600e-02 -5.05232386e-03 1.64757394e+02] [ 8.81093006e-02 9.96110769e-01 -2.94101470e-04 2.16972368e+00] [ 5.05858739e-03 -1.52202845e-04 9.99987194e-01 8.27119946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:164.79, Y:2.17, Z:0.83 [[ 9.95937990e-01 -8.98998283e-02 -5.05374898e-03 1.64785535e+02] [ 8.98996285e-02 9.95950795e-01 -2.67141306e-04 2.17400275e+00] [ 5.05730127e-03 -1.88273980e-04 9.99987194e-01 8.28650114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.81, Y:2.18, Z:0.83 [[ 9.95753666e-01 -9.19189653e-02 -5.05366843e-03 1.64813918e+02] [ 9.19187838e-02 9.95766471e-01 -2.68656541e-04 2.17819728e+00] [ 5.05696821e-03 -1.97011320e-04 9.99987194e-01 8.31899061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:2.18, Z:0.83 [[ 9.95552506e-01 -9.40726801e-02 -5.05358407e-03 1.64842674e+02] [ 9.40725183e-02 9.95565311e-01 -2.70234066e-04 2.18355069e+00] [ 5.05659464e-03 -2.06371179e-04 9.99987194e-01 8.33716973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:2.19, Z:0.83 [[ 9.95293774e-01 -9.67718086e-02 -5.05187278e-03 1.64872144e+02] [ 9.67715198e-02 9.95306577e-01 -3.02151993e-04 2.19105227e+00] [ 5.05740199e-03 -1.88147410e-04 9.99987194e-01 8.34014752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:2.20, Z:0.83 [[ 9.95223609e-01 -9.74907552e-02 -5.05174562e-03 1.64901713e+02] [ 9.74904636e-02 9.95236413e-01 -3.04526085e-04 2.19582336e+00] [ 5.05736967e-03 -1.89425474e-04 9.99987193e-01 8.33432315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.93, Y:2.20, Z:0.83 [[ 9.95190407e-01 -9.78291026e-02 -5.05170273e-03 1.64930684e+02] [ 9.78288113e-02 9.95203211e-01 -3.05325543e-04 2.20092162e+00] [ 5.05734050e-03 -1.90345021e-04 9.99987193e-01 8.32125656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:2.21, Z:0.83 [[ 9.95223882e-01 -9.74879846e-02 -5.05139705e-03 1.64960590e+02] [ 9.74876601e-02 9.95236685e-01 -3.11014754e-04 2.20604041e+00] [ 5.05765586e-03 -1.82919567e-04 9.99987193e-01 8.29499606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:2.22, Z:0.83 [[ 9.95492812e-01 -9.47023382e-02 -5.05251163e-03 1.64990989e+02] [ 9.47020833e-02 9.95505616e-01 -2.90196956e-04 2.21579562e+00] [ 5.05728603e-03 -1.89594394e-04 9.99987194e-01 8.29633419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.02, Y:2.22, Z:0.83 [[ 9.95654459e-01 -9.29875369e-02 -5.05140613e-03 1.65020606e+02] [ 9.29871554e-02 9.95667260e-01 -3.10839716e-04 2.22166493e+00] [ 5.05842392e-03 -1.60226938e-04 9.99987193e-01 8.28534972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.05, Y:2.23, Z:0.83 [[ 9.95826645e-01 -9.11250583e-02 -5.05150709e-03 1.65050469e+02] [ 9.11246623e-02 9.95839445e-01 -3.08959171e-04 2.22739103e+00] [ 5.05864394e-03 -1.52647103e-04 9.99987193e-01 8.27281926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:2.24, Z:0.83 [[ 9.96288657e-01 -8.59266513e-02 -5.05198169e-03 1.65081343e+02] [ 8.59262336e-02 9.96301457e-01 -3.00076384e-04 2.23696851e+00] [ 5.05908127e-03 -1.35135061e-04 9.99987194e-01 8.28954809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.11, Y:2.24, Z:0.83 [[ 9.96476026e-01 -8.37257928e-02 -5.05178046e-03 1.65114020e+02] [ 8.37253278e-02 9.96488824e-01 -3.03835894e-04 2.24165774e+00] [ 5.05948167e-03 -1.20196791e-04 9.99987194e-01 8.31329088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.14, Y:2.25, Z:0.83 [[ 9.96676526e-01 -8.13041398e-02 -5.05359768e-03 1.65143728e+02] [ 8.13038161e-02 9.96689328e-01 -2.69797493e-04 2.24730359e+00] [ 5.05880253e-03 -1.41975948e-04 9.99987194e-01 8.30912174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:2.25, Z:0.83 [[ 9.96801298e-01 -7.97599099e-02 -5.05266456e-03 1.65174461e+02] [ 7.97594776e-02 9.96814097e-01 -2.87328958e-04 2.25223826e+00] [ 5.05948459e-03 -1.16588008e-04 9.99987194e-01 8.31891405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:2.26, Z:0.83 [[ 9.97052407e-01 -7.65569790e-02 -5.05240600e-03 1.65204160e+02] [ 7.65564810e-02 9.97065203e-01 -2.92181504e-04 2.26005689e+00] [ 5.05994675e-03 -9.54741513e-05 9.99987194e-01 8.31067787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.24, Y:2.27, Z:0.83 [[ 9.97059194e-01 -7.64686176e-02 -5.05113566e-03 1.65237152e+02] [ 7.64679969e-02 9.97071986e-01 -3.16181421e-04 2.26546112e+00] [ 5.06052382e-03 -7.09986333e-05 9.99987193e-01 8.31020031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:2.27, Z:0.83 [[ 9.97128060e-01 -7.55652241e-02 -5.05259596e-03 1.65268435e+02] [ 7.55647319e-02 9.97140857e-01 -2.88524819e-04 2.27043476e+00] [ 5.05995230e-03 -9.41018655e-05 9.99987194e-01 8.29742054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:2.28, Z:0.83 [[ 9.97125199e-01 -7.56029565e-02 -5.05273478e-03 1.65301857e+02] [ 7.56024780e-02 9.97137996e-01 -2.85900690e-04 2.27558867e+00] [ 5.05988878e-03 -9.69204883e-05 9.99987194e-01 8.30024238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:2.28, Z:0.83 [[ 9.97352709e-01 -7.25398777e-02 -5.05377216e-03 1.65332671e+02] [ 7.25394596e-02 9.97365508e-01 -2.66206786e-04 2.28338403e+00] [ 5.05976864e-03 -1.01095843e-04 9.99987194e-01 8.28732464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:2.29, Z:0.83 [[ 9.97427230e-01 -7.15079756e-02 -5.05277854e-03 1.65365107e+02] [ 7.15074488e-02 9.97440025e-01 -2.85059938e-04 2.28856555e+00] [ 5.06022761e-03 -7.69847579e-05 9.99987194e-01 8.27873938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.794391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:165.40, Y:2.30, Z:0.83 [[ 9.97659406e-01 -6.81921382e-02 -5.05382252e-03 1.65395784e+02] [ 6.81916697e-02 9.97672204e-01 -2.65162362e-04 2.29607638e+00] [ 5.06014024e-03 -8.00868711e-05 9.99987194e-01 8.29740055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.824391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:165.43, Y:2.30, Z:0.83 [[ 9.97744312e-01 -6.69384490e-02 -5.05292563e-03 1.65427424e+02] [ 6.69378780e-02 9.97757105e-01 -2.82228361e-04 2.30001170e+00] [ 5.06048438e-03 -5.66403779e-05 9.99987194e-01 8.30315588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.854391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:165.46, Y:2.30, Z:0.83 [[ 9.97802809e-01 -6.60606727e-02 -5.05386795e-03 1.65458629e+02] [ 6.60601817e-02 9.97815606e-01 -2.64203123e-04 2.30400787e+00] [ 5.06028174e-03 -7.02368164e-05 9.99987194e-01 8.31035799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:2.31, Z:0.83 [[ 9.97926859e-01 -6.41595006e-02 -5.05388501e-03 1.65488505e+02] [ 6.41589869e-02 9.97939655e-01 -2.63876303e-04 2.30724640e+00] [ 5.06040243e-03 -6.09228912e-05 9.99987194e-01 8.31742367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:165.52, Y:2.31, Z:0.83 [[ 9.97939262e-01 -6.39664205e-02 -5.05234136e-03 1.65517142e+02] [ 6.39657553e-02 9.97952051e-01 -2.93303667e-04 2.31207619e+00] [ 5.06075601e-03 -3.04775861e-05 9.99987194e-01 8.31747382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:165.55, Y:2.32, Z:0.83 [[ 9.97812368e-01 -6.59163572e-02 -5.05086808e-03 1.65550413e+02] [ 6.59155738e-02 9.97825152e-01 -3.21591770e-04 2.31529018e+00] [ 5.06108136e-03 -1.20426216e-05 9.99987193e-01 8.32212243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:165.58, Y:2.32, Z:0.83 [[ 9.97718622e-01 -6.73203415e-02 -5.05205376e-03 1.65581118e+02] [ 6.73196926e-02 9.97731412e-01 -2.98597280e-04 2.31784424e+00] [ 5.06069440e-03 -4.21866393e-05 9.99987194e-01 8.31882421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:165.62, Y:2.32, Z:0.83 [[ 9.97479176e-01 -7.07797397e-02 -5.05187788e-03 1.65615445e+02] [ 7.07791176e-02 9.97491968e-01 -3.02044055e-04 2.32111879e+00] [ 5.06058620e-03 -5.62848031e-05 9.99987194e-01 8.32268618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:165.65, Y:2.32, Z:0.83 [[ 9.97171609e-01 -7.49882473e-02 -5.05419206e-03 1.65646430e+02] [ 7.49879102e-02 9.97184410e-01 -2.56432394e-04 2.32451204e+00] [ 5.05919094e-03 -1.23296198e-04 9.99987195e-01 8.31974877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:165.68, Y:2.33, Z:0.83 [[ 9.97177949e-01 -7.49038879e-02 -5.05420888e-03 1.65679078e+02] [ 7.49035514e-02 9.97190750e-01 -2.56100467e-04 2.32607365e+00] [ 5.05919326e-03 -1.23200456e-04 9.99987195e-01 8.32140231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09439141800001 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:165.71, Y:2.33, Z:0.83 [[ 9.97235311e-01 -7.41362833e-02 -5.05423051e-03 1.65708169e+02] [ 7.41359391e-02 9.97248112e-01 -2.55672890e-04 2.32698663e+00] [ 5.05927647e-03 -1.19734091e-04 9.99987195e-01 8.31977742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12439141800002 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:165.74, Y:2.33, Z:0.83 [[ 9.96887615e-01 -7.86737767e-02 -5.05181476e-03 1.65743334e+02] [ 7.86732494e-02 9.96900410e-01 -3.03309946e-04 2.33030196e+00] [ 5.06001874e-03 -9.50767539e-05 9.99987194e-01 8.33124490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15439141800002 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:165.77, Y:2.33, Z:0.83 [[ 9.96605472e-01 -8.21704815e-02 -5.05429684e-03 1.65774007e+02] [ 8.21702495e-02 9.96618275e-01 -2.53900043e-04 2.33336062e+00] [ 5.05806769e-03 -1.62274661e-04 9.99987195e-01 8.34454615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18439141800002 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:165.80, Y:2.34, Z:0.84 [[ 9.96536063e-01 -8.30080024e-02 -5.05431283e-03 1.65804950e+02] [ 8.30077828e-02 9.96548867e-01 -2.53581388e-04 2.33548552e+00] [ 5.05791901e-03 -1.66844304e-04 9.99987195e-01 8.35128279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:165.84, Y:2.34, Z:0.84 [[ 9.96521628e-01 -8.31811167e-02 -5.05432862e-03 1.65837493e+02] [ 8.31809009e-02 9.96534432e-01 -2.53266273e-04 2.33757149e+00] [ 5.05787947e-03 -1.68038289e-04 9.99987195e-01 8.35531783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:165.87, Y:2.34, Z:0.84 [[ 9.96558863e-01 -8.27338273e-02 -5.05434948e-03 1.65869268e+02] [ 8.27336078e-02 9.96571666e-01 -2.52849260e-04 2.33997929e+00] [ 5.05794067e-03 -1.66185397e-04 9.99987195e-01 8.35869149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:165.90, Y:2.34, Z:0.84 [[ 9.96796169e-01 -7.98238780e-02 -5.05437009e-03 1.65901606e+02] [ 7.98236233e-02 9.96808971e-01 -2.52436598e-04 2.34336545e+00] [ 5.05839192e-03 -1.51830300e-04 9.99987195e-01 8.35426345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:165.93, Y:2.35, Z:0.83 [[ 9.97010651e-01 -7.70987385e-02 -5.05439098e-03 1.65933073e+02] [ 7.70984509e-02 9.97023453e-01 -2.52017601e-04 2.34585223e+00] [ 5.05877659e-03 -1.38421482e-04 9.99987195e-01 8.34356535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:165.97, Y:2.35, Z:0.83 [[ 9.97280325e-01 -7.35282680e-02 -5.05440560e-03 1.65965200e+02] [ 7.35279360e-02 9.97293126e-01 -2.51724098e-04 2.34878338e+00] [ 5.05923280e-03 -1.20600522e-04 9.99987195e-01 8.33207969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:166.00, Y:2.35, Z:0.83 [[ 9.97582475e-01 -6.93084257e-02 -5.05443125e-03 1.65996715e+02] [ 6.93080421e-02 9.97595275e-01 -2.51208030e-04 2.35173044e+00] [ 5.05968756e-03 -9.97120055e-05 9.99987195e-01 8.32187050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:166.03, Y:2.36, Z:0.83 [[ 9.98188139e-01 -5.99574090e-02 -5.05444667e-03 1.66028008e+02] [ 5.99569071e-02 9.98200935e-01 -2.50897388e-04 2.35602138e+00] [ 5.06039655e-03 -5.26061931e-05 9.99987195e-01 8.30521702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:166.06, Y:2.36, Z:0.83 [[ 9.98439428e-01 -5.56161958e-02 -5.05446190e-03 1.66058801e+02] [ 5.56156398e-02 9.98452221e-01 -2.50590110e-04 2.35839614e+00] [ 5.06057558e-03 -3.09080864e-05 9.99987195e-01 8.30378746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:166.09, Y:2.36, Z:0.83 [[ 9.98669793e-01 -5.13137090e-02 -5.05447698e-03 1.66090510e+02] [ 5.13130994e-02 9.98682584e-01 -2.50285660e-04 2.36048957e+00] [ 5.06066122e-03 -9.40815164e-06 9.99987195e-01 8.31387741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:166.12, Y:2.36, Z:0.83 [[ 9.98969818e-01 -4.50971663e-02 -5.05449701e-03 1.66122615e+02] [ 4.50964792e-02 9.98982605e-01 -2.49880518e-04 2.36257797e+00] [ 5.06062349e-03 2.16830765e-05 9.99987195e-01 8.33759212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:166.15, Y:2.36, Z:0.83 [[ 9.99082211e-01 -4.25345406e-02 -5.05451796e-03 1.66153912e+02] [ 4.25338229e-02 9.99094996e-01 -2.49455927e-04 2.36385889e+00] [ 5.06055410e-03 3.42390068e-05 9.99987195e-01 8.34593748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.544391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:166.19, Y:2.36, Z:0.84 [[ 9.99171025e-01 -4.03944830e-02 -5.05453349e-03 1.66186320e+02] [ 4.03937395e-02 9.99183809e-01 -2.49140840e-04 2.36476465e+00] [ 5.06047194e-03 4.47627997e-05 9.99987195e-01 8.35341582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.574391418 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:166.22, Y:2.37, Z:0.84 [[ 9.99240058e-01 -3.86491707e-02 -5.05455409e-03 1.66218754e+02] [ 3.86484069e-02 9.99252840e-01 -2.48722236e-04 2.36550616e+00] [ 5.06039044e-03 5.31827584e-05 9.99987195e-01 8.35392777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.604391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.25, Y:2.36, Z:0.83 [[ 9.99312473e-01 -3.67291867e-02 -5.05457445e-03 1.66250106e+02] [ 3.67284005e-02 9.99325254e-01 -2.48307817e-04 2.36455880e+00] [ 5.06028404e-03 6.24906638e-05 9.99987195e-01 8.33908113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.634391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:166.28, Y:2.36, Z:0.83 [[ 9.99310931e-01 -3.67711103e-02 -5.05458958e-03 1.66282815e+02] [ 3.67703262e-02 9.99323712e-01 -2.47999539e-04 2.36404798e+00] [ 5.06029044e-03 6.19697424e-05 9.99987195e-01 8.32853549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.31, Y:2.36, Z:0.83 [[ 9.99264865e-01 -3.80023867e-02 -5.05460956e-03 1.66314606e+02] [ 3.80016205e-02 9.99277647e-01 -2.47591506e-04 2.36354158e+00] [ 5.06036742e-03 5.53261385e-05 9.99987195e-01 8.31724579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:166.35, Y:2.36, Z:0.83 [[ 9.99199050e-01 -3.96952074e-02 -5.05461945e-03 1.66346946e+02] [ 3.96944638e-02 9.99211834e-01 -2.47389500e-04 2.36284335e+00] [ 5.06045575e-03 4.65509443e-05 9.99987195e-01 8.30317938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:166.38, Y:2.36, Z:0.83 [[ 9.99108197e-01 -4.19197036e-02 -5.05463910e-03 1.66379414e+02] [ 4.19189905e-02 9.99120982e-01 -2.46987286e-04 2.36165358e+00] [ 5.06054962e-03 3.48816532e-05 9.99987195e-01 8.29681149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:166.41, Y:2.36, Z:0.83 [[ 9.98910472e-01 -4.63931009e-02 -5.05465861e-03 1.66411064e+02] [ 4.63924471e-02 9.98923260e-01 -2.46587452e-04 2.35801945e+00] [ 5.06065601e-03 1.18208060e-05 9.99987195e-01 8.30505869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:166.44, Y:2.36, Z:0.83 [[ 9.98829324e-01 -4.81085426e-02 -5.05467309e-03 1.66443583e+02] [ 4.81079123e-02 9.98842114e-01 -2.46290247e-04 2.35688572e+00] [ 5.06066902e-03 2.83215107e-06 9.99987195e-01 8.31533227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:2.36, Z:0.83 [[ 9.98744921e-01 -4.98300394e-02 -5.05469213e-03 1.66476217e+02] [ 4.98294330e-02 9.98757712e-01 -2.45898916e-04 2.35578697e+00] [ 5.06066590e-03 -6.28214914e-06 9.99987195e-01 8.33046315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:2.35, Z:0.83 [[ 9.98704684e-01 -5.06300762e-02 -5.05471109e-03 1.66508574e+02] [ 5.06294821e-02 9.98717475e-01 -2.45508516e-04 2.35447114e+00] [ 5.06065841e-03 -1.07269001e-05 9.99987195e-01 8.34141615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.54, Y:2.35, Z:0.84 [[ 9.98667252e-01 -5.13631207e-02 -5.05472988e-03 1.66539571e+02] [ 5.13625380e-02 9.98680044e-01 -2.45121146e-04 2.35097539e+00] [ 5.06064804e-03 -1.48292936e-05 9.99987195e-01 8.36145440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:2.35, Z:0.84 [[ 9.98690375e-01 -5.09115317e-02 -5.05476081e-03 1.66570764e+02] [ 5.09109464e-02 9.98703167e-01 -2.44481649e-04 2.34964554e+00] [ 5.06065256e-03 -1.31811869e-05 9.99987195e-01 8.36338293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.60, Y:2.35, Z:0.84 [[ 9.98692857e-01 -5.08628248e-02 -5.05476995e-03 1.66602583e+02] [ 5.08622399e-02 9.98705649e-01 -2.44292455e-04 2.34830314e+00] [ 5.06065271e-03 -1.31237913e-05 9.99987195e-01 8.36120811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:2.35, Z:0.83 [[ 9.98522276e-01 -5.41083450e-02 -5.05477905e-03 1.66635310e+02] [ 5.41078025e-02 9.98535070e-01 -2.44104070e-04 2.34524734e+00] [ 5.06058222e-03 -2.97596351e-05 9.99987195e-01 8.34609868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:2.34, Z:0.83 [[ 9.98585598e-01 -5.29266611e-02 -5.05683537e-03 1.66664043e+02] [ 5.29263194e-02 9.98598400e-01 -2.01462720e-04 2.34282054e+00] [ 5.06041046e-03 -6.64619135e-05 9.99987194e-01 8.34416550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:2.34, Z:0.83 [[ 9.98503787e-01 -5.44484747e-02 -5.05472588e-03 1.66694341e+02] [ 5.44479321e-02 9.98516581e-01 -2.44987142e-04 2.34140524e+00] [ 5.06056678e-03 -3.05987822e-05 9.99987195e-01 8.34303847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:2.34, Z:0.83 [[ 9.98380265e-01 -5.66682941e-02 -5.05473034e-03 1.66725944e+02] [ 5.66677804e-02 9.98393060e-01 -2.44894934e-04 2.34010035e+00] [ 5.06048548e-03 -4.19420801e-05 9.99987195e-01 8.34893192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:2.34, Z:0.84 [[ 9.98100734e-01 -6.13952312e-02 -5.05473920e-03 1.66756932e+02] [ 6.13947791e-02 9.98113531e-01 -2.44712018e-04 2.33558927e+00] [ 5.06022774e-03 -6.60873513e-05 9.99987195e-01 8.37029066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:2.33, Z:0.84 [[ 9.97945108e-01 -6.38749690e-02 -5.05475289e-03 1.66788816e+02] [ 6.38745501e-02 9.97957906e-01 -2.44428848e-04 2.33437196e+00] [ 5.06004350e-03 -7.89434938e-05 9.99987195e-01 8.38438190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:2.33, Z:0.84 [[ 9.97808738e-01 -6.59709891e-02 -5.05476271e-03 1.66820372e+02] [ 6.59705982e-02 9.97821537e-01 -2.44225595e-04 2.33321632e+00] [ 5.05986291e-03 -8.97752874e-05 9.99987195e-01 8.38952170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:2.33, Z:0.84 [[ 9.97684589e-01 -6.78226382e-02 -5.05477253e-03 1.66851508e+02] [ 6.78222720e-02 9.97697389e-01 -2.44022245e-04 2.33223356e+00] [ 5.05968359e-03 -9.93689246e-05 9.99987195e-01 8.39044443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:2.33, Z:0.84 [[ 9.97495937e-01 -7.05429273e-02 -5.05478274e-03 1.66882354e+02] [ 7.05425971e-02 9.97508738e-01 -2.43810536e-04 2.32965528e+00] [ 5.05938906e-03 -1.13377484e-04 9.99987195e-01 8.37600592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:2.33, Z:0.84 [[ 9.97439311e-01 -7.13391218e-02 -5.05478780e-03 1.66914010e+02] [ 7.13388023e-02 9.97452112e-01 -2.43705706e-04 2.32986047e+00] [ 5.05929451e-03 -1.17520856e-04 9.99987195e-01 8.36335123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:2.33, Z:0.84 [[ 9.97460795e-01 -7.10381065e-02 -5.05469956e-03 1.66944350e+02] [ 7.10377739e-02 9.97473596e-01 -2.45539483e-04 2.32976636e+00] [ 5.05937201e-03 -1.14158597e-04 9.99987195e-01 8.35191944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:2.33, Z:0.83 [[ 9.97528243e-01 -7.00846122e-02 -5.05481224e-03 1.66975147e+02] [ 7.00842792e-02 9.97541044e-01 -2.43197410e-04 2.32960685e+00] [ 5.05942708e-03 -1.11666587e-04 9.99987195e-01 8.32527943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:2.33, Z:0.83 [[ 9.97592535e-01 -6.91634487e-02 -5.05481741e-03 1.67006792e+02] [ 6.91631045e-02 9.97605336e-01 -2.43089920e-04 2.33102838e+00] [ 5.05952576e-03 -1.07102175e-04 9.99987195e-01 8.31429184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:2.33, Z:0.83 [[ 9.97725618e-01 -6.72164002e-02 -5.05437723e-03 1.67037128e+02] [ 6.72159846e-02 9.97738417e-01 -2.52244324e-04 2.33210916e+00] [ 5.05990129e-03 -8.80643182e-05 9.99987195e-01 8.32204914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:2.33, Z:0.83 [[ 9.97961984e-01 -6.36107386e-02 -5.05484372e-03 1.67068408e+02] [ 6.36103260e-02 9.97974783e-01 -2.42521327e-04 2.33460552e+00] [ 5.06003352e-03 -7.95131922e-05 9.99987195e-01 8.32258344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:2.34, Z:0.83 [[ 9.98089759e-01 -6.15734298e-02 -5.05424073e-03 1.67099862e+02] [ 6.15729273e-02 9.98102555e-01 -2.55108313e-04 2.33573746e+00] [ 5.06035847e-03 -5.65834024e-05 9.99987195e-01 8.34310522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:2.34, Z:0.83 [[ 9.98160769e-01 -6.04113225e-02 -5.05487460e-03 1.67129994e+02] [ 6.04108722e-02 9.98173566e-01 -2.41860330e-04 2.33726403e+00] [ 5.06025331e-03 -6.39538907e-05 9.99987195e-01 8.34929685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:2.34, Z:0.84 [[ 9.98227199e-01 -5.93035177e-02 -5.05487974e-03 1.67159349e+02] [ 5.93030537e-02 9.98239996e-01 -2.41752947e-04 2.33846789e+00] [ 5.06031993e-03 -5.84454379e-05 9.99987195e-01 8.35585991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:2.34, Z:0.84 [[ 9.98276050e-01 -5.84754397e-02 -5.05487484e-03 1.67190486e+02] [ 5.84749646e-02 9.98288846e-01 -2.41855365e-04 2.33998363e+00] [ 5.06036777e-03 -5.41452088e-05 9.99987195e-01 8.37097242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:2.34, Z:0.84 [[ 9.98242380e-01 -5.90474336e-02 -5.05488495e-03 1.67222049e+02] [ 5.90469669e-02 9.98255176e-01 -2.41643781e-04 2.34154509e+00] [ 5.06033352e-03 -5.72565613e-05 9.99987195e-01 8.37103308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:2.34, Z:0.84 [[ 9.98202651e-01 -5.97152934e-02 -5.05489497e-03 1.67253684e+02] [ 5.97148363e-02 9.98215448e-01 -2.41433953e-04 2.34297784e+00] [ 5.06029155e-03 -6.08522135e-05 9.99987195e-01 8.36889634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:2.34, Z:0.84 [[ 9.98160168e-01 -6.04212396e-02 -5.05490521e-03 1.67285448e+02] [ 6.04207926e-02 9.98172966e-01 -2.41219387e-04 2.34448372e+00] [ 5.06024450e-03 -6.46457956e-05 9.99987195e-01 8.36782869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:2.35, Z:0.84 [[ 9.98053500e-01 -6.21583449e-02 -5.05491536e-03 1.67316757e+02] [ 6.21579213e-02 9.98066298e-01 -2.41006546e-04 2.34647052e+00] [ 5.06012123e-03 -7.36656047e-05 9.99987195e-01 8.37664472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.35, Y:2.35, Z:0.84 [[ 9.98033471e-01 -6.24790980e-02 -5.05492570e-03 1.67348536e+02] [ 6.24786797e-02 9.98046270e-01 -2.40789516e-04 2.34814167e+00] [ 5.06009405e-03 -7.55090874e-05 9.99987195e-01 8.38725063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:2.35, Z:0.84 [[ 9.98007074e-01 -6.28993489e-02 -5.05493638e-03 1.67379108e+02] [ 6.28989370e-02 9.98019872e-01 -2.40565007e-04 2.34984643e+00] [ 5.06005835e-03 -7.78645468e-05 9.99987195e-01 8.39164722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:2.35, Z:0.84 [[ 9.97977703e-01 -6.33636457e-02 -5.05494169e-03 1.67410567e+02] [ 6.33632404e-02 9.97990502e-01 -2.40453530e-04 2.35204828e+00] [ 5.06001980e-03 -8.03302236e-05 9.99987195e-01 8.41154196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:2.35, Z:0.84 [[ 9.97956515e-01 -6.36964809e-02 -5.05495236e-03 1.67441683e+02] [ 6.36960810e-02 9.97969314e-01 -2.40228875e-04 2.35427733e+00] [ 5.05998908e-03 -8.22426843e-05 9.99987195e-01 8.41981641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.47, Y:2.36, Z:0.84 [[ 9.97951648e-01 -6.37726877e-02 -5.05496295e-03 1.67472967e+02] [ 6.37722899e-02 9.97964447e-01 -2.40005850e-04 2.35640630e+00] [ 5.05997913e-03 -8.28523291e-05 9.99987195e-01 8.42547414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:2.36, Z:0.84 [[ 9.97961064e-01 -6.36251719e-02 -5.05497344e-03 1.67505212e+02] [ 6.36247733e-02 9.97973863e-01 -2.39784716e-04 2.35741618e+00] [ 5.05998772e-03 -8.23257287e-05 9.99987195e-01 8.41869148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:2.36, Z:0.84 [[ 9.97937625e-01 -6.39915944e-02 -5.05685398e-03 1.67534491e+02] [ 6.39914018e-02 9.97950430e-01 -2.00048595e-04 2.36171947e+00] [ 5.05929103e-03 -1.23959156e-04 9.99987194e-01 8.42778133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:2.36, Z:0.84 [[ 9.97946403e-01 -6.38547152e-02 -5.05493059e-03 1.67565908e+02] [ 6.38543160e-02 9.97959202e-01 -2.40478867e-04 2.36375075e+00] [ 5.05997021e-03 -8.27941154e-05 9.99987195e-01 8.42177764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.60, Y:2.37, Z:0.84 [[ 9.97948871e-01 -6.38161307e-02 -5.05494103e-03 1.67597481e+02] [ 6.38157322e-02 9.97961670e-01 -2.40259315e-04 2.36603904e+00] [ 5.05996981e-03 -8.28182507e-05 9.99987195e-01 8.41914162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.63, Y:2.37, Z:0.84 [[ 9.97951679e-01 -6.37721976e-02 -5.05495159e-03 1.67629288e+02] [ 6.37717996e-02 9.97964478e-01 -2.40036810e-04 2.36750305e+00] [ 5.05996980e-03 -8.28182229e-05 9.99987195e-01 8.42075268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:2.37, Z:0.84 [[ 9.97945395e-01 -6.38704626e-02 -5.05496215e-03 1.67659231e+02] [ 6.38700670e-02 9.97958194e-01 -2.39814276e-04 2.37014507e+00] [ 5.05995795e-03 -8.35392190e-05 9.99987195e-01 8.41661346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:2.37, Z:0.84 [[ 9.97870685e-01 -6.50272509e-02 -5.05497905e-03 1.67690786e+02] [ 6.50268719e-02 9.97883484e-01 -2.39457562e-04 2.37367380e+00] [ 5.05985137e-03 -8.97617943e-05 9.99987195e-01 8.40546204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:2.38, Z:0.84 [[ 9.97764179e-01 -6.66415033e-02 -5.05498942e-03 1.67720878e+02] [ 6.66411461e-02 9.97776979e-01 -2.39238345e-04 2.37569932e+00] [ 5.05969528e-03 -9.81668385e-05 9.99987195e-01 8.39329993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:2.38, Z:0.84 [[ 9.97605807e-01 -6.89717432e-02 -5.05499455e-03 1.67752545e+02] [ 6.89714165e-02 9.97618608e-01 -2.39129916e-04 2.37773460e+00] [ 5.05944984e-03 -1.10092742e-04 9.99987195e-01 8.40048615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:2.38, Z:0.84 [[ 9.97194378e-01 -7.46848062e-02 -5.05500483e-03 1.67783762e+02] [ 7.46845540e-02 9.97207180e-01 -2.38912499e-04 2.38069066e+00] [ 5.05873025e-03 -1.39288580e-04 9.99987195e-01 8.41149593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:2.38, Z:0.84 [[ 9.96995740e-01 -7.72912697e-02 -5.05501505e-03 1.67815602e+02] [ 7.72910520e-02 9.97008544e-01 -2.38696065e-04 2.38313272e+00] [ 5.05834231e-03 -1.52728471e-04 9.99987195e-01 8.41836037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:2.39, Z:0.84 [[ 9.96858862e-01 -7.90370580e-02 -5.05503533e-03 1.67846920e+02] [ 7.90368650e-02 9.96871665e-01 -2.38265853e-04 2.38567641e+00] [ 5.05805332e-03 -1.62016717e-04 9.99987195e-01 8.42817336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:2.39, Z:0.84 [[ 9.96770688e-01 -8.01413926e-02 -5.05506767e-03 1.67878858e+02] [ 8.01412172e-02 9.96783491e-01 -2.37577740e-04 2.38906773e+00] [ 5.05784781e-03 -1.68308749e-04 9.99987195e-01 8.43859499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:2.40, Z:0.85 [[ 9.96847090e-01 -7.91853848e-02 -5.05508744e-03 1.67908997e+02] [ 7.91851993e-02 9.96859894e-01 -2.37156274e-04 2.39509272e+00] [ 5.05799324e-03 -1.63879565e-04 9.99987195e-01 8.45690700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:2.40, Z:0.85 [[ 9.97018948e-01 -7.69913191e-02 -5.05509231e-03 1.67939892e+02] [ 7.69911059e-02 9.97031751e-01 -2.37052375e-04 2.39875262e+00] [ 5.05833852e-03 -1.52851438e-04 9.99987195e-01 8.46504346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:2.40, Z:0.85 [[ 9.97224433e-01 -7.42824114e-02 -5.05510187e-03 1.67971075e+02] [ 7.42821644e-02 9.97237236e-01 -2.36848265e-04 2.40251468e+00] [ 5.05872948e-03 -1.39313032e-04 9.99987195e-01 8.46817305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:2.41, Z:0.85 [[ 9.97447895e-01 -7.12189773e-02 -5.05511138e-03 1.68002451e+02] [ 7.12186921e-02 9.97460697e-01 -2.36645190e-04 2.40642576e+00] [ 5.05912855e-03 -1.23977174e-04 9.99987195e-01 8.47141727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:168.03, Y:2.41, Z:0.85 [[ 9.97853070e-01 -6.52969858e-02 -5.05512083e-03 1.68032874e+02] [ 6.52966256e-02 9.97865870e-01 -2.36443163e-04 2.41305335e+00] [ 5.05977157e-03 -9.41467958e-05 9.99987195e-01 8.46788069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.06, Y:2.42, Z:0.85 [[ 9.97980320e-01 -6.33224056e-02 -5.05513490e-03 1.68064633e+02] [ 6.33220216e-02 9.97993119e-01 -2.36141908e-04 2.41703163e+00] [ 5.05994292e-03 -8.44363844e-05 9.99987195e-01 8.46630049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:2.42, Z:0.85 [[ 9.98116531e-01 -6.11378468e-02 -5.05515352e-03 1.68096754e+02] [ 6.11374368e-02 9.98129329e-01 -2.35742687e-04 2.42277108e+00] [ 5.06010979e-03 -7.37604560e-05 9.99987195e-01 8.46260549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40439141800002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.13, Y:2.43, Z:0.85 [[ 9.98082256e-01 -6.16948545e-02 -5.05517409e-03 1.68127460e+02] [ 6.16944539e-02 9.98095055e-01 -2.35300749e-04 2.42633595e+00] [ 5.06006111e-03 -7.70267024e-05 9.99987195e-01 8.45757873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43439141800002 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:168.16, Y:2.43, Z:0.85 [[ 9.98011440e-01 -6.28300147e-02 -5.05518932e-03 1.68159185e+02] [ 6.28296303e-02 9.98024239e-01 -2.34973141e-04 2.42952644e+00] [ 5.05996484e-03 -8.31097936e-05 9.99987195e-01 8.46008615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46439141800002 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:168.19, Y:2.43, Z:0.85 [[ 9.97895073e-01 -6.46518950e-02 -5.05520985e-03 1.68189886e+02] [ 6.46515362e-02 9.97907873e-01 -2.34530687e-04 2.43244449e+00] [ 5.05979656e-03 -9.27900650e-05 9.99987195e-01 8.45468476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:168.22, Y:2.44, Z:0.85 [[ 9.97580169e-01 -6.93415520e-02 -5.05522511e-03 1.68221835e+02] [ 6.93412550e-02 9.97592971e-01 -2.34201234e-04 2.43606777e+00] [ 5.05929691e-03 -1.16901147e-04 9.99987195e-01 8.45016099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:168.25, Y:2.44, Z:0.84 [[ 9.97407935e-01 -7.17764313e-02 -5.05524532e-03 1.68252504e+02] [ 7.17761678e-02 9.97420737e-01 -2.33764175e-04 2.43851602e+00] [ 5.05898527e-03 -1.29687893e-04 9.99987195e-01 8.44394069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:168.28, Y:2.44, Z:0.84 [[ 9.97236647e-01 -7.41182485e-02 -5.05526032e-03 1.68284632e+02] [ 7.41180167e-02 9.97249450e-01 -2.33439243e-04 2.44123035e+00] [ 5.05865768e-03 -1.41891701e-04 9.99987195e-01 8.43890114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:168.32, Y:2.44, Z:0.84 [[ 9.97122708e-01 -7.56356335e-02 -5.05528048e-03 1.68316889e+02] [ 7.56354234e-02 9.97135512e-01 -2.33001901e-04 2.44386868e+00] [ 5.05842294e-03 -1.50026793e-04 9.99987195e-01 8.43220904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:168.35, Y:2.45, Z:0.84 [[ 9.96909598e-01 -7.83945003e-02 -5.05530063e-03 1.68348322e+02] [ 7.83943279e-02 9.96922402e-01 -2.32563833e-04 2.44857516e+00] [ 5.05797418e-03 -1.64461778e-04 9.99987195e-01 8.42619277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:168.38, Y:2.45, Z:0.84 [[ 9.96894400e-01 -7.85875279e-02 -5.05531563e-03 1.68380064e+02] [ 7.85873596e-02 9.96907204e-01 -2.32237459e-04 2.45181874e+00] [ 5.05793153e-03 -1.65767685e-04 9.99987195e-01 8.42991849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:168.41, Y:2.46, Z:0.84 [[ 9.96933565e-01 -7.80891227e-02 -5.05533455e-03 1.68412078e+02] [ 7.80889500e-02 9.96946369e-01 -2.31824915e-04 2.45524086e+00] [ 5.05800042e-03 -1.63651728e-04 9.99987195e-01 8.43821303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:168.44, Y:2.46, Z:0.85 [[ 9.97034341e-01 -7.67917013e-02 -5.05535390e-03 1.68443976e+02] [ 7.67915141e-02 9.97047145e-01 -2.31402081e-04 2.46093977e+00] [ 5.05819593e-03 -1.57492459e-04 9.99987195e-01 8.45864218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:168.48, Y:2.46, Z:0.85 [[ 9.97110559e-01 -7.57956254e-02 -5.05537351e-03 1.68475814e+02] [ 7.57954276e-02 9.97123362e-01 -2.30972807e-04 2.46440524e+00] [ 5.05833776e-03 -1.52868772e-04 9.99987195e-01 8.47409993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:168.51, Y:2.47, Z:0.85 [[ 9.97189980e-01 -7.47434686e-02 -5.05539297e-03 1.68507365e+02] [ 7.47432595e-02 9.97202784e-01 -2.30546088e-04 2.46757832e+00] [ 5.05848376e-03 -1.47958299e-04 9.99987195e-01 8.48786446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.794391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:168.54, Y:2.47, Z:0.85 [[ 9.97271060e-01 -7.36537541e-02 -5.05540743e-03 1.68539251e+02] [ 7.36535326e-02 9.97283863e-01 -2.30228737e-04 2.47105372e+00] [ 5.05863346e-03 -1.42748159e-04 9.99987195e-01 8.50011833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.824391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:168.57, Y:2.48, Z:0.85 [[ 9.97478754e-01 -7.07854352e-02 -5.05542591e-03 1.68571509e+02] [ 7.07851790e-02 9.97491557e-01 -2.29822085e-04 2.47608549e+00] [ 5.05901272e-03 -1.28606581e-04 9.99987195e-01 8.50167104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.854391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:168.60, Y:2.48, Z:0.85 [[ 9.97618972e-01 -6.87810267e-02 -5.05544500e-03 1.68601116e+02] [ 6.87807468e-02 9.97631774e-01 -2.29401464e-04 2.47912229e+00] [ 5.05925103e-03 -1.18862030e-04 9.99987195e-01 8.49563414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.884391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:168.63, Y:2.48, Z:0.85 [[ 9.97733271e-01 -6.71026796e-02 -5.05479118e-03 1.68634442e+02] [ 6.71023054e-02 9.97746070e-01 -2.43783973e-04 2.48228440e+00] [ 5.05975660e-03 -9.59567613e-05 9.99987195e-01 8.48688650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:168.67, Y:2.49, Z:0.85 [[ 9.97798380e-01 -6.61274103e-02 -5.05544608e-03 1.68667595e+02] [ 6.61270966e-02 9.97811182e-01 -2.29348441e-04 2.48618188e+00] [ 5.05954684e-03 -1.05458469e-04 9.99987195e-01 8.48850936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:168.70, Y:2.49, Z:0.85 [[ 9.97963577e-01 -6.35856818e-02 -5.05568608e-03 1.68699329e+02] [ 6.35853623e-02 9.97976378e-01 -2.24055858e-04 2.49061590e+00] [ 5.05970203e-03 -9.78680457e-05 9.99987195e-01 8.47420128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:168.73, Y:2.49, Z:0.85 [[ 9.98035404e-01 -6.24481750e-02 -5.05544125e-03 1.68730267e+02] [ 6.24478137e-02 9.98048204e-01 -2.29450046e-04 2.49337187e+00] [ 5.05990280e-03 -8.67019845e-05 9.99987195e-01 8.46830137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:168.76, Y:2.50, Z:0.85 [[ 9.98146030e-01 -6.06543068e-02 -5.05546081e-03 1.68762529e+02] [ 6.06539246e-02 9.98158830e-01 -2.29018394e-04 2.49538519e+00] [ 5.06004379e-03 -7.80397380e-05 9.99987195e-01 8.46611798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:168.79, Y:2.50, Z:0.85 [[ 9.98219000e-01 -5.94413209e-02 -5.05548023e-03 1.68793416e+02] [ 5.94409254e-02 9.98231799e-01 -2.28588842e-04 2.49999336e+00] [ 5.06012875e-03 -7.23206978e-05 9.99987195e-01 8.46710807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:168.83, Y:2.50, Z:0.85 [[ 9.98259157e-01 -5.87630547e-02 -5.05551246e-03 1.68825822e+02] [ 5.87626541e-02 9.98271956e-01 -2.27873724e-04 2.50264208e+00] [ 5.06016687e-03 -6.95982986e-05 9.99987195e-01 8.47010055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09439141800001 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:168.86, Y:2.51, Z:0.85 [[ 9.98279108e-01 -5.84231488e-02 -5.05553143e-03 1.68857283e+02] [ 5.84227460e-02 9.98291907e-01 -2.27452167e-04 2.50535204e+00] [ 5.06018458e-03 -6.82972820e-05 9.99987195e-01 8.46518730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12439141800002 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:168.89, Y:2.51, Z:0.85 [[ 9.98362917e-01 -5.69730443e-02 -5.05555507e-03 1.68887067e+02] [ 5.69726255e-02 9.98375715e-01 -2.26925590e-04 2.50789317e+00] [ 5.06027205e-03 -6.14741522e-05 9.99987195e-01 8.46861194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15439141800002 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:168.92, Y:2.51, Z:0.85 [[ 9.98285849e-01 -5.83079677e-02 -5.05425707e-03 1.68919909e+02] [ 5.83074193e-02 9.98298642e-01 -2.55908887e-04 2.51049043e+00] [ 5.06057949e-03 -3.92304658e-05 9.99987194e-01 8.47576095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18439141800002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:168.95, Y:2.51, Z:0.85 [[ 9.98168238e-01 -6.02878223e-02 -5.05447859e-03 1.68953375e+02] [ 6.02873244e-02 9.98181033e-01 -2.50951085e-04 2.51259752e+00] [ 5.06041395e-03 -5.42295875e-05 9.99987195e-01 8.46795015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21439141800002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:168.98, Y:2.51, Z:0.85 [[ 9.98194751e-01 -5.98471284e-02 -5.05566616e-03 1.68984137e+02] [ 5.98467605e-02 9.98207551e-01 -2.24167574e-04 2.51382733e+00] [ 5.06001993e-03 -7.88023465e-05 9.99987195e-01 8.49802859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:169.02, Y:2.52, Z:0.85 [[ 9.98008829e-01 -6.28715241e-02 -5.05456125e-03 1.69017605e+02] [ 6.28710688e-02 9.98021626e-01 -2.49075500e-04 2.51711375e+00] [ 5.06022120e-03 -6.92061203e-05 9.99987195e-01 8.51018008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:169.05, Y:2.52, Z:0.85 [[ 9.97963309e-01 -6.35898855e-02 -5.05572824e-03 1.69050169e+02] [ 6.35895737e-02 9.97976110e-01 -2.22566855e-04 2.51903394e+00] [ 5.05964900e-03 -9.93780480e-05 9.99987195e-01 8.52264032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:169.08, Y:2.52, Z:0.85 [[ 9.97972010e-01 -6.34531859e-02 -5.05575427e-03 1.69081506e+02] [ 6.34528753e-02 9.97984811e-01 -2.21973829e-04 2.52039680e+00] [ 5.05965092e-03 -9.92784772e-05 9.99987195e-01 8.53088659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:169.12, Y:2.52, Z:0.85 [[ 9.97815079e-01 -6.58750138e-02 -5.05485266e-03 1.69115454e+02] [ 6.58746302e-02 9.97827878e-01 -2.42530860e-04 2.52219502e+00] [ 5.05984962e-03 -9.09856002e-05 9.99987195e-01 8.53761848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:169.15, Y:2.52, Z:0.85 [[ 9.97672106e-01 -6.80059379e-02 -5.05580736e-03 1.69148559e+02] [ 6.80056923e-02 9.97684909e-01 -2.20656173e-04 2.52320992e+00] [ 5.05910863e-03 -1.23681171e-04 9.99987195e-01 8.54184430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:169.18, Y:2.52, Z:0.85 [[ 9.97611314e-01 -6.88919747e-02 -5.05583279e-03 1.69181004e+02] [ 6.88917435e-02 9.97624117e-01 -2.20071790e-04 2.52428220e+00] [ 5.05898191e-03 -1.28759028e-04 9.99987195e-01 8.54048928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:169.21, Y:2.53, Z:0.85 [[ 9.97592115e-01 -6.91694300e-02 -5.05585383e-03 1.69214043e+02] [ 6.91692048e-02 9.97604918e-01 -2.19587562e-04 2.52527644e+00] [ 5.05893339e-03 -1.30650568e-04 9.99987195e-01 8.54123108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:169.25, Y:2.53, Z:0.85 [[ 9.97618551e-01 -6.87870934e-02 -5.05587900e-03 1.69247011e+02] [ 6.87868663e-02 9.97631354e-01 -2.19006335e-04 2.52664665e+00] [ 5.05896823e-03 -1.29293290e-04 9.99987195e-01 8.53646583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:169.28, Y:2.53, Z:0.85 [[ 9.97678506e-01 -6.79119739e-02 -5.05590478e-03 1.69279837e+02] [ 6.79117385e-02 9.97691309e-01 -2.18409728e-04 2.52818934e+00] [ 5.05906489e-03 -1.25452592e-04 9.99987195e-01 8.53326179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514391418 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:169.31, Y:2.53, Z:0.85 [[ 9.97760109e-01 -6.67023484e-02 -5.05593029e-03 1.69313132e+02] [ 6.67021006e-02 9.97772911e-01 -2.17817565e-04 2.52998549e+00] [ 5.05919922e-03 -1.19911493e-04 9.99987195e-01 8.52828064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.544391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:169.35, Y:2.53, Z:0.85 [[ 9.97882393e-01 -6.48472668e-02 -5.05595573e-03 1.69346325e+02] [ 6.48469982e-02 9.97895195e-01 -2.17225324e-04 2.53119052e+00] [ 5.05940040e-03 -1.11098226e-04 9.99987195e-01 8.52088281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.574391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:169.38, Y:2.53, Z:0.85 [[ 9.98096634e-01 -6.14617386e-02 -5.05598093e-03 1.69377280e+02] [ 6.14614295e-02 9.98109436e-01 -2.16637199e-04 2.53306549e+00] [ 5.05973717e-03 -9.45229567e-05 9.99987195e-01 8.50483908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.604391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:169.41, Y:2.53, Z:0.85 [[ 9.98203844e-01 -5.96952431e-02 -5.05599348e-03 1.69409508e+02] [ 5.96949128e-02 9.98216645e-01 -2.16343904e-04 2.53464953e+00] [ 5.05989155e-03 -8.58617737e-05 9.99987195e-01 8.49920466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.634391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:169.44, Y:2.54, Z:0.85 [[ 9.98305312e-01 -5.79736147e-02 -5.05601390e-03 1.69441641e+02] [ 5.79732648e-02 9.98318113e-01 -2.15865685e-04 2.53630144e+00] [ 5.06002477e-03 -7.76137729e-05 9.99987195e-01 8.49839304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:169.47, Y:2.54, Z:0.85 [[ 9.98418325e-01 -5.59936109e-02 -5.05603591e-03 1.69473448e+02] [ 5.59932382e-02 9.98431125e-01 -2.15348895e-04 2.53797071e+00] [ 5.06016178e-03 -6.80955401e-05 9.99987195e-01 8.50344671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:169.51, Y:2.54, Z:0.85 [[ 9.98672299e-01 -5.12647686e-02 -5.05605361e-03 1.69505689e+02] [ 5.12643374e-02 9.98685096e-01 -2.14932599e-04 2.54043039e+00] [ 5.06042385e-03 -4.45480058e-05 9.99987195e-01 8.51446169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:169.54, Y:2.54, Z:0.85 [[ 9.98812685e-01 -4.84526254e-02 -5.05607154e-03 1.69536682e+02] [ 4.84521603e-02 9.98825481e-01 -2.14509857e-04 2.54180755e+00] [ 5.06052666e-03 -3.07224229e-05 9.99987195e-01 8.52025953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:169.57, Y:2.54, Z:0.85 [[ 9.99054533e-01 -4.31795718e-02 -5.05608487e-03 1.69569047e+02] [ 4.31790408e-02 9.99067327e-01 -2.14195173e-04 2.54301747e+00] [ 5.06061806e-03 -4.32423599e-06 9.99987195e-01 8.53556794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:169.60, Y:2.54, Z:0.85 [[ 9.99161885e-01 -4.06197304e-02 -5.05610258e-03 1.69600424e+02] [ 4.06191687e-02 9.99174678e-01 -2.13776441e-04 2.54399072e+00] [ 5.06061321e-03 8.22258825e-06 9.99987195e-01 8.53878516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:169.63, Y:2.55, Z:0.85 [[ 9.99237644e-01 -3.87113122e-02 -5.05611574e-03 1.69632282e+02] [ 3.87107276e-02 9.99250436e-01 -2.13464680e-04 2.54505637e+00] [ 5.06058936e-03 1.75760246e-05 9.99987195e-01 8.54086390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84439141800001 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:169.66, Y:2.55, Z:0.85 [[ 9.99272003e-01 -3.78140065e-02 -5.05613283e-03 1.69664580e+02] [ 3.78134125e-02 9.99284794e-01 -2.13059217e-04 2.54592726e+00] [ 5.06057327e-03 2.17144739e-05 9.99987195e-01 8.54524190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:169.70, Y:2.55, Z:0.85 [[ 9.99275156e-01 -3.77305887e-02 -5.05615061e-03 1.69697244e+02] [ 3.77299958e-02 9.99287948e-01 -2.12636261e-04 2.54720731e+00] [ 5.06057326e-03 2.17135919e-05 9.99987195e-01 8.54689526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90439141800002 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:169.73, Y:2.55, Z:0.85 [[ 9.99268938e-01 -3.78949258e-02 -5.05616833e-03 1.69728394e+02] [ 3.78943371e-02 9.99281729e-01 -2.12214185e-04 2.54632331e+00] [ 5.06057847e-03 2.04588964e-05 9.99987195e-01 8.54657207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93439141800002 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:169.76, Y:2.55, Z:0.85 [[ 9.99228986e-01 -3.89341454e-02 -5.05619606e-03 1.69760679e+02] [ 3.89335734e-02 9.99241779e-01 -2.11551482e-04 2.54601646e+00] [ 5.06059892e-03 1.45325925e-05 9.99987195e-01 8.54985584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:169.79, Y:2.55, Z:0.86 [[ 9.99155515e-01 -4.07761247e-02 -5.05621314e-03 1.69793383e+02] [ 4.07755784e-02 9.99168308e-01 -2.11142496e-04 2.54544656e+00] [ 5.06061750e-03 4.79417406e-06 9.99987195e-01 8.55278203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:169.83, Y:2.54, Z:0.86 [[ 9.99066845e-01 -4.28937523e-02 -5.05623032e-03 1.69825403e+02] [ 4.28932351e-02 9.99079639e-01 -2.10730076e-04 2.54456926e+00] [ 5.06061577e-03 -6.34464356e-06 9.99987195e-01 8.55314808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:169.86, Y:2.54, Z:0.86 [[ 9.98950010e-01 -4.55336398e-02 -5.05624735e-03 1.69857677e+02] [ 4.55331585e-02 9.98962806e-01 -2.10320843e-04 2.54388212e+00] [ 5.06057971e-03 -2.01269038e-05 9.99987195e-01 8.55421172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:169.89, Y:2.54, Z:0.85 [[ 9.98655344e-01 -5.15939772e-02 -5.05626485e-03 1.69889800e+02] [ 5.15935757e-02 9.98668143e-01 -2.09899279e-04 2.54187901e+00] [ 5.06036016e-03 -5.12537464e-05 9.99987195e-01 8.54922030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:169.92, Y:2.54, Z:0.85 [[ 9.98487737e-01 -5.47418724e-02 -5.05628239e-03 1.69920880e+02] [ 5.47415134e-02 9.98500537e-01 -2.09475898e-04 2.54154049e+00] [ 5.06016778e-03 -6.76294348e-05 9.99987195e-01 8.54804963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:169.95, Y:2.54, Z:0.85 [[ 9.98390820e-01 -5.64819031e-02 -5.05629539e-03 1.69950569e+02] [ 5.64815680e-02 9.98403620e-01 -2.09161658e-04 2.54077386e+00] [ 5.06003747e-03 -7.67624121e-05 9.99987195e-01 8.54557071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:169.98, Y:2.54, Z:0.85 [[ 9.97964113e-01 -6.35772918e-02 -5.05538144e-03 1.69984397e+02] [ 6.35769357e-02 9.97976913e-01 -2.31269154e-04 2.53953873e+00] [ 5.05985744e-03 -9.06073451e-05 9.99987195e-01 8.54001330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:170.01, Y:2.54, Z:0.85 [[ 9.97719910e-01 -6.73009235e-02 -5.05632953e-03 1.70014950e+02] [ 6.73007318e-02 9.97732714e-01 -2.08249406e-04 2.54110190e+00] [ 5.05888076e-03 -1.32520099e-04 9.99987195e-01 8.53034616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:170.05, Y:2.54, Z:0.85 [[ 9.97652423e-01 -6.82941629e-02 -5.05475498e-03 1.70048268e+02] [ 6.82937914e-02 9.97665223e-01 -2.46259879e-04 2.53973961e+00] [ 5.05977136e-03 -9.95266168e-05 9.99987194e-01 8.54645720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:170.08, Y:2.54, Z:0.86 [[ 9.97510703e-01 -7.03337071e-02 -5.05635415e-03 1.70076993e+02] [ 7.03335594e-02 9.97523507e-01 -2.07242968e-04 2.53865762e+00] [ 5.05840829e-03 -1.48904307e-04 9.99987195e-01 8.57035932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:170.11, Y:2.54, Z:0.86 [[ 9.97235103e-01 -7.41390337e-02 -5.05492067e-03 1.70110809e+02] [ 7.41387585e-02 9.97247906e-01 -2.42047990e-04 2.54018838e+00] [ 5.05895426e-03 -1.33386791e-04 9.99987195e-01 8.56703881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.294391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:170.14, Y:2.54, Z:0.86 [[ 9.97199714e-01 -7.46134280e-02 -5.05634848e-03 1.70143147e+02] [ 7.46133355e-02 9.97212519e-01 -2.07205950e-04 2.54025827e+00] [ 5.05771435e-03 -1.70645311e-04 9.99987195e-01 8.56618659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.324391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:170.18, Y:2.54, Z:0.86 [[ 9.97167565e-01 -7.50418799e-02 -5.05601876e-03 1.70175307e+02] [ 7.50417521e-02 9.97180369e-01 -2.15249035e-04 2.54048311e+00] [ 5.05791535e-03 -1.64773150e-04 9.99987195e-01 8.55947195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.354391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:170.21, Y:2.54, Z:0.86 [[ 9.96980057e-01 -7.74932182e-02 -5.05638355e-03 1.70207200e+02] [ 7.74931672e-02 9.96992862e-01 -2.06308435e-04 2.54151478e+00] [ 5.05716581e-03 -1.86149781e-04 9.99987195e-01 8.57784423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.384391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:170.24, Y:2.54, Z:0.86 [[ 9.97004664e-01 -7.71759809e-02 -5.05640260e-03 1.70239679e+02] [ 7.71759282e-02 9.97017469e-01 -2.05840612e-04 2.54231586e+00] [ 5.05720767e-03 -1.85008513e-04 9.99987195e-01 8.57624530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:170.27, Y:2.54, Z:0.86 [[ 9.96933786e-01 -7.80862550e-02 -5.05609008e-03 1.70273022e+02] [ 7.80861750e-02 9.96946590e-01 -2.13541862e-04 2.54388237e+00] [ 5.05732645e-03 -1.81923638e-04 9.99987195e-01 8.57703752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:170.30, Y:2.55, Z:0.86 [[ 9.96920757e-01 -7.82523847e-02 -5.05646868e-03 1.70303900e+02] [ 7.82523543e-02 9.96933562e-01 -2.04165222e-04 2.54594238e+00] [ 5.05693975e-03 -1.92144031e-04 9.99987195e-01 8.56619760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:170.34, Y:2.55, Z:0.85 [[ 9.96986630e-01 -7.74086036e-02 -5.05648496e-03 1.70335671e+02] [ 7.74085643e-02 9.96999435e-01 -2.03761396e-04 2.54778731e+00] [ 5.05708553e-03 -1.88267853e-04 9.99987195e-01 8.54563993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:170.37, Y:2.55, Z:0.86 [[ 9.97079889e-01 -7.61979628e-02 -5.05615852e-03 1.70367423e+02] [ 7.61978669e-02 9.97092694e-01 -2.11878323e-04 2.54935206e+00] [ 5.05760341e-03 -1.74008879e-04 9.99987195e-01 8.57174984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:170.40, Y:2.55, Z:0.86 [[ 9.97076511e-01 -7.62421753e-02 -5.05596698e-03 1.70400909e+02] [ 7.62420559e-02 9.97089315e-01 -2.16636915e-04 2.55262776e+00] [ 5.05776752e-03 -1.69473738e-04 9.99987195e-01 8.57946322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:170.43, Y:2.56, Z:0.86 [[ 9.97243257e-01 -7.40291736e-02 -5.05652051e-03 1.70433426e+02] [ 7.40290956e-02 9.97256061e-01 -2.02838012e-04 2.55689783e+00] [ 5.05766166e-03 -1.72050800e-04 9.99987195e-01 8.57826714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59439141800001 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:170.47, Y:2.56, Z:0.86 [[ 9.97322561e-01 -7.29530067e-02 -5.05653805e-03 1.70465663e+02] [ 7.29529171e-02 9.97335365e-01 -2.02399896e-04 2.55970590e+00] [ 5.05782990e-03 -1.67031218e-04 9.99987195e-01 8.58354977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62439141800002 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:170.50, Y:2.56, Z:0.86 [[ 9.97370132e-01 -7.22997347e-02 -5.05658133e-03 1.70497900e+02] [ 7.22996423e-02 9.97382936e-01 -2.01312560e-04 2.56276513e+00] [ 5.05790278e-03 -1.64805887e-04 9.99987195e-01 8.58173339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65439141800002 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:170.53, Y:2.57, Z:0.86 [[ 9.97405621e-01 -7.18084757e-02 -5.05662055e-03 1.70531178e+02] [ 7.18083819e-02 9.97418426e-01 -2.00322776e-04 2.56757278e+00] [ 5.05795138e-03 -1.63304676e-04 9.99987195e-01 8.58285309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68439141800002 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:170.56, Y:2.57, Z:0.86 [[ 9.97397135e-01 -7.19262524e-02 -5.05664439e-03 1.70563916e+02] [ 7.19261632e-02 9.97409939e-01 -1.99719102e-04 2.57036354e+00] [ 5.05791242e-03 -1.64505770e-04 9.99987195e-01 8.58762411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:170.60, Y:2.57, Z:0.86 [[ 9.97362708e-01 -7.24020610e-02 -5.05666802e-03 1.70596766e+02] [ 7.24019809e-02 9.97375513e-01 -1.99119073e-04 2.57321010e+00] [ 5.05781349e-03 -1.67518844e-04 9.99987195e-01 8.59074869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:170.63, Y:2.58, Z:0.86 [[ 9.97297028e-01 -7.33012093e-02 -5.05669146e-03 1.70629810e+02] [ 7.33011439e-02 9.97309833e-01 -1.98522022e-04 2.57608311e+00] [ 5.05764002e-03 -1.72675845e-04 9.99987195e-01 8.59080708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:170.65, Y:2.58, Z:0.85 [[ 9.96946286e-01 -7.79264555e-02 -5.05671477e-03 1.70654502e+02] [ 7.79264525e-02 9.96959091e-01 -1.97926410e-04 2.58423902e+00] [ 5.05676146e-03 -1.96729844e-04 9.99987195e-01 8.54918742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:170.69, Y:2.58, Z:0.86 [[ 9.96965035e-01 -7.76863872e-02 -5.05411205e-03 1.70689760e+02] [ 7.76860408e-02 9.96977838e-01 -2.65116457e-04 2.58459993e+00] [ 5.05943365e-03 -1.28322118e-04 9.99987193e-01 8.56719213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:170.72, Y:2.59, Z:0.85 [[ 9.96661932e-01 -8.14827151e-02 -5.05564170e-03 1.70715735e+02] [ 8.14826192e-02 9.96674737e-01 -2.25289355e-04 2.59131899e+00] [ 5.05718755e-03 -1.87409604e-04 9.99987195e-01 8.53497160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:170.75, Y:2.59, Z:0.86 [[ 9.96566234e-01 -8.26450281e-02 -5.05382706e-03 1.70749638e+02] [ 8.26446996e-02 9.96579038e-01 -2.74166115e-04 2.59385378e+00] [ 5.05919658e-03 -1.44447327e-04 9.99987192e-01 8.56673983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:170.78, Y:2.60, Z:0.86 [[ 9.96231172e-01 -8.65904324e-02 -5.05461070e-03 1.70777709e+02] [ 8.65902621e-02 9.96243977e-01 -2.52940156e-04 2.59993258e+00] [ 5.05752766e-03 -1.85693197e-04 9.99987193e-01 8.56873903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:170.81, Y:2.60, Z:0.86 [[ 9.96478443e-01 -8.36969835e-02 -5.05256002e-03 1.70805684e+02] [ 8.36965038e-02 9.96491245e-01 -3.06662353e-04 2.60255377e+00] [ 5.06049854e-03 -1.17299186e-04 9.99987189e-01 8.58168001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:170.84, Y:2.60, Z:0.86 [[ 9.96657468e-01 -8.15375653e-02 -5.05152501e-03 1.70843511e+02] [ 8.15369082e-02 9.96670266e-01 -3.36240624e-04 2.60373006e+00] [ 5.06212102e-03 -7.67690020e-05 9.99987184e-01 8.58680202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:170.88, Y:2.60, Z:0.86 [[ 9.97164306e-01 -7.50853036e-02 -5.05416260e-03 1.70877682e+02] [ 7.50849526e-02 9.97177107e-01 -2.59423482e-04 2.60106261e+00] [ 5.05937413e-03 -1.20803723e-04 9.99987194e-01 8.61406831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:170.90, Y:2.61, Z:0.86 [[ 9.96671006e-01 -8.13716234e-02 -5.05617876e-03 1.70902799e+02] [ 8.13716555e-02 9.96683808e-01 -1.99714098e-04 2.61194209e+00] [ 5.05566256e-03 -2.12380385e-04 9.99987198e-01 8.59628796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.044391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:170.94, Y:2.61, Z:0.86 [[ 9.97329795e-01 -7.28542992e-02 -5.05285828e-03 1.70939305e+02] [ 7.28537359e-02 9.97342592e-01 -2.95703490e-04 2.60783410e+00] [ 5.06097405e-03 -7.32057019e-05 9.99987191e-01 8.60172901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.074391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:170.97, Y:2.61, Z:0.86 [[ 9.97480872e-01 -7.07555338e-02 -5.05620883e-03 1.70972058e+02] [ 7.07554355e-02 9.97493674e-01 -1.98541385e-04 2.61338102e+00] [ 5.05758422e-03 -1.59713024e-04 9.99987198e-01 8.61887783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.104391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:171.00, Y:2.62, Z:0.86 [[ 9.97609349e-01 -6.89203425e-02 -5.05708454e-03 1.71001763e+02] [ 6.89203504e-02 9.97622151e-01 -1.72932952e-04 2.61730255e+00] [ 5.05697816e-03 -1.76016509e-04 9.99987198e-01 8.62152713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.134391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:171.03, Y:2.62, Z:0.86 [[ 9.97544211e-01 -6.98568572e-02 -5.05643930e-03 1.71030423e+02] [ 6.98567812e-02 9.97557013e-01 -1.91854066e-04 2.62379129e+00] [ 5.05748881e-03 -1.61843661e-04 9.99987198e-01 8.63793179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:171.07, Y:2.63, Z:0.86 [[ 9.98156794e-01 -6.04769479e-02 -5.05505260e-03 1.71065007e+02] [ 6.04765456e-02 9.98169591e-01 -2.32537505e-04 2.62525362e+00] [ 5.05986295e-03 -7.36032284e-05 9.99987196e-01 8.62751055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:171.10, Y:2.63, Z:0.86 [[ 9.98272554e-01 -5.85348872e-02 -5.05714815e-03 1.71098210e+02] [ 5.85347751e-02 9.98285356e-01 -1.70314608e-04 2.62844443e+00] [ 5.05844629e-03 -1.25998630e-04 9.99987198e-01 8.62936603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:171.13, Y:2.63, Z:0.86 [[ 9.98396199e-01 -5.63866605e-02 -5.05716643e-03 1.71129384e+02] [ 5.63865235e-02 9.98409000e-01 -1.69770199e-04 2.63114489e+00] [ 5.05869325e-03 -1.15658112e-04 9.99987198e-01 8.62032487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:171.16, Y:2.63, Z:0.86 [[ 9.98707655e-01 -5.05711793e-02 -5.05717545e-03 1.71157262e+02] [ 5.05709691e-02 9.98720456e-01 -1.69501086e-04 2.63402738e+00] [ 5.05927644e-03 -8.64642311e-05 9.99987198e-01 8.59547569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:171.19, Y:2.64, Z:0.86 [[ 9.98638130e-01 -5.19261455e-02 -5.05573240e-03 1.71192210e+02] [ 5.19257364e-02 9.98650926e-01 -2.12233900e-04 2.63742911e+00] [ 5.05993233e-03 -5.05777623e-05 9.99987197e-01 8.60498912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:171.22, Y:2.64, Z:0.86 [[ 9.98706775e-01 -5.05885550e-02 -5.05718466e-03 1.71224616e+02] [ 5.05883492e-02 9.98719575e-01 -1.68698417e-04 2.64057798e+00] [ 5.05924353e-03 -8.73543716e-05 9.99987198e-01 8.62072316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34439141800001 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:171.25, Y:2.64, Z:0.86 [[ 9.98795504e-01 -4.88053841e-02 -5.05719773e-03 1.71252581e+02] [ 4.88051574e-02 9.98808304e-01 -1.68305731e-04 2.64226459e+00] [ 5.05938532e-03 -7.87143236e-05 9.99987198e-01 8.61685317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37439141800002 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:171.28, Y:2.65, Z:0.86 [[ 9.98717948e-01 -5.03676548e-02 -5.05568250e-03 1.71283661e+02] [ 5.03672231e-02 9.98730743e-01 -2.12739774e-04 2.64646209e+00] [ 5.05998074e-03 -4.21736579e-05 9.99987197e-01 8.59769026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40439141800002 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:171.32, Y:2.65, Z:0.86 [[ 9.98751113e-01 -4.97057439e-02 -5.05511835e-03 1.71316969e+02] [ 4.97052202e-02 9.98763905e-01 -2.29246244e-04 2.64695457e+00] [ 5.06026460e-03 -2.23058290e-05 9.99987197e-01 8.61026739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43439141800002 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:171.34, Y:2.65, Z:0.86 [[ 9.98625050e-01 -5.21770351e-02 -5.05626002e-03 1.71344405e+02] [ 5.21767156e-02 9.98637848e-01 -1.95177584e-04 2.65292571e+00] [ 5.05955641e-03 -6.89098157e-05 9.99987198e-01 8.61185292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:171.38, Y:2.65, Z:0.86 [[ 9.98754966e-01 -4.96283366e-02 -5.05437161e-03 1.71381279e+02] [ 4.96276925e-02 9.98767755e-01 -2.52855006e-04 2.65019766e+00] [ 5.06069216e-03 1.70339326e-06 9.99987195e-01 8.63330733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:171.41, Y:2.66, Z:0.86 [[ 9.98461314e-01 -5.52216835e-02 -5.05665485e-03 1.71408883e+02] [ 5.52214725e-02 9.98474114e-01 -1.81454318e-04 2.65680566e+00] [ 5.05895919e-03 -9.80608101e-05 9.99987199e-01 8.61553069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:171.45, Y:2.65, Z:0.86 [[ 9.98664532e-01 -5.14159606e-02 -5.05482656e-03 1.71445702e+02] [ 5.14154113e-02 9.98677325e-01 -2.38635783e-04 2.65277409e+00] [ 5.06041035e-03 -2.15788942e-05 9.99987196e-01 8.63095135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:171.47, Y:2.66, Z:0.86 [[ 9.98388187e-01 -5.65283289e-02 -5.05733035e-03 1.71472204e+02] [ 5.65282483e-02 9.98400988e-01 -1.58995986e-04 2.65949600e+00] [ 5.05823139e-03 -1.27142311e-04 9.99987199e-01 8.64640104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:171.51, Y:2.66, Z:0.86 [[ 9.98513376e-01 -5.42723416e-02 -5.05478890e-03 1.71508362e+02] [ 5.42718272e-02 9.98526170e-01 -2.38974878e-04 2.65584229e+00] [ 5.06030872e-03 -3.57130180e-05 9.99987196e-01 8.63706515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:171.54, Y:2.66, Z:0.86 [[ 9.98458282e-01 -5.52764157e-02 -5.05732134e-03 1.71540909e+02] [ 5.52763249e-02 9.98471083e-01 -1.57827250e-04 2.65709098e+00] [ 5.05831324e-03 -1.21966212e-04 9.99987199e-01 8.63973648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:171.57, Y:2.66, Z:0.86 [[ 9.98405248e-01 -5.62261902e-02 -5.05733945e-03 1.71571161e+02] [ 5.62261145e-02 9.98418048e-01 -1.57245003e-04 2.65899961e+00] [ 5.05818027e-03 -1.27360311e-04 9.99987199e-01 8.63470970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:171.60, Y:2.66, Z:0.86 [[ 9.98349508e-01 -5.72073974e-02 -5.05702875e-03 1.71602217e+02] [ 5.72072838e-02 9.98362308e-01 -1.67233271e-04 2.66034873e+00] [ 5.05831388e-03 -1.22341625e-04 9.99987199e-01 8.61428586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:171.63, Y:2.66, Z:0.86 [[ 9.98346469e-01 -5.72604084e-02 -5.05709419e-03 1.71634603e+02] [ 5.72603061e-02 9.98359269e-01 -1.65124455e-04 2.66145837e+00] [ 5.05825196e-03 -1.24719345e-04 9.99987199e-01 8.64419274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:171.67, Y:2.66, Z:0.86 [[ 9.98354318e-01 -5.71233987e-02 -5.05704486e-03 1.71667135e+02] [ 5.71232865e-02 9.98367118e-01 -1.66728272e-04 2.66230100e+00] [ 5.05831139e-03 -1.22421133e-04 9.99987199e-01 8.64584362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:171.70, Y:2.66, Z:0.86 [[ 9.98376739e-01 -5.67301843e-02 -5.05705985e-03 1.71698320e+02] [ 5.67300696e-02 9.98389539e-01 -1.66239129e-04 2.66410166e+00] [ 5.05834643e-03 -1.20918078e-04 9.99987199e-01 8.62203085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.794391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:171.73, Y:2.67, Z:0.87 [[ 9.98212656e-01 -5.95476142e-02 -5.05714352e-03 1.71728206e+02] [ 5.95475497e-02 9.98225457e-01 -1.63461044e-04 2.66831606e+00] [ 5.05790311e-03 -1.37971622e-04 9.99987199e-01 8.65790044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.824391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:171.76, Y:2.67, Z:0.87 [[ 9.98558191e-01 -5.34413106e-02 -5.05629709e-03 1.71762498e+02] [ 5.34410262e-02 9.98570989e-01 -1.91441339e-04 2.66767734e+00] [ 5.05930246e-03 -7.90483877e-05 9.99987199e-01 8.65942622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.854391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:171.79, Y:2.67, Z:0.87 [[ 9.98519743e-01 -5.41548174e-02 -5.05750196e-03 1.71791212e+02] [ 5.41547463e-02 9.98532544e-01 -1.51117702e-04 2.67306559e+00] [ 5.05826405e-03 -1.22993726e-04 9.99987199e-01 8.66298853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.884391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:171.83, Y:2.67, Z:0.87 [[ 9.98832188e-01 -4.80489160e-02 -5.05595913e-03 1.71825927e+02] [ 4.80485064e-02 9.98844983e-01 -2.02524670e-04 2.67086569e+00] [ 5.05985050e-03 -4.06431255e-05 9.99987198e-01 8.66849188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:171.86, Y:2.67, Z:0.87 [[ 9.98959211e-01 -4.53311735e-02 -5.05753852e-03 1.71858142e+02] [ 4.53310007e-02 9.98972011e-01 -1.48867870e-04 2.67215578e+00] [ 5.05908778e-03 -8.05503518e-05 9.99987199e-01 8.66302948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:171.89, Y:2.67, Z:0.87 [[ 9.99138863e-01 -4.11819590e-02 -5.05755343e-03 1.71891572e+02] [ 4.11817355e-02 9.99151661e-01 -1.48359378e-04 2.67358943e+00] [ 5.05937265e-03 -6.00472076e-05 9.99987199e-01 8.65151086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:171.92, Y:2.67, Z:0.86 [[ 9.99206446e-01 -3.95082115e-02 -5.05757078e-03 1.71923617e+02] [ 3.95079696e-02 9.99219244e-01 -1.47765793e-04 2.67459977e+00] [ 5.05946001e-03 -5.21658200e-05 9.99987199e-01 8.64772836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:171.96, Y:2.68, Z:0.86 [[ 9.99258343e-01 -3.81731006e-02 -5.05758236e-03 1.71956213e+02] [ 3.81728436e-02 9.99271141e-01 -1.47368362e-04 2.67567076e+00] [ 5.05952160e-03 -4.58032352e-05 9.99987199e-01 8.64112068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:171.99, Y:2.68, Z:0.86 [[ 9.99305110e-01 -3.69285642e-02 -5.05759388e-03 1.71988260e+02] [ 3.69282933e-02 9.99317907e-01 -1.46971890e-04 2.67701615e+00] [ 5.05957159e-03 -3.98985494e-05 9.99987199e-01 8.63888983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:172.02, Y:2.68, Z:0.86 [[ 9.99317084e-01 -3.66030976e-02 -5.05760572e-03 1.72020213e+02] [ 3.66028246e-02 9.99329881e-01 -1.46563179e-04 2.67766154e+00] [ 5.05958119e-03 -3.86595664e-05 9.99987199e-01 8.63359831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09439141800001 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:172.05, Y:2.68, Z:0.86 [[ 9.99317519e-01 -3.65912180e-02 -5.05762041e-03 1.72052260e+02] [ 3.65909474e-02 9.99330316e-01 -1.46054680e-04 2.67814395e+00] [ 5.05957772e-03 -3.91081216e-05 9.99987199e-01 8.63195431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12439141800002 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:172.08, Y:2.68, Z:0.86 [[ 9.99309811e-01 -3.68011241e-02 -5.05763205e-03 1.72084569e+02] [ 3.68008582e-02 9.99322608e-01 -1.45650385e-04 2.67857104e+00] [ 5.05956615e-03 -4.05753416e-05 9.99987199e-01 8.62756951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15439141800002 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:172.12, Y:2.68, Z:0.86 [[ 9.99339785e-01 -3.59779576e-02 -5.05764357e-03 1.72116120e+02] [ 3.59776832e-02 9.99352583e-01 -1.45249338e-04 2.67820704e+00] [ 5.05959494e-03 -3.68088562e-05 9.99987199e-01 8.63031111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18439141800002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:172.15, Y:2.68, Z:0.86 [[ 9.99328078e-01 -3.63017949e-02 -5.05693072e-03 1.72148321e+02] [ 3.63014005e-02 9.99340873e-01 -1.69780764e-04 2.67857426e+00] [ 5.05976091e-03 -1.39069833e-05 9.99987199e-01 8.61380995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:172.18, Y:2.68, Z:0.86 [[ 9.99304155e-01 -3.69544307e-02 -5.05726503e-03 1.72181231e+02] [ 3.69541032e-02 9.99316951e-01 -1.58214847e-04 2.67952155e+00] [ 5.05965741e-03 -2.87819399e-05 9.99987199e-01 8.63285956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:172.21, Y:2.68, Z:0.86 [[ 9.99281350e-01 -3.75659977e-02 -5.05762985e-03 1.72208261e+02] [ 3.75657422e-02 9.99294148e-01 -1.45536463e-04 2.68247881e+00] [ 5.05952714e-03 -4.45617459e-05 9.99987200e-01 8.62266639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:172.24, Y:2.68, Z:0.86 [[ 9.99367608e-01 -3.51968921e-02 -5.05598191e-03 1.72243419e+02] [ 3.51963191e-02 9.99380397e-01 -2.02298069e-04 2.67926998e+00] [ 5.05996948e-03 2.42181847e-05 9.99987198e-01 8.63904684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:172.28, Y:2.68, Z:0.86 [[ 9.99394359e-01 -3.44286904e-02 -5.05762633e-03 1.72275468e+02] [ 3.44283980e-02 9.99407156e-01 -1.44902044e-04 2.67884800e+00] [ 5.05961674e-03 -2.93116872e-05 9.99987200e-01 8.63934068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:172.31, Y:2.68, Z:0.87 [[ 9.99425732e-01 -3.35056312e-02 -5.05763766e-03 1.72307240e+02] [ 3.35053289e-02 9.99438528e-01 -1.44505616e-04 2.67755972e+00] [ 5.05963969e-03 -2.50351825e-05 9.99987200e-01 8.65132811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:172.34, Y:2.68, Z:0.87 [[ 9.99436128e-01 -3.31940654e-02 -5.05764893e-03 1.72339071e+02] [ 3.31937611e-02 9.99448925e-01 -1.44109780e-04 2.67725512e+00] [ 5.05964538e-03 -2.38538703e-05 9.99987200e-01 8.65995374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:172.37, Y:2.68, Z:0.87 [[ 9.99367892e-01 -3.51885768e-02 -5.05766055e-03 1.72368386e+02] [ 3.51883001e-02 9.99380690e-01 -1.43700870e-04 2.67969731e+00] [ 5.05958492e-03 -3.43604413e-05 9.99987200e-01 8.65966834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:172.40, Y:2.68, Z:0.87 [[ 9.99416505e-01 -3.37799098e-02 -5.05634033e-03 1.72402452e+02] [ 3.37793813e-02 9.99429296e-01 -1.89905268e-04 2.67520751e+00] [ 5.05986963e-03 1.89944107e-05 9.99987199e-01 8.65749535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:172.43, Y:2.67, Z:0.87 [[ 9.99393809e-01 -3.44446547e-02 -5.05767962e-03 1.72434218e+02] [ 3.44443756e-02 9.99406606e-01 -1.42305749e-04 2.67435011e+00] [ 5.05958010e-03 -3.19891323e-05 9.99987200e-01 8.65313613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:172.47, Y:2.67, Z:0.86 [[ 9.99345841e-01 -3.58093553e-02 -5.05769053e-03 1.72466523e+02] [ 3.58090956e-02 9.99358639e-01 -1.41916885e-04 2.67342786e+00] [ 5.05952868e-03 -3.92872753e-05 9.99987200e-01 8.64792609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:172.50, Y:2.67, Z:0.86 [[ 9.99299234e-01 -3.70872033e-02 -5.05770149e-03 1.72498408e+02] [ 3.70869620e-02 9.99312032e-01 -1.41525143e-04 2.67205390e+00] [ 5.05947073e-03 -4.61488156e-05 9.99987200e-01 8.64668121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.544391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:172.53, Y:2.67, Z:0.86 [[ 9.99166898e-01 -4.04960389e-02 -5.05771265e-03 1.72530540e+02] [ 4.04958432e-02 9.99179697e-01 -1.41125302e-04 2.66907309e+00] [ 5.05927881e-03 -6.38086084e-05 9.99987200e-01 8.64235044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.574391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:172.56, Y:2.67, Z:0.86 [[ 9.99104998e-01 -4.19955011e-02 -5.05772650e-03 1.72562203e+02] [ 4.19953272e-02 9.99117797e-01 -1.40626976e-04 2.66824633e+00] [ 5.05917026e-03 -7.18997646e-05 9.99987200e-01 8.64082039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.604391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:172.59, Y:2.67, Z:0.86 [[ 9.99033577e-01 -4.36615627e-02 -5.05774468e-03 1.72593941e+02] [ 4.36614135e-02 9.99046376e-01 -1.39970117e-04 2.66788065e+00] [ 5.05903281e-03 -8.09934351e-05 9.99987200e-01 8.64763528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.634391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:172.62, Y:2.67, Z:0.87 [[ 9.98905700e-01 -4.64954011e-02 -5.05775546e-03 1.72624734e+02] [ 4.64952902e-02 9.98918499e-01 -1.39579704e-04 2.66631943e+00] [ 5.05877531e-03 -9.57348456e-05 9.99987200e-01 8.65104196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:172.66, Y:2.67, Z:0.87 [[ 9.98842496e-01 -4.78339448e-02 -5.05776346e-03 1.72657158e+02] [ 4.78338525e-02 9.98855296e-01 -1.39289145e-04 2.66613570e+00] [ 5.05863657e-03 -1.02804394e-04 9.99987200e-01 8.65220457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:172.69, Y:2.67, Z:0.87 [[ 9.98803989e-01 -4.86313719e-02 -5.05778800e-03 1.72689234e+02] [ 4.86312944e-02 9.98816789e-01 -1.38392211e-04 2.66573631e+00] [ 5.05853377e-03 -1.07740085e-04 9.99987200e-01 8.65681766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:172.72, Y:2.66, Z:0.87 [[ 9.98698166e-01 -5.07581797e-02 -5.05779840e-03 1.72719932e+02] [ 5.07581314e-02 9.98710966e-01 -1.38011297e-04 2.66497695e+00] [ 5.05828392e-03 -1.18892767e-04 9.99987200e-01 8.66743371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:172.75, Y:2.67, Z:0.87 [[ 9.98643430e-01 -5.18239168e-02 -5.05780357e-03 1.72751647e+02] [ 5.18238830e-02 9.98656230e-01 -1.37821503e-04 2.66521310e+00] [ 5.05814949e-03 -1.24480482e-04 9.99987200e-01 8.66870947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:172.78, Y:2.67, Z:0.87 [[ 9.98604008e-01 -5.25780634e-02 -5.05781631e-03 1.72784294e+02] [ 5.25780417e-02 9.98616809e-01 -1.37352195e-04 2.66535469e+00] [ 5.05804210e-03 -1.28769624e-04 9.99987200e-01 8.67282144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:172.82, Y:2.67, Z:0.87 [[ 9.98485766e-01 -5.47776700e-02 -5.05783140e-03 1.72816328e+02] [ 5.47776793e-02 9.98498566e-01 -1.36794181e-04 2.66542975e+00] [ 5.05773067e-03 -1.40469224e-04 9.99987200e-01 8.67296244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84439141800001 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:172.85, Y:2.67, Z:0.87 [[ 9.98414026e-01 -5.60700566e-02 -5.05784388e-03 1.72849197e+02] [ 5.60700848e-02 9.98426826e-01 -1.36331431e-04 2.66573371e+00] [ 5.05753112e-03 -1.47478522e-04 9.99987200e-01 8.67204373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87439141800002 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:172.88, Y:2.67, Z:0.86 [[ 9.98207137e-01 -5.96400038e-02 -5.05785857e-03 1.72878444e+02] [ 5.96400805e-02 9.98219937e-01 -1.35784176e-04 2.66885113e+00] [ 5.05695343e-03 -1.66110359e-04 9.99987200e-01 8.64329366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90439141800002 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:172.91, Y:2.67, Z:0.87 [[ 9.98195570e-01 -5.98333777e-02 -5.05673459e-03 1.72913268e+02] [ 5.98332455e-02 9.98208371e-01 -1.77558008e-04 2.66572089e+00] [ 5.05829869e-03 -1.25323225e-04 9.99987199e-01 8.67475941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93439141800002 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:172.95, Y:2.67, Z:0.87 [[ 9.97936033e-01 -6.40163432e-02 -5.05787882e-03 1.72946470e+02] [ 6.40164823e-02 9.97948832e-01 -1.34542965e-04 2.66571878e+00] [ 5.05611721e-03 -1.89522337e-04 9.99987200e-01 8.68111599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:172.98, Y:2.67, Z:0.87 [[ 9.97811928e-01 -6.59224785e-02 -5.05789468e-03 1.72979925e+02] [ 6.59226451e-02 9.97824728e-01 -1.33943971e-04 2.66613863e+00] [ 5.05572230e-03 -1.99778904e-04 9.99987200e-01 8.68630426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:173.01, Y:2.67, Z:0.87 [[ 9.97752157e-01 -6.68210335e-02 -5.05791147e-03 1.73010104e+02] [ 6.68212149e-02 9.97764956e-01 -1.33307152e-04 2.66664568e+00] [ 5.05551453e-03 -2.04968291e-04 9.99987200e-01 8.68810334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:173.04, Y:2.67, Z:0.87 [[ 9.97478288e-01 -7.07918685e-02 -5.05728672e-03 1.73043177e+02] [ 7.07919814e-02 9.97491088e-01 -1.56902280e-04 2.66831022e+00] [ 5.05570583e-03 -2.01508730e-04 9.99987200e-01 8.68316711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:173.08, Y:2.67, Z:0.87 [[ 9.97394043e-01 -7.19690189e-02 -5.05793165e-03 1.73076272e+02] [ 7.19692717e-02 9.97406841e-01 -1.32233692e-04 2.66942075e+00] [ 5.05433236e-03 -2.32126560e-04 9.99987200e-01 8.68598496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:173.10, Y:2.67, Z:0.87 [[ 9.97099179e-01 -7.59450134e-02 -5.05794711e-03 1.73104152e+02] [ 7.59453203e-02 9.97111975e-01 -1.31639522e-04 2.67447094e+00] [ 5.05333700e-03 -2.52869755e-04 9.99987200e-01 8.68111899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:173.14, Y:2.67, Z:0.87 [[ 9.97291901e-01 -7.33709621e-02 -5.05637079e-03 1.73139235e+02] [ 7.33709321e-02 9.97304702e-01 -1.91667931e-04 2.67160574e+00] [ 5.05680523e-03 -1.79841763e-04 9.99987198e-01 8.68737231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:173.17, Y:2.67, Z:0.87 [[ 9.97255840e-01 -7.38593777e-02 -5.05794761e-03 1.73172095e+02] [ 7.38596631e-02 9.97268636e-01 -1.30600373e-04 2.67372254e+00] [ 5.05377858e-03 -2.43336322e-04 9.99987200e-01 8.69042525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:173.20, Y:2.68, Z:0.87 [[ 9.97254491e-01 -7.38775859e-02 -5.05796358e-03 1.73203996e+02] [ 7.38778746e-02 9.97267288e-01 -1.29978880e-04 2.67557188e+00] [ 5.05374415e-03 -2.44049577e-04 9.99987200e-01 8.68435870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:173.23, Y:2.68, Z:0.87 [[ 9.97027324e-01 -7.68825840e-02 -5.05797674e-03 1.73231592e+02] [ 7.68829139e-02 9.97040120e-01 -1.29464818e-04 2.68121502e+00] [ 5.05295933e-03 -2.59792029e-04 9.99987200e-01 8.67754929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:173.27, Y:2.68, Z:0.87 [[ 9.97245612e-01 -7.39974592e-02 -5.05625963e-03 1.73268034e+02] [ 7.39974161e-02 9.97258414e-01 -1.95869984e-04 2.67954744e+00] [ 5.05689134e-03 -1.78819665e-04 9.99987198e-01 8.69922885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:173.30, Y:2.69, Z:0.87 [[ 9.97047932e-01 -7.66148696e-02 -5.05797736e-03 1.73295648e+02] [ 7.66152035e-02 9.97060727e-01 -1.27985761e-04 2.68643341e+00] [ 5.05291620e-03 -2.59910027e-04 9.99987200e-01 8.68002438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.294391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:173.33, Y:2.68, Z:0.87 [[ 9.97281391e-01 -7.35136743e-02 -5.05636111e-03 1.73330692e+02] [ 7.35136463e-02 9.97294193e-01 -1.91630489e-04 2.68471863e+00] [ 5.05676703e-03 -1.80602022e-04 9.99987198e-01 8.70646557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.324391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:173.36, Y:2.69, Z:0.87 [[ 9.97308466e-01 -7.31453355e-02 -5.05799910e-03 1.73363908e+02] [ 7.31456363e-02 9.97321262e-01 -1.25742577e-04 2.68650955e+00] [ 5.05364753e-03 -2.44566426e-04 9.99987200e-01 8.70748054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.354391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:173.40, Y:2.69, Z:0.87 [[ 9.97316891e-01 -7.30303727e-02 -5.05801432e-03 1.73395610e+02] [ 7.30306751e-02 9.97329687e-01 -1.25127520e-04 2.69013864e+00] [ 5.05364595e-03 -2.44598411e-04 9.99987200e-01 8.71340293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.384391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:173.43, Y:2.69, Z:0.87 [[ 9.97331126e-01 -7.28357104e-02 -5.05802685e-03 1.73428484e+02] [ 7.28360129e-02 9.97343922e-01 -1.24618743e-04 2.69231442e+00] [ 5.05366904e-03 -2.44120358e-04 9.99987200e-01 8.71806904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:173.46, Y:2.69, Z:0.87 [[ 9.97318002e-01 -7.30152016e-02 -5.05804100e-03 1.73461664e+02] [ 7.30155094e-02 9.97330798e-01 -1.24041748e-04 2.69463023e+00] [ 5.05359700e-03 -2.45606372e-04 9.99987200e-01 8.72599693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:173.49, Y:2.70, Z:0.87 [[ 9.97303974e-01 -7.32065520e-02 -5.05805586e-03 1.73494465e+02] [ 7.32068652e-02 9.97316770e-01 -1.23432997e-04 2.69689479e+00] [ 5.05352004e-03 -2.47184196e-04 9.99987200e-01 8.73220299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:173.53, Y:2.70, Z:0.87 [[ 9.97239490e-01 -7.40797951e-02 -5.05807101e-03 1.73527492e+02] [ 7.40801227e-02 9.97252285e-01 -1.22808943e-04 2.69985123e+00] [ 5.05327054e-03 -2.52232593e-04 9.99987200e-01 8.72874072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:173.56, Y:2.70, Z:0.87 [[ 9.97175700e-01 -7.49335594e-02 -5.05808594e-03 1.73559577e+02] [ 7.49339011e-02 9.97188495e-01 -1.22191008e-04 2.70167811e+00] [ 5.05302132e-03 -2.57176208e-04 9.99987200e-01 8.72153634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:173.59, Y:2.70, Z:0.87 [[ 9.97128065e-01 -7.55647954e-02 -5.05809824e-03 1.73592957e+02] [ 7.55651478e-02 9.97140859e-01 -1.21679557e-04 2.70365369e+00] [ 5.05283112e-03 -2.60885840e-04 9.99987200e-01 8.71534235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:173.62, Y:2.71, Z:0.87 [[ 9.97028934e-01 -7.68616918e-02 -5.05811292e-03 1.73623920e+02] [ 7.68620640e-02 9.97041729e-01 -1.21066306e-04 2.70763211e+00] [ 5.05245501e-03 -2.68070388e-04 9.99987200e-01 8.70863819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59439141800001 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:173.66, Y:2.71, Z:0.87 [[ 9.97019707e-01 -7.69812860e-02 -5.05812016e-03 1.73656557e+02] [ 7.69816612e-02 9.97032502e-01 -1.20763032e-04 2.71006551e+00] [ 5.05240669e-03 -2.68979369e-04 9.99987200e-01 8.70920553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62439141800002 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:173.69, Y:2.71, Z:0.87 [[ 9.97032817e-01 -7.68113141e-02 -5.05813451e-03 1.73689258e+02] [ 7.68116901e-02 9.97045611e-01 -1.20159180e-04 2.71272976e+00] [ 5.05242039e-03 -2.68721215e-04 9.99987200e-01 8.71492948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65439141800002 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:173.72, Y:2.72, Z:0.87 [[ 9.97162102e-01 -7.51142942e-02 -5.05814900e-03 1.73720740e+02] [ 7.51146516e-02 9.97174897e-01 -1.19546006e-04 2.71778086e+00] [ 5.05283882e-03 -2.60734353e-04 9.99987200e-01 8.72471699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68439141800002 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:173.75, Y:2.72, Z:0.87 [[ 9.97170850e-01 -7.49980753e-02 -5.05816094e-03 1.73754271e+02] [ 7.49984338e-02 9.97183644e-01 -1.19038774e-04 2.71844785e+00] [ 5.05284304e-03 -2.60652153e-04 9.99987200e-01 8.72641249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:173.79, Y:2.72, Z:0.87 [[ 9.97270086e-01 -7.36667508e-02 -5.05817474e-03 1.73787208e+02] [ 7.36670952e-02 9.97282881e-01 -1.18449254e-04 2.72136552e+00] [ 5.05315685e-03 -2.54495142e-04 9.99987200e-01 8.73311293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:173.82, Y:2.72, Z:0.87 [[ 9.97389905e-01 -7.20263327e-02 -5.05818836e-03 1.73819784e+02] [ 7.20266590e-02 9.97402700e-01 -1.17864935e-04 2.72421683e+00] [ 5.05354011e-03 -2.46767112e-04 9.99987200e-01 8.74042887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:173.85, Y:2.73, Z:0.87 [[ 9.97512285e-01 -7.03111345e-02 -5.05820181e-03 1.73852969e+02] [ 7.03114417e-02 9.97525081e-01 -1.17284621e-04 2.72718151e+00] [ 5.05392959e-03 -2.38656611e-04 9.99987200e-01 8.74743272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:173.89, Y:2.73, Z:0.87 [[ 9.97584550e-01 -6.92782782e-02 -5.05821514e-03 1.73885077e+02] [ 6.92785751e-02 9.97597346e-01 -1.16707023e-04 2.73148255e+00] [ 5.05414726e-03 -2.34000814e-04 9.99987200e-01 8.74784324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:173.92, Y:2.73, Z:0.87 [[ 9.97808578e-01 -6.59731578e-02 -5.05799133e-03 1.73916966e+02] [ 6.59733630e-02 9.97821376e-01 -1.26446220e-04 2.73478136e+00] [ 5.05531392e-03 -2.07523575e-04 9.99987200e-01 8.74982684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:173.95, Y:2.74, Z:0.87 [[ 9.97845290e-01 -6.54155357e-02 -5.05824586e-03 1.73950094e+02] [ 6.54157902e-02 9.97858087e-01 -1.15277442e-04 2.73721712e+00] [ 5.05495248e-03 -2.15860098e-04 9.99987200e-01 8.74525884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:173.98, Y:2.74, Z:0.87 [[ 9.97879772e-01 -6.48873969e-02 -5.05825863e-03 1.73982044e+02] [ 6.48876476e-02 9.97892569e-01 -1.14714637e-04 2.74093998e+00] [ 5.05504223e-03 -2.13747088e-04 9.99987200e-01 8.74668005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:174.02, Y:2.74, Z:0.88 [[ 9.97874798e-01 -6.49638482e-02 -5.05827950e-03 1.74015219e+02] [ 6.49641045e-02 9.97887595e-01 -1.13786955e-04 2.74292007e+00] [ 5.05498640e-03 -2.15061464e-04 9.99987200e-01 8.75007295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:174.05, Y:2.74, Z:0.88 [[ 9.97866296e-01 -6.50943078e-02 -5.05829283e-03 1.74048355e+02] [ 6.50945688e-02 9.97879093e-01 -1.13190960e-04 2.74482158e+00] [ 5.05493275e-03 -2.16317946e-04 9.99987200e-01 8.75443194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:174.08, Y:2.75, Z:0.88 [[ 9.97868915e-01 -6.50541536e-02 -5.05830689e-03 1.74081192e+02] [ 6.50544173e-02 9.97881711e-01 -1.12559155e-04 2.74661468e+00] [ 5.05491438e-03 -2.16745926e-04 9.99987200e-01 8.75518765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:174.11, Y:2.75, Z:0.88 [[ 9.97902013e-01 -6.45444431e-02 -5.05832089e-03 1.74113547e+02] [ 6.45447035e-02 9.97914810e-01 -1.11926342e-04 2.75033228e+00] [ 5.05499756e-03 -2.14796300e-04 9.99987200e-01 8.75522003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.044391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:174.15, Y:2.75, Z:0.88 [[ 9.97927793e-01 -6.41446296e-02 -5.05835499e-03 1.74145779e+02] [ 6.41448927e-02 9.97940590e-01 -1.10363572e-04 2.75252180e+00] [ 5.05501699e-03 -2.14332763e-04 9.99987200e-01 8.75696956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.074391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:174.18, Y:2.75, Z:0.88 [[ 9.97973617e-01 -6.34276915e-02 -5.05836625e-03 1.74178903e+02] [ 6.34279480e-02 9.97986414e-01 -1.09845201e-04 2.75446003e+00] [ 5.05514802e-03 -2.11219179e-04 9.99987200e-01 8.75885870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.104391418 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:174.21, Y:2.76, Z:0.88 [[ 9.98033069e-01 -6.24852449e-02 -5.05837959e-03 1.74211958e+02] [ 6.24854926e-02 9.98045866e-01 -1.09227147e-04 2.75626717e+00] [ 5.05531993e-03 -2.07063036e-04 9.99987200e-01 8.75835878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.134391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:174.24, Y:2.76, Z:0.88 [[ 9.98151920e-01 -6.05570622e-02 -5.05839280e-03 1.74244081e+02] [ 6.05572882e-02 9.98164717e-01 -1.08612044e-04 2.75942323e+00] [ 5.05568645e-03 -1.97911230e-04 9.99987200e-01 8.75729769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164391418 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:174.28, Y:2.76, Z:0.88 [[ 9.98237081e-01 -5.91366407e-02 -5.05840366e-03 1.74277424e+02] [ 5.91368510e-02 9.98249879e-01 -1.08103704e-04 2.76163276e+00] [ 5.05594374e-03 -1.91224938e-04 9.99987200e-01 8.76406682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:174.31, Y:2.76, Z:0.88 [[ 9.98330182e-01 -5.75435483e-02 -5.05841647e-03 1.74309282e+02] [ 5.75437413e-02 9.98342980e-01 -1.07501292e-04 2.76390700e+00] [ 5.05622058e-03 -1.83758424e-04 9.99987200e-01 8.76961448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224391418 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:174.34, Y:2.77, Z:0.88 [[ 9.98534063e-01 -5.38900414e-02 -5.05842701e-03 1.74342680e+02] [ 5.38901901e-02 9.98546862e-01 -1.07002964e-04 2.76775233e+00] [ 5.05684281e-03 -1.65753489e-04 9.99987200e-01 8.77845544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:174.38, Y:2.77, Z:0.88 [[ 9.98650166e-01 -5.16938972e-02 -5.05843940e-03 1.74375379e+02] [ 5.16940208e-02 9.98662965e-01 -1.06413946e-04 2.76982746e+00] [ 5.05717704e-03 -1.55220767e-04 9.99987200e-01 8.78400832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:174.41, Y:2.77, Z:0.88 [[ 9.98758360e-01 -4.95595652e-02 -5.05845183e-03 1.74408681e+02] [ 4.95596643e-02 9.98771159e-01 -1.05819640e-04 2.77184823e+00] [ 5.05748018e-03 -1.45006925e-04 9.99987200e-01 8.78868523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:174.44, Y:2.77, Z:0.88 [[ 9.98845906e-01 -4.77626181e-02 -5.05846428e-03 1.74441373e+02] [ 4.77626973e-02 9.98858706e-01 -1.05221129e-04 2.77382559e+00] [ 5.05771672e-03 -1.36506205e-04 9.99987200e-01 8.79171920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34439141800001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:174.47, Y:2.78, Z:0.88 [[ 9.99007195e-01 -4.42610005e-02 -5.05847668e-03 1.74473640e+02] [ 4.42610379e-02 9.99019995e-01 -1.04621442e-04 2.77638991e+00] [ 5.05815000e-03 -1.19375854e-04 9.99987200e-01 8.79811365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37439141800002 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:174.50, Y:2.78, Z:0.88 [[ 9.99115243e-01 -4.17509604e-02 -5.05848510e-03 1.74504690e+02] [ 4.17509676e-02 9.99128043e-01 -1.04213097e-04 2.77753300e+00] [ 5.05842531e-03 -1.07075754e-04 9.99987200e-01 8.79568848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40439141800002 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:174.54, Y:2.78, Z:0.88 [[ 9.99137024e-01 -4.12264911e-02 -5.05808597e-03 1.74538982e+02] [ 4.12263932e-02 9.99149823e-01 -1.23668219e-04 2.77874605e+00] [ 5.05888411e-03 -8.49651446e-05 9.99987200e-01 8.79916634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43439141800002 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:174.57, Y:2.78, Z:0.88 [[ 9.99224353e-01 -3.90525727e-02 -5.05851365e-03 1.74570998e+02] [ 3.90525536e-02 9.99237153e-01 -1.02577879e-04 2.78015119e+00] [ 5.05866070e-03 -9.50495604e-05 9.99987200e-01 8.79665724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:174.60, Y:2.78, Z:0.88 [[ 9.99262208e-01 -3.80716437e-02 -5.05852390e-03 1.74603556e+02] [ 3.80716147e-02 9.99275008e-01 -1.02069527e-04 2.78109028e+00] [ 5.05874247e-03 -9.05919519e-05 9.99987200e-01 8.80188861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:174.64, Y:2.78, Z:0.88 [[ 9.99308573e-01 -3.68346019e-02 -5.05853590e-03 1.74636382e+02] [ 3.68345600e-02 9.99321372e-01 -1.01471359e-04 2.78164606e+00] [ 5.05884070e-03 -8.49277452e-05 9.99987200e-01 8.80573350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:174.67, Y:2.78, Z:0.88 [[ 9.99354367e-01 -3.55705032e-02 -5.05854782e-03 1.74668416e+02] [ 3.55704481e-02 9.99367166e-01 -1.00873815e-04 2.78191590e+00] [ 5.05893473e-03 -7.91261250e-05 9.99987200e-01 8.80852343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:174.70, Y:2.78, Z:0.88 [[ 9.99354055e-01 -3.55792511e-02 -5.05855580e-03 1.74701050e+02] [ 3.55791983e-02 9.99366855e-01 -1.00471852e-04 2.78242228e+00] [ 5.05892772e-03 -7.95724073e-05 9.99987200e-01 8.82134283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:174.73, Y:2.78, Z:0.88 [[ 9.99360046e-01 -3.54105907e-02 -5.05856802e-03 1.74734036e+02] [ 3.54105388e-02 9.99372845e-01 -9.98528121e-05 2.78246721e+00] [ 5.05893136e-03 -7.93377082e-05 9.99987200e-01 8.82409721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:174.77, Y:2.78, Z:0.88 [[ 9.99346756e-01 -3.57836716e-02 -5.05858028e-03 1.74765141e+02] [ 3.57836277e-02 9.99359556e-01 -9.92279291e-05 2.78237423e+00] [ 5.05889128e-03 -8.18512441e-05 9.99987200e-01 8.81284150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:174.80, Y:2.78, Z:0.88 [[ 9.99287508e-01 -3.74017012e-02 -5.05858632e-03 1.74798519e+02] [ 3.74016795e-02 9.99300308e-01 -9.89189662e-05 2.78147630e+00] [ 5.05874660e-03 -9.03511372e-05 9.99987200e-01 8.82528629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:174.83, Y:2.78, Z:0.88 [[ 9.99238540e-01 -3.86878603e-02 -5.05859837e-03 1.74829686e+02] [ 3.86878583e-02 9.99251340e-01 -9.82987448e-05 2.78111084e+00] [ 5.05861417e-03 -9.74824425e-05 9.99987200e-01 8.81251697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:174.86, Y:2.78, Z:0.88 [[ 9.99187169e-01 -3.99926481e-02 -5.05860430e-03 1.74861405e+02] [ 3.99926643e-02 9.99199969e-01 -9.79925987e-05 2.78055991e+00] [ 5.05847624e-03 -1.04394116e-04 9.99987200e-01 8.82239781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:174.89, Y:2.78, Z:0.88 [[ 9.99124133e-01 -4.15376719e-02 -5.05861219e-03 1.74894619e+02] [ 4.15377099e-02 9.99136932e-01 -9.75836124e-05 2.77987590e+00] [ 5.05829966e-03 -1.12625024e-04 9.99987200e-01 8.82058496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764391418 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:174.93, Y:2.78, Z:0.88 [[ 9.98945403e-01 -4.56343349e-02 -5.05862394e-03 1.74926208e+02] [ 4.56344286e-02 9.98958202e-01 -9.69706689e-05 2.77807855e+00] [ 5.05777907e-03 -1.33979009e-04 9.99987200e-01 8.81311785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.794391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:174.96, Y:2.78, Z:0.88 [[ 9.98849588e-01 -4.76855379e-02 -5.05863362e-03 1.74959052e+02] [ 4.76856604e-02 9.98862387e-01 -9.64633898e-05 2.77754909e+00] [ 5.05747876e-03 -1.44871868e-04 9.99987200e-01 8.81783664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.824391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:174.99, Y:2.78, Z:0.88 [[ 9.98759807e-01 -4.95303784e-02 -5.05864524e-03 1.74991621e+02] [ 4.95305277e-02 9.98772606e-01 -9.58500744e-05 2.77704181e+00] [ 5.05718377e-03 -1.54826166e-04 9.99987200e-01 8.81773486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.854391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:175.03, Y:2.78, Z:0.88 [[ 9.98662740e-01 -5.14503810e-02 -5.05866417e-03 1.75025147e+02] [ 5.14505599e-02 9.98675538e-01 -9.48402595e-05 2.77665114e+00] [ 5.05684373e-03 -1.65557671e-04 9.99987200e-01 8.82174254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.884391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:175.06, Y:2.78, Z:0.88 [[ 9.98443589e-01 -5.55410608e-02 -5.05867565e-03 1.75056072e+02] [ 5.55412953e-02 9.98456386e-01 -9.42237954e-05 2.77500936e+00] [ 5.05610030e-03 -1.86888254e-04 9.99987200e-01 8.81241488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:175.09, Y:2.77, Z:0.88 [[ 9.98332568e-01 -5.75021095e-02 -5.05868131e-03 1.75088395e+02] [ 5.75023707e-02 9.98345365e-01 -9.39190536e-05 2.77462117e+00] [ 5.05571158e-03 -1.97123718e-04 9.99987200e-01 8.80417579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:175.12, Y:2.77, Z:0.88 [[ 9.98218032e-01 -5.94573019e-02 -5.05869061e-03 1.75121313e+02] [ 5.94575907e-02 9.98230828e-01 -9.34153251e-05 2.77420791e+00] [ 5.05529514e-03 -2.07528694e-04 9.99987200e-01 8.81661359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:175.15, Y:2.77, Z:0.88 [[ 9.97981495e-01 -6.33036028e-02 -5.05870190e-03 1.75153834e+02] [ 6.33039440e-02 9.97994290e-01 -9.28001034e-05 2.77319474e+00] [ 5.05443019e-03 -2.27622996e-04 9.99987200e-01 8.81901615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:175.19, Y:2.77, Z:0.88 [[ 9.97875562e-01 -6.49520761e-02 -5.05872929e-03 1.75185660e+02] [ 6.49524462e-02 9.97888356e-01 -9.12821814e-05 2.77297228e+00] [ 5.05397602e-03 -2.37488584e-04 9.99987200e-01 8.81568899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034391418 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:175.22, Y:2.77, Z:0.88 [[ 9.97741647e-01 -6.69777222e-02 -5.05875593e-03 1.75217953e+02] [ 6.69781258e-02 9.97754440e-01 -8.97807149e-05 2.77315974e+00] [ 5.05340950e-03 -2.49248033e-04 9.99987200e-01 8.83345061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064391418 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:175.25, Y:2.77, Z:0.88 [[ 9.97611717e-01 -6.88859276e-02 -5.05876318e-03 1.75249806e+02] [ 6.88863578e-02 9.97624509e-01 -8.93708895e-05 2.77343123e+00] [ 5.05290253e-03 -2.59322323e-04 9.99987200e-01 8.83648293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09439141800001 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:175.28, Y:2.77, Z:0.88 [[ 9.97333644e-01 -7.28011749e-02 -5.05877033e-03 1.75281815e+02] [ 7.28016573e-02 9.97346435e-01 -8.89642099e-05 2.77336870e+00] [ 5.05182325e-03 -2.79559864e-04 9.99987200e-01 8.83512540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12439141800002 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:175.31, Y:2.77, Z:0.88 [[ 9.97208142e-01 -7.45005338e-02 -5.05878786e-03 1.75313639e+02] [ 7.45010431e-02 9.97220932e-01 -8.79559080e-05 2.77363496e+00] [ 5.05128190e-03 -2.89174624e-04 9.99987200e-01 8.82965676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15439141800002 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:175.35, Y:2.77, Z:0.88 [[ 9.97083323e-01 -7.61528458e-02 -5.05879650e-03 1.75347031e+02] [ 7.61533788e-02 9.97096111e-01 -8.74559719e-05 2.77401262e+00] [ 5.05076634e-03 -2.98043555e-04 9.99987200e-01 8.82888065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18439141800002 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:175.38, Y:2.77, Z:0.88 [[ 9.96959539e-01 -7.77565862e-02 -5.05880676e-03 1.75378886e+02] [ 7.77571429e-02 9.96972326e-01 -8.68583975e-05 2.77456481e+00] [ 5.05024416e-03 -3.06764052e-04 9.99987200e-01 8.80854726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:175.41, Y:2.78, Z:0.88 [[ 9.96719193e-01 -8.07790777e-02 -5.05883162e-03 1.75410704e+02] [ 8.07796805e-02 9.96731978e-01 -8.53858469e-05 2.77612697e+00] [ 5.04919663e-03 -3.23545089e-04 9.99987200e-01 8.82354630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:175.44, Y:2.78, Z:0.88 [[ 9.96643316e-01 -8.17099122e-02 -5.05883852e-03 1.75442353e+02] [ 8.17105290e-02 9.96656100e-01 -8.49747433e-05 2.77703624e+00] [ 5.04886555e-03 -3.28670862e-04 9.99987200e-01 8.81389697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:175.47, Y:2.78, Z:0.88 [[ 9.96540026e-01 -8.29601382e-02 -5.05885546e-03 1.75474646e+02] [ 8.29607763e-02 9.96552810e-01 -8.39539935e-05 2.77853702e+00] [ 5.04838146e-03 -3.36023061e-04 9.99987200e-01 8.80536805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:175.51, Y:2.78, Z:0.88 [[ 9.96539823e-01 -8.29625721e-02 -5.05887951e-03 1.75507794e+02] [ 8.29632176e-02 9.96552607e-01 -8.24788598e-05 2.77982192e+00] [ 5.04828222e-03 -3.37507454e-04 9.99987200e-01 8.81712661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:175.54, Y:2.78, Z:0.88 [[ 9.96610917e-01 -8.21041294e-02 -5.05888931e-03 1.75539795e+02] [ 8.21047670e-02 9.96623701e-01 -8.18733571e-05 2.78110598e+00] [ 5.04853113e-03 -3.33763047e-04 9.99987200e-01 8.81844311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:175.57, Y:2.78, Z:0.88 [[ 9.96729581e-01 -8.06507884e-02 -5.05891303e-03 1.75572284e+02] [ 8.06514149e-02 9.96742365e-01 -8.03804765e-05 2.78275193e+00] [ 5.04891569e-03 -3.27890895e-04 9.99987200e-01 8.83832176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:175.60, Y:2.79, Z:0.89 [[ 9.97042277e-01 -7.66883733e-02 -5.05887953e-03 1.75604693e+02] [ 7.66889382e-02 9.97055064e-01 -8.25078451e-05 2.78694766e+00] [ 5.05030884e-03 -3.05696290e-04 9.99987200e-01 8.85949339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:175.64, Y:2.79, Z:0.89 [[ 9.97273128e-01 -7.36255124e-02 -5.05894240e-03 1.75636551e+02] [ 7.36260585e-02 9.97285916e-01 -7.84535456e-05 2.78961938e+00] [ 5.05098819e-03 -2.94230377e-04 9.99987200e-01 8.86339242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:175.67, Y:2.79, Z:0.89 [[ 9.97483237e-01 -7.07219880e-02 -5.05896582e-03 1.75669754e+02] [ 7.07225046e-02 9.97496026e-01 -7.69135484e-05 2.79256369e+00] [ 5.05173778e-03 -2.81062758e-04 9.99987200e-01 8.87122107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:175.70, Y:2.80, Z:0.89 [[ 9.97720565e-01 -6.72910201e-02 -5.05897475e-03 1.75703113e+02] [ 6.72914957e-02 9.97733356e-01 -7.63210854e-05 2.79502362e+00] [ 5.05264358e-03 -2.64278862e-04 9.99987200e-01 8.87639404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:175.74, Y:2.80, Z:0.89 [[ 9.98130577e-01 -6.09077857e-02 -5.05898358e-03 1.75735608e+02] [ 6.09081825e-02 9.98143370e-01 -7.57313966e-05 2.79902034e+00] [ 5.05420355e-03 -2.32543673e-04 9.99987200e-01 8.87634934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.544391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:175.77, Y:2.80, Z:0.89 [[ 9.98137565e-01 -6.07931528e-02 -5.05899794e-03 1.75769149e+02] [ 6.07935530e-02 9.98150359e-01 -7.47600308e-05 2.79939279e+00] [ 5.05418550e-03 -2.32933664e-04 9.99987200e-01 8.87804335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.574391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:175.80, Y:2.80, Z:0.89 [[ 9.98320939e-01 -5.77036393e-02 -5.05900646e-03 1.75802439e+02] [ 5.77040029e-02 9.98333733e-01 -7.41790353e-05 2.80111990e+00] [ 5.05485720e-03 -2.17870439e-04 9.99987200e-01 8.88602438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.604391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:175.83, Y:2.80, Z:0.89 [[ 9.98473498e-01 -5.50007263e-02 -5.05901532e-03 1.75834736e+02] [ 5.50010584e-02 9.98486293e-01 -7.35691538e-05 2.80292067e+00] [ 5.05540382e-03 -2.04794347e-04 9.99987200e-01 8.88334430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.634391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:175.87, Y:2.81, Z:0.89 [[ 9.98724742e-01 -5.02324253e-02 -5.05902972e-03 1.75867481e+02] [ 5.02327013e-02 9.98737538e-01 -7.25653891e-05 2.80634938e+00] [ 5.05628803e-03 -1.81655879e-04 9.99987200e-01 8.88708178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:175.90, Y:2.81, Z:0.89 [[ 9.98848921e-01 -4.76994705e-02 -5.05903856e-03 1.75899684e+02] [ 4.76997172e-02 9.98861718e-01 -7.19440606e-05 2.80807893e+00] [ 5.05671164e-03 -1.69453461e-04 9.99987200e-01 8.87963749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:175.93, Y:2.81, Z:0.89 [[ 9.98972174e-01 -4.50444358e-02 -5.05904581e-03 1.75932784e+02] [ 4.50446511e-02 9.98984972e-01 -7.14304449e-05 2.80971888e+00] [ 5.05712828e-03 -1.56525926e-04 9.99987200e-01 8.87780268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:175.96, Y:2.81, Z:0.89 [[ 9.99095302e-01 -4.22253874e-02 -5.05905420e-03 1.75963926e+02] [ 4.22255696e-02 9.99108100e-01 -7.08310383e-05 2.81128228e+00] [ 5.05753290e-03 -1.42854488e-04 9.99987200e-01 8.86867853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:176.00, Y:2.81, Z:0.89 [[ 9.99333912e-01 -3.61405219e-02 -5.05905833e-03 1.75997291e+02] [ 3.61406277e-02 9.99346712e-01 -7.05347700e-05 2.81376509e+00] [ 5.05830247e-03 -1.12349756e-04 9.99987200e-01 8.86118878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:176.03, Y:2.82, Z:0.89 [[ 9.99422085e-01 -3.36140191e-02 -5.05906688e-03 1.76025998e+02] [ 3.36140957e-02 9.99434884e-01 -6.99163392e-05 2.81789750e+00] [ 5.05855809e-03 -1.00180025e-04 9.99987200e-01 8.85862646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:176.06, Y:2.82, Z:0.89 [[ 9.99555710e-01 -2.93734300e-02 -5.05817327e-03 1.76061632e+02] [ 2.93731290e-02 9.99568508e-01 -1.33798002e-04 2.81662527e+00] [ 5.05992081e-03 -1.48358191e-05 9.99987198e-01 8.85865754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84439141800001 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:176.09, Y:2.82, Z:0.89 [[ 9.99715936e-01 -2.32906444e-02 -5.05905773e-03 1.76092788e+02] [ 2.32905990e-02 9.99728735e-01 -6.78944989e-05 2.81910724e+00] [ 5.05926669e-03 -4.99532725e-05 9.99987201e-01 8.86222209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87439141800002 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:176.12, Y:2.82, Z:0.89 [[ 9.99772557e-01 -2.07181036e-02 -5.05906185e-03 1.76124521e+02] [ 2.07180269e-02 9.99785356e-01 -6.75866111e-05 2.82027031e+00] [ 5.05937622e-03 -3.72425401e-05 9.99987201e-01 8.86626420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90439141800002 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:176.16, Y:2.82, Z:0.89 [[ 9.99817058e-01 -1.84460229e-02 -5.05906724e-03 1.76155320e+02] [ 1.84459191e-02 9.99829857e-01 -6.71802903e-05 2.82120004e+00] [ 5.05944569e-03 -2.61511447e-05 9.99987201e-01 8.87013472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93439141800002 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:176.19, Y:2.82, Z:0.89 [[ 9.99865913e-01 -1.55743899e-02 -5.05907124e-03 1.76187168e+02] [ 1.55742509e-02 9.99878712e-01 -6.68775627e-05 2.82216617e+00] [ 5.05949921e-03 -1.19226494e-05 9.99987201e-01 8.87978409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:176.22, Y:2.82, Z:0.89 [[ 9.99872224e-01 -1.51638015e-02 -5.05907655e-03 1.76218813e+02] [ 1.51636593e-02 9.99885023e-01 -6.64739569e-05 2.82227114e+00] [ 5.05950287e-03 -1.02486498e-05 9.99987201e-01 8.88329232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:176.25, Y:2.82, Z:0.89 [[ 9.99866825e-01 -1.55157627e-02 -5.05908048e-03 1.76251223e+02] [ 1.55156265e-02 9.99879623e-01 -6.61733415e-05 2.82228534e+00] [ 5.05949821e-03 -1.23302740e-05 9.99987201e-01 8.88295252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:176.28, Y:2.82, Z:0.89 [[ 9.99810223e-01 -1.88128466e-02 -5.05908555e-03 1.76283028e+02] [ 1.88127545e-02 9.99823022e-01 -6.57831787e-05 2.82124500e+00] [ 5.05942778e-03 -2.94046401e-05 9.99987201e-01 8.88675325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:176.31, Y:2.82, Z:0.89 [[ 9.99759628e-01 -2.13328905e-02 -5.05909068e-03 1.76314241e+02] [ 2.13328327e-02 9.99772427e-01 -6.53860426e-05 2.82029908e+00] [ 5.05933425e-03 -4.25544096e-05 9.99987201e-01 8.88301802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:176.35, Y:2.82, Z:0.89 [[ 9.99690581e-01 -2.43546208e-02 -5.05909449e-03 1.76346244e+02] [ 2.43546032e-02 9.99703381e-01 -6.50900785e-05 2.81921186e+00] [ 5.05917911e-03 -5.81423006e-05 9.99987201e-01 8.88379556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:176.38, Y:2.82, Z:0.89 [[ 9.99601248e-01 -2.77803977e-02 -5.05909966e-03 1.76377500e+02] [ 2.77804260e-02 9.99614047e-01 -6.46862822e-05 2.81789274e+00] [ 5.05894409e-03 -7.58834553e-05 9.99987201e-01 8.87613530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:176.41, Y:2.82, Z:0.89 [[ 9.99361451e-01 -3.53708379e-02 -5.05910790e-03 1.76410720e+02] [ 3.53709667e-02 9.99374250e-01 -6.40345400e-05 2.81519190e+00] [ 5.05820712e-03 -1.14951887e-04 9.99987201e-01 8.86725797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:176.44, Y:2.82, Z:0.89 [[ 9.99173639e-01 -4.03292072e-02 -5.05911542e-03 1.76441840e+02] [ 4.03294026e-02 9.99186437e-01 -6.34348504e-05 2.81588243e+00] [ 5.05755779e-03 -1.40648673e-04 9.99987201e-01 8.87431297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:176.47, Y:2.81, Z:0.89 [[ 9.99079571e-01 -4.25960011e-02 -5.05886628e-03 1.76474977e+02] [ 4.25961250e-02 9.99092370e-01 -8.33038581e-05 2.81324968e+00] [ 5.05782311e-03 -1.32260918e-04 9.99987200e-01 8.86499958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:176.51, Y:2.81, Z:0.89 [[ 9.98931880e-01 -4.59293414e-02 -5.05912415e-03 1.76506889e+02] [ 4.59296137e-02 9.98944676e-01 -6.23953512e-05 2.81232370e+00] [ 5.05665092e-03 -1.70034913e-04 9.99987201e-01 8.86220172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:176.54, Y:2.81, Z:0.89 [[ 9.98667531e-01 -5.13572531e-02 -5.05913040e-03 1.76539515e+02] [ 5.13575976e-02 9.98680326e-01 -6.18846548e-05 2.81059545e+00] [ 5.05563222e-03 -1.98022588e-04 9.99987201e-01 8.86979372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.294391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:176.57, Y:2.81, Z:0.89 [[ 9.98580650e-01 -5.30197251e-02 -5.05913782e-03 1.76572467e+02] [ 5.30200940e-02 9.98593444e-01 -6.12723057e-05 2.81010813e+00] [ 5.05527050e-03 -2.07050624e-04 9.99987201e-01 8.87527045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.324391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:176.61, Y:2.81, Z:0.89 [[ 9.98509171e-01 -5.43492483e-02 -5.05914512e-03 1.76605616e+02] [ 5.43496373e-02 9.98521964e-01 -6.06630587e-05 2.81000598e+00] [ 5.05496452e-03 -2.14390082e-04 9.99987201e-01 8.88039121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.354391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:176.64, Y:2.81, Z:0.89 [[ 9.98463664e-01 -5.51789455e-02 -5.05915247e-03 1.76637403e+02] [ 5.51793483e-02 9.98476457e-01 -6.00443238e-05 2.80961900e+00] [ 5.05475781e-03 -2.19208660e-04 9.99987201e-01 8.88140054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.384391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:176.67, Y:2.81, Z:0.89 [[ 9.98450655e-01 -5.54138518e-02 -5.05917011e-03 1.76670025e+02] [ 5.54142653e-02 9.98463447e-01 -5.85188682e-05 2.81001920e+00] [ 5.05463919e-03 -2.21921993e-04 9.99987201e-01 8.88424758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:176.70, Y:2.81, Z:0.89 [[ 9.98458168e-01 -5.52783070e-02 -5.05917705e-03 1.76702301e+02] [ 5.52787218e-02 9.98470961e-01 -5.79124069e-05 2.81030960e+00] [ 5.05464267e-03 -2.21841725e-04 9.99987201e-01 8.88009011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:176.74, Y:2.81, Z:0.89 [[ 9.98462873e-01 -5.51932663e-02 -5.05918275e-03 1.76735381e+02] [ 5.51936825e-02 9.98475665e-01 -5.74104560e-05 2.81110275e+00] [ 5.05463953e-03 -2.21912718e-04 9.99987201e-01 8.87770154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:176.77, Y:2.81, Z:0.89 [[ 9.98493103e-01 -5.46436465e-02 -5.05918939e-03 1.76767253e+02] [ 5.46440587e-02 9.98505896e-01 -5.68187941e-05 2.81192986e+00] [ 5.05473522e-03 -2.19721468e-04 9.99987201e-01 8.87078744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:176.80, Y:2.81, Z:0.89 [[ 9.98518319e-01 -5.41809172e-02 -5.05919384e-03 1.76800032e+02] [ 5.41813255e-02 9.98531112e-01 -5.64202236e-05 2.81257859e+00] [ 5.05481935e-03 -2.17777201e-04 9.99987201e-01 8.87029935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:176.83, Y:2.81, Z:0.89 [[ 9.98548288e-01 -5.36257413e-02 -5.05920064e-03 1.76832128e+02] [ 5.36261456e-02 9.98561081e-01 -5.58036956e-05 2.81318285e+00] [ 5.05491338e-03 -2.15582745e-04 9.99987201e-01 8.86520489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:176.86, Y:2.81, Z:0.89 [[ 9.98594328e-01 -5.27614670e-02 -5.05921695e-03 1.76863894e+02] [ 5.27618679e-02 9.98607121e-01 -5.42837103e-05 2.81410576e+00] [ 5.05503416e-03 -2.12726331e-04 9.99987201e-01 8.86282747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59439141800001 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:176.90, Y:2.81, Z:0.89 [[ 9.98619442e-01 -5.22839688e-02 -5.05922114e-03 1.76897102e+02] [ 5.22843656e-02 9.98632236e-01 -5.38902840e-05 2.81464690e+00] [ 5.05511891e-03 -2.10702282e-04 9.99987201e-01 8.86182386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62439141800002 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:176.93, Y:2.82, Z:0.89 [[ 9.98657422e-01 -5.15534359e-02 -5.05922743e-03 1.76930351e+02] [ 5.15538263e-02 9.98670216e-01 -5.32932074e-05 2.81527632e+00] [ 5.05524720e-03 -2.07600875e-04 9.99987201e-01 8.86173591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65439141800002 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:176.96, Y:2.82, Z:0.89 [[ 9.98719989e-01 -5.03268000e-02 -5.05923370e-03 1.76962122e+02] [ 5.03271778e-02 9.98732783e-01 -5.26909765e-05 2.81742096e+00] [ 5.05547432e-03 -2.01993423e-04 9.99987201e-01 8.86160462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68439141800002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:176.99, Y:2.82, Z:0.89 [[ 9.98788762e-01 -4.89429568e-02 -5.05923792e-03 1.76993888e+02] [ 4.89433189e-02 9.98801556e-01 -5.22829562e-05 2.81853990e+00] [ 5.05573359e-03 -1.95396266e-04 9.99987201e-01 8.85849178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714391418 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:177.03, Y:2.82, Z:0.89 [[ 9.98882101e-01 -4.69994827e-02 -5.05924312e-03 1.77026989e+02] [ 4.69998225e-02 9.98894896e-01 -5.17745318e-05 2.81946599e+00] [ 5.05608551e-03 -1.86066876e-04 9.99987201e-01 8.86147804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:177.06, Y:2.82, Z:0.89 [[ 9.98965288e-01 -4.51968815e-02 -5.05924908e-03 1.77059726e+02] [ 4.51972012e-02 9.98978083e-01 -5.11851532e-05 2.82097960e+00] [ 5.05639236e-03 -1.77531707e-04 9.99987201e-01 8.87317840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:177.09, Y:2.82, Z:0.89 [[ 9.99195534e-01 -3.97830092e-02 -5.05925525e-03 1.77091324e+02] [ 3.97832627e-02 9.99208331e-01 -5.05683267e-05 2.82381498e+00] [ 5.05726175e-03 -1.50746034e-04 9.99987201e-01 8.88061227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:177.12, Y:2.83, Z:0.89 [[ 9.99312306e-01 -3.67330728e-02 -5.05925828e-03 1.77122994e+02] [ 3.67332887e-02 9.99325104e-01 -5.02631203e-05 2.82551362e+00] [ 5.05769012e-03 -1.35614640e-04 9.99987201e-01 8.89044816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:177.16, Y:2.83, Z:0.89 [[ 9.99536150e-01 -3.00314768e-02 -5.05926124e-03 1.77155158e+02] [ 3.00316085e-02 9.99548948e-01 -4.99638527e-05 2.82842049e+00] [ 5.05847974e-03 -1.01997076e-04 9.99987201e-01 8.91030125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:177.19, Y:2.83, Z:0.89 [[ 9.99630025e-01 -2.67248566e-02 -5.05926517e-03 1.77185982e+02] [ 2.67249479e-02 9.99642824e-01 -4.95624906e-05 2.82971780e+00] [ 5.05878267e-03 -8.56644443e-05 9.99987201e-01 8.91637335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:177.22, Y:2.83, Z:0.89 [[ 9.99706326e-01 -2.36994827e-02 -5.05927145e-03 1.77218667e+02] [ 2.36995386e-02 9.99719125e-01 -4.89130419e-05 2.83106672e+00] [ 5.05900964e-03 -7.10037214e-05 9.99987201e-01 8.92584648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:177.25, Y:2.83, Z:0.89 [[ 9.99766936e-01 -2.09875527e-02 -5.05927720e-03 1.77250348e+02] [ 2.09875769e-02 9.99779735e-01 -4.83102487e-05 2.83220873e+00] [ 5.05917674e-03 -5.78829799e-05 9.99987201e-01 8.92687740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:177.28, Y:2.83, Z:0.89 [[ 9.99839796e-01 -1.71693080e-02 -5.05928005e-03 1.77282881e+02] [ 1.71692848e-02 9.99852596e-01 -4.80101128e-05 2.83414690e+00] [ 5.05935859e-03 -3.88617988e-05 9.99987201e-01 8.92103133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:177.31, Y:2.83, Z:0.89 [[ 9.99864628e-01 -1.56565873e-02 -5.05928387e-03 1.77313598e+02] [ 1.56565468e-02 9.99877428e-01 -4.76037745e-05 2.83435709e+00] [ 5.05940906e-03 -3.16135845e-05 9.99987201e-01 8.91201185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:177.35, Y:2.83, Z:0.89 [[ 9.99873791e-01 -1.50600782e-02 -5.05928670e-03 1.77345444e+02] [ 1.50600317e-02 9.99886590e-01 -4.73014947e-05 2.83497146e+00] [ 5.05942529e-03 -2.88974931e-05 9.99987201e-01 8.90697241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.044391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:177.38, Y:2.84, Z:0.89 [[ 9.99878923e-01 -1.47154218e-02 -5.05929032e-03 1.77377461e+02] [ 1.47153728e-02 9.99891722e-01 -4.69115380e-05 2.83512961e+00] [ 5.05943283e-03 -2.75434850e-05 9.99987201e-01 8.90321031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.074391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:177.41, Y:2.84, Z:0.89 [[ 9.99869729e-01 -1.53274120e-02 -5.05929405e-03 1.77408377e+02] [ 1.53273729e-02 9.99882528e-01 -4.65058213e-05 2.83507846e+00] [ 5.05941253e-03 -3.10459235e-05 9.99987201e-01 8.88901451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.104391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:177.44, Y:2.83, Z:0.89 [[ 9.99856526e-01 -1.61657152e-02 -5.05930024e-03 1.77440689e+02] [ 1.61656903e-02 9.99869326e-01 -4.58215273e-05 2.83486390e+00] [ 5.05937986e-03 -3.59721275e-05 9.99987201e-01 8.88491459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.134391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:177.47, Y:2.83, Z:0.89 [[ 9.99840794e-01 -1.71111107e-02 -5.05930379e-03 1.77472766e+02] [ 1.71110999e-02 9.99853593e-01 -4.54261528e-05 2.83457121e+00] [ 5.05934037e-03 -4.11513321e-05 9.99987201e-01 8.88602779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:177.49, Y:2.84, Z:0.89 [[ 9.99746621e-01 -2.19339060e-02 -5.05930734e-03 1.77493454e+02] [ 2.19339589e-02 9.99759421e-01 -4.50278052e-05 2.84161669e+00] [ 5.05907781e-03 -6.59542432e-05 9.99987201e-01 8.86709927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:177.53, Y:2.83, Z:0.89 [[ 9.99786597e-01 -2.00294967e-02 -5.05773560e-03 1.77533242e+02] [ 2.00287062e-02 9.99799384e-01 -2.06907047e-04 2.83386683e+00] [ 5.06086518e-03 1.05562992e-04 9.99987188e-01 8.89469406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:177.56, Y:2.83, Z:0.89 [[ 9.99765664e-01 -2.10480703e-02 -5.05915310e-03 1.77563954e+02] [ 2.10481170e-02 9.99778463e-01 -4.40262588e-05 2.83405803e+00] [ 5.05895898e-03 -6.24697045e-05 9.99987201e-01 8.89883553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:177.60, Y:2.83, Z:0.89 [[ 9.99731819e-01 -2.25985813e-02 -5.05915565e-03 1.77596499e+02] [ 2.25986493e-02 9.99744617e-01 -4.37319110e-05 2.83407671e+00] [ 5.05885190e-03 -7.06099011e-05 9.99987201e-01 8.91386217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:177.63, Y:2.83, Z:0.89 [[ 9.99719212e-01 -2.31495697e-02 -5.05915894e-03 1.77629130e+02] [ 2.31496467e-02 9.99732010e-01 -4.33468917e-05 2.83388414e+00] [ 5.05880660e-03 -7.37830218e-05 9.99987201e-01 8.92301127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:177.66, Y:2.83, Z:0.89 [[ 9.99695418e-01 -2.41552319e-02 -5.05916234e-03 1.77659985e+02] [ 2.41553238e-02 9.99708217e-01 -4.29467504e-05 2.83402654e+00] [ 5.05872355e-03 -7.92720350e-05 9.99987201e-01 8.92626092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34439141800001 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:177.68, Y:2.84, Z:0.89 [[ 9.99496279e-01 -3.13304021e-02 -5.05916485e-03 1.77680879e+02] [ 3.13305873e-02 9.99509076e-01 -4.26492808e-05 2.84123792e+00] [ 5.05801740e-03 -1.15878809e-04 9.99987201e-01 8.90817204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37439141800002 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:177.72, Y:2.83, Z:0.89 [[ 9.99582352e-01 -2.84524451e-02 -5.05766223e-03 1.77719242e+02] [ 2.84517862e-02 9.99595146e-01 -2.02196412e-04 2.83308299e+00] [ 5.06136760e-03 5.82124407e-05 9.99987190e-01 8.93316862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40439141800002 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:177.75, Y:2.83, Z:0.89 [[ 9.99525049e-01 -3.03987197e-02 -5.05900945e-03 1.77751880e+02] [ 3.03988926e-02 9.99537846e-01 -4.27408421e-05 2.83263036e+00] [ 5.05797068e-03 -1.11067742e-04 9.99987202e-01 8.93342743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43439141800002 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:177.78, Y:2.83, Z:0.89 [[ 9.99397612e-01 -3.43339470e-02 -5.05901448e-03 1.77784336e+02] [ 3.43341733e-02 9.99410408e-01 -4.21371644e-05 2.83097587e+00] [ 5.05747846e-03 -1.31585298e-04 9.99987202e-01 8.92334457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:177.82, Y:2.83, Z:0.89 [[ 9.99401771e-01 -3.42126641e-02 -5.05901784e-03 1.77817882e+02] [ 3.42128909e-02 9.99414567e-01 -4.17297894e-05 2.83113759e+00] [ 5.05748381e-03 -1.31378800e-04 9.99987202e-01 8.92504038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:177.85, Y:2.83, Z:0.89 [[ 9.99340497e-01 -3.59579988e-02 -5.05902283e-03 1.77849276e+02] [ 3.59582510e-02 9.99353292e-01 -4.11158504e-05 2.83030940e+00] [ 5.05722956e-03 -1.40824879e-04 9.99987202e-01 8.91548464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:177.88, Y:2.83, Z:0.89 [[ 9.99286947e-01 -3.74166340e-02 -5.05902528e-03 1.77882458e+02] [ 3.74169064e-02 9.99299742e-01 -4.08123422e-05 2.82998595e+00] [ 5.05700971e-03 -1.48509835e-04 9.99987202e-01 8.91073123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:177.91, Y:2.83, Z:0.89 [[ 9.99257443e-01 -3.81964605e-02 -5.05903007e-03 1.77914997e+02] [ 3.81967460e-02 9.99270237e-01 -4.02101355e-05 2.82978071e+00] [ 5.05687406e-03 -1.53058209e-04 9.99987202e-01 8.90802650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:177.95, Y:2.83, Z:0.89 [[ 9.99271986e-01 -3.78140667e-02 -5.05903321e-03 1.77948160e+02] [ 3.78143494e-02 9.99284781e-01 -3.98101896e-05 2.82996671e+00] [ 5.05692028e-03 -1.51522842e-04 9.99987202e-01 8.90535269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:177.98, Y:2.83, Z:0.89 [[ 9.99301291e-01 -3.70315456e-02 -5.05903789e-03 1.77980994e+02] [ 3.70318212e-02 9.99314086e-01 -3.92068669e-05 2.83024028e+00] [ 5.05701971e-03 -1.48165914e-04 9.99987202e-01 8.90385177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:178.01, Y:2.83, Z:0.89 [[ 9.99425426e-01 -3.35145438e-02 -5.05904248e-03 1.78013855e+02] [ 3.35147775e-02 9.99438221e-01 -3.86055701e-05 2.83065614e+00] [ 5.05749426e-03 -1.30969294e-04 9.99987202e-01 8.90029339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:178.05, Y:2.83, Z:0.89 [[ 9.99512054e-01 -3.08230486e-02 -5.05904696e-03 1.78046028e+02] [ 3.08232509e-02 9.99524850e-01 -3.80082412e-05 2.83101034e+00] [ 5.05781469e-03 -1.17946579e-04 9.99987202e-01 8.90232442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:178.07, Y:2.83, Z:0.89 [[ 9.99574450e-01 -2.87284742e-02 -5.05904994e-03 1.78073677e+02] [ 2.87286516e-02 9.99587246e-01 -3.76075033e-05 2.83499725e+00] [ 5.05804221e-03 -1.07748184e-04 9.99987202e-01 8.88119891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:178.11, Y:2.83, Z:0.89 [[ 9.99697102e-01 -2.40855713e-02 -5.05864826e-03 1.78109465e+02] [ 2.40854170e-02 9.99709900e-01 -9.14287417e-05 2.83286911e+00] [ 5.05938286e-03 -3.04386046e-05 9.99987201e-01 8.91581656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:178.14, Y:2.84, Z:0.89 [[ 9.99833841e-01 -1.75127336e-02 -5.05904350e-03 1.78140704e+02] [ 1.75127745e-02 9.99846639e-01 -3.62106596e-05 2.83509940e+00] [ 5.05890179e-03 -5.23932452e-05 9.99987202e-01 8.91988552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.794391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:178.17, Y:2.84, Z:0.89 [[ 9.99883647e-01 -1.43909287e-02 -5.05904567e-03 1.78172487e+02] [ 1.43909312e-02 9.99896445e-01 -3.59040142e-05 2.83588150e+00] [ 5.05903847e-03 -3.69045416e-05 9.99987202e-01 8.92072993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.824391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:178.20, Y:2.84, Z:0.89 [[ 9.99921025e-01 -1.15043621e-02 -5.05904850e-03 1.78203289e+02] [ 1.15043297e-02 9.99933822e-01 -3.55008366e-05 2.83625046e+00] [ 5.05912212e-03 -2.27029290e-05 9.99987202e-01 8.91835759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.854391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:178.23, Y:2.84, Z:0.89 [[ 9.99945167e-01 -9.16886830e-03 -5.05905059e-03 1.78234887e+02] [ 9.16880756e-03 9.99957965e-01 -3.52003993e-05 2.83614275e+00] [ 5.05916068e-03 -1.11869922e-05 9.99987202e-01 8.91710706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.884391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:178.27, Y:2.84, Z:0.89 [[ 9.99966077e-01 -6.50011158e-03 -5.05905195e-03 1.78266373e+02] [ 6.50001767e-03 9.99978874e-01 -3.50046750e-05 2.83564288e+00] [ 5.05917261e-03 2.11956052e-06 9.99987202e-01 8.91965374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:178.29, Y:2.83, Z:0.89 [[ 9.99981782e-01 -3.29270776e-03 -5.05905333e-03 1.78293817e+02] [ 3.29257382e-03 9.99994579e-01 -3.48033188e-05 2.83464461e+00] [ 5.05914050e-03 1.81453782e-05 9.99987202e-01 8.90964045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:178.33, Y:2.84, Z:0.89 [[ 9.99972708e-01 -5.38446443e-03 -5.05870909e-03 1.78325897e+02] [ 5.38410784e-03 9.99985502e-01 -8.41060156e-05 2.83503569e+00] [ 5.05908861e-03 5.68670850e-05 9.99987201e-01 8.91605951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:178.36, Y:2.83, Z:0.89 [[ 9.99967569e-01 -6.26620266e-03 -5.05911833e-03 1.78355209e+02] [ 6.26617058e-03 9.99980367e-01 -2.21924371e-05 2.83379508e+00] [ 5.05915807e-03 -9.50958107e-06 9.99987202e-01 8.91106443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:178.38, Y:2.83, Z:0.89 [[ 9.99979336e-01 -3.96656083e-03 -5.05904165e-03 1.78382647e+02] [ 3.96644108e-03 9.99992133e-01 -3.37029467e-05 2.83238756e+00] [ 5.05913553e-03 1.36358596e-05 9.99987202e-01 8.90953575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:178.41, Y:2.83, Z:0.89 [[ 9.99945166e-01 -9.16916860e-03 -5.05872431e-03 1.78413344e+02] [ 9.16884723e-03 9.99957961e-01 -8.67148942e-05 2.83428895e+00] [ 5.05930676e-03 4.03274689e-05 9.99987201e-01 8.89128474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:178.44, Y:2.83, Z:0.89 [[ 9.99951528e-01 -8.44690325e-03 -5.05883881e-03 1.78444231e+02] [ 8.44667647e-03 9.99964324e-01 -6.61925964e-05 2.82913276e+00] [ 5.05921745e-03 2.34590132e-05 9.99987202e-01 8.92026180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09439141800001 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:178.47, Y:2.83, Z:0.89 [[ 9.99944044e-01 -9.29062141e-03 -5.05904891e-03 1.78474519e+02] [ 9.29060170e-03 9.99956841e-01 -2.73972092e-05 2.82787189e+00] [ 5.05908510e-03 -1.96059323e-05 9.99987203e-01 8.91993500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12439141800002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:178.50, Y:2.82, Z:0.89 [[ 9.99939429e-01 -9.77464590e-03 -5.05904945e-03 1.78504953e+02] [ 9.77463289e-03 9.99952227e-01 -2.72973077e-05 2.82478776e+00] [ 5.05907458e-03 -2.21546968e-05 9.99987203e-01 8.93951374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15439141800002 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:178.54, Y:2.82, Z:0.89 [[ 9.99912152e-01 -1.22513788e-02 -5.05888981e-03 1.78536335e+02] [ 1.22512447e-02 9.99924949e-01 -5.74941347e-05 2.82344696e+00] [ 5.05921452e-03 -4.48861301e-06 9.99987202e-01 8.94020599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18439141800002 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:178.57, Y:2.82, Z:0.89 [[ 9.99897003e-01 -1.34309195e-02 -5.05905188e-03 1.78567779e+02] [ 1.34309589e-02 9.99909800e-01 -2.61966322e-05 2.82200621e+00] [ 5.05894740e-03 -4.17539837e-05 9.99987203e-01 8.93982540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:178.60, Y:2.82, Z:0.89 [[ 9.99883117e-01 -1.44277181e-02 -5.05905344e-03 1.78599666e+02] [ 1.44277718e-02 9.99895914e-01 -2.58915815e-05 2.82053397e+00] [ 5.05890042e-03 -4.71023132e-05 9.99987203e-01 8.94579772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:178.63, Y:2.82, Z:0.89 [[ 9.99839329e-01 -1.71965942e-02 -5.05905548e-03 1.78632118e+02] [ 1.71966853e-02 9.99852126e-01 -2.54863142e-05 2.81703342e+00] [ 5.05874566e-03 -6.15167658e-05 9.99987203e-01 8.94262653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:178.66, Y:2.81, Z:0.89 [[ 9.99812593e-01 -1.86864660e-02 -5.05905748e-03 1.78663217e+02] [ 1.86865783e-02 9.99825390e-01 -2.50838874e-05 2.81481685e+00] [ 5.05864285e-03 -6.94572869e-05 9.99987203e-01 8.93446834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:178.69, Y:2.81, Z:0.89 [[ 9.99803876e-01 -1.91471885e-02 -5.05905895e-03 1.78694004e+02] [ 1.91473081e-02 9.99816673e-01 -2.47842173e-05 2.81252731e+00] [ 5.05860603e-03 -7.20880040e-05 9.99987203e-01 8.93737820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:178.72, Y:2.82, Z:0.89 [[ 9.99666179e-01 -2.53364809e-02 -5.05892722e-03 1.78717140e+02] [ 2.53365450e-02 9.99678977e-01 -5.14274408e-05 2.81738912e+00] [ 5.05860618e-03 -7.67654637e-05 9.99987202e-01 8.92339098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:178.75, Y:2.81, Z:0.89 [[ 9.99579280e-01 -2.85600262e-02 -5.05838473e-03 1.78750995e+02] [ 2.85595705e-02 9.99592079e-01 -1.62309849e-04 2.81342699e+00] [ 5.06095689e-03 1.77762668e-05 9.99987193e-01 8.89964088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:178.79, Y:2.81, Z:0.89 [[ 9.99650081e-01 -2.59639795e-02 -5.05844550e-03 1.78789564e+02] [ 2.59635752e-02 9.99662879e-01 -1.45587812e-04 2.80504884e+00] [ 5.06052023e-03 1.42015381e-05 9.99987195e-01 8.93963958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:178.82, Y:2.80, Z:0.89 [[ 9.99597092e-01 -2.79296010e-02 -5.05880915e-03 1.78820882e+02] [ 2.79298877e-02 9.99609885e-01 -1.39759740e-05 2.80182829e+00] [ 5.05722597e-03 -1.27321629e-04 9.99987204e-01 8.93191572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:178.85, Y:2.80, Z:0.89 [[ 9.99642605e-01 -2.62501465e-02 -5.05880996e-03 1.78851233e+02] [ 2.62504132e-02 9.99655398e-01 -1.36769078e-05 2.80013511e+00] [ 5.05742570e-03 -1.19123832e-04 9.99987204e-01 8.92417877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:178.89, Y:2.80, Z:0.89 [[ 9.99642555e-01 -2.62520625e-02 -5.05870600e-03 1.78885306e+02] [ 2.62521366e-02 9.99655352e-01 -5.17779946e-05 2.79859283e+00] [ 5.05832180e-03 -8.10423539e-05 9.99987203e-01 8.93343818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514391418 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:178.92, Y:2.80, Z:0.89 [[ 9.99676392e-01 -2.49302833e-02 -5.05880184e-03 1.78917113e+02] [ 2.49305402e-02 9.99689186e-01 -1.22713962e-05 2.79796304e+00] [ 5.05753542e-03 -1.13851238e-04 9.99987204e-01 8.93751723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.544391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:178.94, Y:2.81, Z:0.90 [[ 9.99521826e-01 -3.05045441e-02 -5.05880279e-03 1.78939772e+02] [ 3.05048744e-02 9.99534618e-01 -1.18655282e-05 2.80639345e+00] [ 5.05681046e-03 -1.42458289e-04 9.99987204e-01 8.95979208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.574391418 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:178.98, Y:2.80, Z:0.89 [[ 9.99761079e-01 -2.12649517e-02 -5.05836651e-03 1.78977184e+02] [ 2.12644674e-02 9.99773874e-01 -1.49516332e-04 2.79681730e+00] [ 5.06040214e-03 4.19171396e-05 9.99987195e-01 8.93243036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.604391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:179.01, Y:2.80, Z:0.89 [[ 9.99839808e-01 -1.71687928e-02 -5.05868500e-03 1.79009156e+02] [ 1.71689534e-02 9.99852603e-01 -1.16876875e-05 2.79556827e+00] [ 5.05814003e-03 -7.51665116e-05 9.99987205e-01 8.93749505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.634391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:179.04, Y:2.80, Z:0.89 [[ 9.99868520e-01 -1.54062308e-02 -5.05868590e-03 1.79041385e+02] [ 1.54063709e-02 9.99881315e-01 -1.12840638e-05 2.79506001e+00] [ 5.05825936e-03 -6.66534110e-05 9.99987205e-01 8.94104356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:179.07, Y:2.79, Z:0.89 [[ 9.99891128e-01 -1.38615147e-02 -5.05868678e-03 1.79072845e+02] [ 1.38616370e-02 9.99903923e-01 -1.08780143e-05 2.79444176e+00] [ 5.05835154e-03 -5.92448498e-05 9.99987205e-01 8.94476340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:179.10, Y:2.79, Z:0.89 [[ 9.99921729e-01 -1.14431699e-02 -5.05868720e-03 1.79103652e+02] [ 1.14432624e-02 9.99934524e-01 -1.06747960e-05 2.79310403e+00] [ 5.05847813e-03 -4.72139244e-05 9.99987205e-01 8.94765101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:179.14, Y:2.79, Z:0.90 [[ 9.99929317e-01 -1.07596539e-02 -5.05868783e-03 1.79135131e+02] [ 1.07597391e-02 9.99942112e-01 -1.03705588e-05 2.79246127e+00] [ 5.05850658e-03 -4.40603353e-05 9.99987205e-01 8.95337921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:179.17, Y:2.79, Z:0.90 [[ 9.99934229e-01 -1.02930745e-02 -5.05868823e-03 1.79165624e+02] [ 1.02931548e-02 9.99947024e-01 -1.01700376e-05 2.79164594e+00] [ 5.05852492e-03 -4.19004921e-05 9.99987205e-01 8.95084514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:179.20, Y:2.79, Z:0.90 [[ 9.99935395e-01 -1.01792015e-02 -5.05868843e-03 1.79197403e+02] [ 1.01792808e-02 9.99948190e-01 -1.00707425e-05 2.78975467e+00] [ 5.05852885e-03 -4.14237181e-05 9.99987205e-01 8.95604019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:179.23, Y:2.79, Z:0.90 [[ 9.99927798e-01 -1.08999407e-02 -5.05868882e-03 1.79227511e+02] [ 1.09000302e-02 9.99940593e-01 -9.87259927e-06 2.78872485e+00] [ 5.05849590e-03 -4.52679747e-05 9.99987205e-01 8.95663937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84439141800001 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:179.25, Y:2.79, Z:0.89 [[ 9.99861501e-01 -1.58552078e-02 -5.05868882e-03 1.79251041e+02] [ 1.58553608e-02 9.99874296e-01 -9.87259927e-06 2.79472634e+00] [ 5.05820945e-03 -7.03361042e-05 9.99987205e-01 8.94041072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87439141800002 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:179.29, Y:2.79, Z:0.89 [[ 9.99864351e-01 -1.56746011e-02 -5.05840399e-03 1.79286509e+02] [ 1.56741836e-02 9.99877145e-01 -1.22174100e-04 2.78579627e+00] [ 5.05969757e-03 4.28711743e-05 9.99987199e-01 8.94831292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90439141800002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:179.32, Y:2.79, Z:0.89 [[ 9.99792588e-01 -1.97279287e-02 -5.05860707e-03 1.79315407e+02] [ 1.97281352e-02 9.99805381e-01 -9.08208637e-06 2.78785551e+00] [ 5.05780174e-03 -9.07166816e-05 9.99987205e-01 8.94195012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93439141800002 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:179.35, Y:2.78, Z:0.89 [[ 9.99786725e-01 -2.00228889e-02 -5.05851863e-03 1.79349326e+02] [ 2.00228611e-02 9.99799521e-01 -5.61304027e-05 2.78389978e+00] [ 5.05862839e-03 -4.51675845e-05 9.99987204e-01 8.94504536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:179.38, Y:2.78, Z:0.89 [[ 9.99670501e-01 -2.51654719e-02 -5.05859656e-03 1.79380710e+02] [ 2.51657523e-02 9.99683292e-01 -8.22955834e-06 2.78232973e+00] [ 5.05720156e-03 -1.19076541e-04 9.99987205e-01 8.94176979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:179.41, Y:2.79, Z:0.89 [[ 9.99546278e-01 -2.96925649e-02 -5.05859701e-03 1.79405775e+02] [ 2.96929047e-02 9.99559068e-01 -7.94272766e-06 2.78707713e+00] [ 5.05660235e-03 -1.42265315e-04 9.99987205e-01 8.93515324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:179.44, Y:2.78, Z:0.90 [[ 9.99520422e-01 -3.05505869e-02 -5.05836801e-03 1.79442650e+02] [ 3.05504067e-02 9.99533221e-01 -1.12892828e-04 2.78110315e+00] [ 5.05945581e-03 -4.16965126e-05 9.99987200e-01 8.95455185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:179.47, Y:2.78, Z:0.90 [[ 9.99422851e-01 -3.35912982e-02 -5.05852360e-03 1.79474527e+02] [ 3.35916902e-02 9.99435640e-01 -7.46412789e-06 2.78077403e+00] [ 5.05591950e-03 -1.62464538e-04 9.99987206e-01 8.96032479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:179.51, Y:2.78, Z:0.90 [[ 9.99198653e-01 -3.97047057e-02 -5.05852413e-03 1.79506121e+02] [ 3.97051779e-02 9.99211438e-01 -7.08999011e-06 2.77960327e+00] [ 5.05481667e-03 -1.93765292e-04 9.99987206e-01 8.96552022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:179.54, Y:2.78, Z:0.90 [[ 9.99062564e-01 -4.29930701e-02 -5.05852525e-03 1.79538167e+02] [ 4.29935890e-02 9.99075348e-01 -6.16871204e-06 2.77912323e+00] [ 5.05411309e-03 -2.11321226e-04 9.99987206e-01 8.96950352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:179.57, Y:2.78, Z:0.90 [[ 9.98817057e-01 -4.83621601e-02 -5.05852567e-03 1.79568936e+02] [ 4.83627496e-02 9.98829838e-01 -5.80233743e-06 2.77824175e+00] [ 5.05288699e-03 -2.38848737e-04 9.99987206e-01 8.95627969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:179.60, Y:2.78, Z:0.90 [[ 9.98579978e-01 -5.30324365e-02 -5.05852380e-03 1.79595630e+02] [ 5.30330756e-02 9.98592756e-01 -7.80170127e-06 2.78207419e+00] [ 5.05181897e-03 -2.60478453e-04 9.99987206e-01 9.00765153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:179.63, Y:2.78, Z:0.90 [[ 9.98505481e-01 -5.44170717e-02 -5.05838700e-03 1.79632801e+02] [ 5.44172382e-02 9.98518279e-01 -1.04800830e-04 2.77858100e+00] [ 5.05659483e-03 -1.70619247e-04 9.99987201e-01 8.96318954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:179.66, Y:2.78, Z:0.90 [[ 9.98565678e-01 -5.33010162e-02 -5.05845052e-03 1.79662295e+02] [ 5.33016822e-02 9.98578455e-01 -3.16029802e-06 2.77867300e+00] [ 5.05142816e-03 -2.66468157e-04 9.99987206e-01 8.96531362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:179.69, Y:2.78, Z:0.90 [[ 9.98427523e-01 -5.58291405e-02 -5.05846461e-03 1.79694620e+02] [ 5.58297146e-02 9.98440305e-01 -2.77611444e-05 2.77899752e+00] [ 5.05212483e-03 -2.54695145e-04 9.99987206e-01 8.98076160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.294391418 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:179.73, Y:2.78, Z:0.90 [[ 9.98373398e-01 -5.67888156e-02 -5.05846396e-03 1.79726775e+02] [ 5.67894065e-02 9.98386179e-01 -2.68459037e-05 2.77924127e+00] [ 5.05182505e-03 -2.60464930e-04 9.99987206e-01 8.95295620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.324391418 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:179.76, Y:2.78, Z:0.90 [[ 9.98039575e-01 -6.23812405e-02 -5.05846385e-03 1.79760394e+02] [ 6.23818874e-02 9.98052353e-01 -2.99498739e-05 2.78128903e+00] [ 5.05048006e-03 -2.85665363e-04 9.99987205e-01 8.96867349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.354391418 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:179.80, Y:2.78, Z:0.89 [[ 9.98094956e-01 -6.14887920e-02 -5.05845562e-03 1.79795518e+02] [ 6.14895854e-02 9.98107725e-01 1.33181086e-06 2.78057249e+00] [ 5.04880174e-03 -3.12371612e-04 9.99987206e-01 8.94837711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.384391418 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:179.83, Y:2.78, Z:0.89 [[ 9.98094415e-01 -6.14975675e-02 -5.05844124e-03 1.79828186e+02] [ 6.14985463e-02 9.98107172e-01 3.80328115e-05 2.78057085e+00] [ 5.04652756e-03 -3.49047120e-04 9.99987205e-01 8.94992558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414391418 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:179.86, Y:2.78, Z:0.89 [[ 9.98130539e-01 -6.09084505e-02 -5.05844119e-03 1.79860578e+02] [ 6.09094224e-02 9.98143297e-01 3.81466276e-05 2.78149306e+00] [ 5.04672572e-03 -3.46182045e-04 9.99987205e-01 8.94639206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:179.89, Y:2.79, Z:0.90 [[ 9.98212601e-01 -5.95484286e-02 -5.05844490e-03 1.79889143e+02] [ 5.95493393e-02 9.98225363e-01 2.94841972e-05 2.78598996e+00] [ 5.04771226e-03 -3.30658549e-04 9.99987206e-01 8.95708540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:179.92, Y:2.79, Z:0.90 [[ 9.98370626e-01 -5.68375364e-02 -5.05845452e-03 1.79921121e+02] [ 5.68382724e-02 9.98383399e-01 1.75409287e-06 2.78816792e+00] [ 5.05017732e-03 -2.89265051e-04 9.99987206e-01 8.95175633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504391418 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:179.95, Y:2.79, Z:0.89 [[ 9.98633536e-01 -5.20141530e-02 -5.05845438e-03 1.79953061e+02] [ 5.20148291e-02 9.98646313e-01 2.09526668e-06 2.78938161e+00] [ 5.05149783e-03 -2.65207044e-04 9.99987206e-01 8.93412593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534391418 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:179.99, Y:2.79, Z:0.90 [[ 9.98753778e-01 -4.96518244e-02 -5.05845422e-03 1.79986101e+02] [ 4.96524720e-02 9.98766555e-01 2.43674531e-06 2.79311522e+00] [ 5.05209390e-03 -2.53598465e-04 9.99987206e-01 8.95868306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564391418 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:180.02, Y:2.80, Z:0.90 [[ 9.99266170e-01 -3.79675284e-02 -5.05845292e-03 1.80015144e+02] [ 3.79680872e-02 9.99278952e-01 1.44396506e-05 2.79728807e+00] [ 5.05425730e-03 -2.06488836e-04 9.99987206e-01 9.00418460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59439141800001 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:180.05, Y:2.80, Z:0.90 [[ 9.99449917e-01 -3.27761308e-02 -5.05844831e-03 1.80045638e+02] [ 3.27763503e-02 9.99462710e-01 -3.95298431e-05 2.80066001e+00] [ 5.05702609e-03 -1.26289375e-04 9.99987205e-01 8.98142476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62439141800002 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:180.08, Y:2.81, Z:0.90 [[ 9.99750566e-01 -2.17535892e-02 -5.05844593e-03 1.80078542e+02] [ 2.17535938e-02 9.99763361e-01 -5.41252611e-05 2.80541071e+00] [ 5.05842632e-03 -5.59276176e-05 9.99987205e-01 9.02292878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65439141800002 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:180.12, Y:2.80, Z:0.90 [[ 9.99902089e-01 -1.30470509e-02 -5.05842089e-03 1.80116279e+02] [ 1.30470765e-02 9.99914883e-01 -2.79336188e-05 2.80390091e+00] [ 5.05835478e-03 -3.80667205e-05 9.99987206e-01 9.00210644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68439141800002 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:180.14, Y:2.81, Z:0.91 [[ 9.99923580e-01 -1.12804529e-02 -5.05827163e-03 1.80137738e+02] [ 1.12811502e-02 9.99936360e-01 1.09328255e-04 2.81199334e+00] [ 5.05671645e-03 -1.66383022e-04 9.99987201e-01 9.06008267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:180.17, Y:2.81, Z:0.90 [[ 9.99987110e-01 -4.42125861e-04 -5.05819812e-03 1.80168361e+02] [ 4.41913712e-04 9.99999901e-01 -4.30591346e-05 2.81479096e+00] [ 5.05821666e-03 4.08232924e-05 9.99987206e-01 8.99620417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:180.20, Y:2.82, Z:0.90 [[ 9.99983772e-01 2.62117018e-03 -5.05819981e-03 1.80196810e+02] [-2.62139293e-03 9.99996563e-01 -3.74095814e-05 2.81668900e+00] [ 5.05808437e-03 5.06685035e-05 9.99987207e-01 9.00570889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:180.23, Y:2.82, Z:0.90 [[ 9.99983831e-01 2.59865821e-03 -5.05819998e-03 1.80226952e+02] [-2.59887852e-03 9.99996622e-01 -3.69827518e-05 2.81921888e+00] [ 5.05808679e-03 5.01278011e-05 9.99987207e-01 9.03863571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:180.25, Y:2.82, Z:0.90 [[ 9.99963376e-01 6.90365916e-03 -5.05820826e-03 1.80254077e+02] [-6.90375339e-03 9.99976169e-01 -1.16880824e-06 2.82157836e+00] [ 5.05807965e-03 3.60893878e-05 9.99987207e-01 9.02866123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:180.28, Y:2.82, Z:0.90 [[ 9.99934979e-01 1.02202114e-02 -5.05820775e-03 1.80280627e+02] [-1.02203537e-02 9.99947771e-01 -2.28708382e-06 2.82187434e+00] [ 5.05792019e-03 5.39836075e-05 9.99987207e-01 9.00763576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:180.31, Y:2.82, Z:0.90 [[ 9.99892607e-01 1.37545816e-02 -5.05817766e-03 1.80308234e+02] [-1.37549489e-02 9.99905396e-01 -3.78360036e-05 2.82087136e+00] [ 5.05717871e-03 1.07406916e-04 9.99987207e-01 8.99370032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:180.34, Y:2.82, Z:0.90 [[ 9.99952720e-01 8.30492615e-03 -5.05818011e-03 1.80338292e+02] [-8.30520963e-03 9.99965511e-01 -3.50408486e-05 2.82477449e+00] [ 5.05771464e-03 7.70484380e-05 9.99987207e-01 9.03476975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:180.37, Y:2.82, Z:0.90 [[ 9.99960595e-01 7.29537097e-03 -5.05820566e-03 1.80367581e+02] [-7.29548549e-03 9.99973388e-01 -4.18839041e-06 2.82487798e+00] [ 5.05804049e-03 4.10902913e-05 9.99987207e-01 9.03276605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:180.40, Y:2.82, Z:0.90 [[ 9.99970211e-01 5.83015806e-03 -5.05820530e-03 1.80396638e+02] [-5.83025581e-03 9.99983004e-01 -4.57896601e-06 2.82469792e+00] [ 5.05809264e-03 3.40694604e-05 9.99987207e-01 9.03690465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:180.43, Y:2.82, Z:0.90 [[ 9.99986093e-01 1.49289088e-03 -5.05820492e-03 1.80425905e+02] [-1.49293511e-03 9.99998886e-01 -4.96856976e-06 2.82369032e+00] [ 5.05819187e-03 1.25200724e-05 9.99987207e-01 9.04295651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:180.46, Y:2.82, Z:0.90 [[ 9.99986677e-01 -1.02988692e-03 -5.05820451e-03 1.80455712e+02] [ 1.02987299e-03 9.99999470e-01 -5.35799664e-06 2.82249672e+00] [ 5.05820734e-03 1.48617059e-07 9.99987207e-01 9.03350208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.044391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:180.48, Y:2.82, Z:0.91 [[ 9.99955077e-01 -8.01615515e-03 -5.05822627e-03 1.80483403e+02] [ 8.01633056e-03 9.99967869e-01 1.44050576e-05 2.82112529e+00] [ 5.05794827e-03 -5.49528243e-05 9.99987207e-01 9.05133640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.074391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:180.51, Y:2.82, Z:0.91 [[ 9.99924936e-01 -1.11596298e-02 -5.05820034e-03 1.80513810e+02] [ 1.11597406e-02 9.99937728e-01 -6.32649252e-06 2.82005658e+00] [ 5.05795596e-03 -5.01221859e-05 9.99987207e-01 9.05338789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.104391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:180.54, Y:2.82, Z:0.91 [[ 9.99870988e-01 -1.52453647e-02 -5.05820046e-03 1.80544901e+02] [ 1.52455282e-02 9.99883780e-01 -6.22710392e-06 2.81890990e+00] [ 5.05770753e-03 -7.08886374e-05 9.99987207e-01 9.05354585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.134391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:180.58, Y:2.82, Z:0.90 [[ 9.99727092e-01 -2.28069210e-02 -5.05820070e-03 1.80577261e+02] [ 2.28071823e-02 9.99739882e-01 -6.03027057e-06 2.81534503e+00] [ 5.05702250e-03 -1.09334681e-04 9.99987207e-01 9.04460700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164391418 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:180.61, Y:2.81, Z:0.90 [[ 9.99615013e-01 -2.72807788e-02 -5.05820202e-03 1.80609466e+02] [ 2.72811047e-02 9.99627801e-01 -4.56225611e-06 2.81377992e+00] [ 5.05644383e-03 -1.33432839e-04 9.99987207e-01 9.04118885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:180.64, Y:2.81, Z:0.90 [[ 9.99495086e-01 -3.13685693e-02 -5.05820233e-03 1.80640452e+02] [ 3.13689494e-02 9.99507873e-01 -4.19080741e-06 2.81199824e+00] [ 5.05584451e-03 -1.54481801e-04 9.99987207e-01 9.04095466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:180.67, Y:2.81, Z:0.90 [[ 9.99370788e-01 -3.51061503e-02 -5.05820254e-03 1.80673556e+02] [ 3.51065796e-02 9.99383574e-01 -3.91387349e-06 2.81016821e+00] [ 5.05522194e-03 -1.73664780e-04 9.99987207e-01 9.03834186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:180.71, Y:2.81, Z:0.90 [[ 9.99116157e-01 -4.17291123e-02 -5.05820292e-03 1.80706206e+02] [ 4.17296293e-02 9.99128940e-01 -3.33878523e-06 2.80688762e+00] [ 5.05393625e-03 -2.07741099e-04 9.99987207e-01 9.03740089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:180.74, Y:2.81, Z:0.90 [[ 9.99005602e-01 -4.42969715e-02 -5.05820325e-03 1.80737810e+02] [ 4.42975243e-02 9.99018383e-01 -2.74662571e-06 2.80578908e+00] [ 5.05335969e-03 -2.21321987e-04 9.99987207e-01 9.04220159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:180.77, Y:2.80, Z:0.90 [[ 9.98839004e-01 -4.79067667e-02 -5.05820346e-03 1.80769780e+02] [ 4.79073682e-02 9.98851783e-01 -2.25570779e-06 2.80404895e+00] [ 5.05250361e-03 -2.40072127e-04 9.99987207e-01 9.04636158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34439141800001 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:180.80, Y:2.80, Z:0.90 [[ 9.98773824e-01 -4.92469579e-02 -5.05820363e-03 1.80802520e+02] [ 4.92475789e-02 9.98786602e-01 -1.78523305e-06 2.80349594e+00] [ 5.05215393e-03 -2.47321238e-04 9.99987207e-01 9.04563478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37439141800002 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:180.83, Y:2.80, Z:0.90 [[ 9.98720183e-01 -5.03230682e-02 -5.05820377e-03 1.80834749e+02] [ 5.03237060e-02 9.98732960e-01 -1.17981246e-06 2.80301955e+00] [ 5.05185420e-03 -2.53369257e-04 9.99987207e-01 9.04182416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40439141800002 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:180.87, Y:2.80, Z:0.90 [[ 9.98672304e-01 -5.12644474e-02 -5.05820384e-03 1.80867646e+02] [ 5.12650998e-02 9.98685080e-01 -6.79179014e-07 2.80277184e+00] [ 5.05158752e-03 -2.58631047e-04 9.99987207e-01 9.03827130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43439141800002 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:180.90, Y:2.80, Z:0.90 [[ 9.98559047e-01 -5.34251356e-02 -5.05820385e-03 1.80900222e+02] [ 5.34258186e-02 9.98571821e-01 -8.40118994e-08 2.80253736e+00] [ 5.05098432e-03 -2.70154791e-04 9.99987207e-01 9.02804424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:180.93, Y:2.80, Z:0.90 [[ 9.98508164e-01 -5.43678285e-02 -5.05820379e-03 1.80932382e+02] [ 5.43685267e-02 9.98520938e-01 5.21408696e-07 2.80245763e+00] [ 5.05069404e-03 -2.75527718e-04 9.99987207e-01 9.02252892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:180.96, Y:2.80, Z:0.90 [[ 9.98443750e-01 -5.55382128e-02 -5.05820349e-03 1.80964415e+02] [ 5.55389309e-02 9.98456522e-01 1.51896111e-06 2.80246670e+00] [ 5.05031190e-03 -2.82443811e-04 9.99987207e-01 9.02077430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:181.00, Y:2.80, Z:0.90 [[ 9.98336399e-01 -5.74355999e-02 -5.05820329e-03 1.80997487e+02] [ 5.74363448e-02 9.98349171e-01 2.00632888e-06 2.80264534e+00] [ 5.04973783e-03 -2.92527699e-04 9.99987207e-01 9.01655484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554391418 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:181.03, Y:2.80, Z:0.90 [[ 9.98286772e-01 -5.82918194e-02 -5.05820298e-03 1.81030711e+02] [ 5.82925784e-02 9.98299542e-01 2.61676373e-06 2.80270115e+00] [ 5.04944918e-03 -2.97467974e-04 9.99987207e-01 9.01426494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:181.06, Y:2.80, Z:0.90 [[ 9.98217373e-01 -5.94684027e-02 -5.05820259e-03 1.81063111e+02] [ 5.94691797e-02 9.98230142e-01 3.22274708e-06 2.80378210e+00] [ 5.04905864e-03 -3.04024161e-04 9.99987207e-01 9.00818960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:181.10, Y:2.80, Z:0.90 [[ 9.98221850e-01 -5.93932044e-02 -5.05820222e-03 1.81096552e+02] [ 5.93939830e-02 9.98234619e-01 3.72413854e-06 2.80451170e+00] [ 5.04905138e-03 -3.04144293e-04 9.99987207e-01 9.00739265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:181.13, Y:2.81, Z:0.90 [[ 9.98298268e-01 -5.80945940e-02 -5.05820171e-03 1.81128439e+02] [ 5.80953590e-02 9.98311038e-01 4.32164151e-06 2.80668380e+00] [ 5.04940754e-03 -2.98172332e-04 9.99987207e-01 9.00433800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:181.16, Y:2.81, Z:0.90 [[ 9.98379930e-01 -5.66738837e-02 -5.05820068e-03 1.81161151e+02] [ 5.66746355e-02 9.98392701e-01 5.30584762e-06 2.80770487e+00] [ 5.04976994e-03 -2.91968932e-04 9.99987207e-01 9.00919901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:181.19, Y:2.81, Z:0.90 [[ 9.98490262e-01 -5.46956187e-02 -5.05820001e-03 1.81193992e+02] [ 5.46963482e-02 9.98503034e-01 5.88176925e-06 2.80882030e+00] [ 5.05030635e-03 -2.82537958e-04 9.99987207e-01 9.01457356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:181.23, Y:2.81, Z:0.90 [[ 9.98617211e-01 -5.23266672e-02 -5.05819928e-03 1.81227285e+02] [ 5.23273692e-02 9.98629985e-01 6.45487445e-06 2.81035521e+00] [ 5.05093171e-03 -2.71128210e-04 9.99987207e-01 9.01975372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:181.26, Y:2.81, Z:0.90 [[ 9.98914654e-01 -4.63025760e-02 -5.05819845e-03 1.81259635e+02] [ 4.63032039e-02 9.98927431e-01 7.04915063e-06 2.81384820e+00] [ 5.05244679e-03 -2.41252294e-04 9.99987207e-01 9.03643733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.794391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:181.29, Y:2.82, Z:0.90 [[ 9.99064761e-01 -4.29420402e-02 -5.05819772e-03 1.81292318e+02] [ 4.29426277e-02 9.99077540e-01 7.54057508e-06 2.81569605e+00] [ 5.05320792e-03 -2.24745824e-04 9.99987207e-01 9.04498478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.824391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:181.33, Y:2.82, Z:0.91 [[ 9.99362643e-01 -3.53372534e-02 -5.05819678e-03 1.81325586e+02] [ 3.53377466e-02 9.99375427e-01 8.12601884e-06 2.81937256e+00] [ 5.05475041e-03 -1.86866115e-04 9.99987207e-01 9.05545465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.854391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:181.36, Y:2.82, Z:0.91 [[ 9.99478931e-01 -3.18791650e-02 -5.05819570e-03 1.81357633e+02] [ 3.18796171e-02 9.99491716e-01 8.74694789e-06 2.82103998e+00] [ 5.05534586e-03 -1.69995732e-04 9.99987207e-01 9.06526601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.884391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:181.39, Y:2.82, Z:0.91 [[ 9.99600672e-01 -2.78012878e-02 -5.05817834e-03 1.81389487e+02] [ 2.78017337e-02 9.99613457e-01 1.78612706e-05 2.82246199e+00] [ 5.05572657e-03 -1.58480265e-04 9.99987207e-01 9.06131870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:181.42, Y:2.83, Z:0.91 [[ 9.99773124e-01 -2.06909409e-02 -5.05819397e-03 1.81421605e+02] [ 2.06912550e-02 9.99785913e-01 9.75524763e-06 2.82506061e+00] [ 5.05690923e-03 -1.14413415e-04 9.99987207e-01 9.05345186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:181.45, Y:2.83, Z:0.90 [[ 9.99838774e-01 -1.72290532e-02 -5.05819315e-03 1.81454266e+02] [ 1.72293250e-02 9.99851564e-01 1.01604458e-05 2.82632355e+00] [ 5.05726728e-03 -9.73080616e-05 9.99987207e-01 9.04963271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:181.49, Y:2.83, Z:0.90 [[ 9.99892383e-01 -1.37708624e-02 -5.05819231e-03 1.81486217e+02] [ 1.37710920e-02 9.99905174e-01 1.05629914e-05 2.82736138e+00] [ 5.05756720e-03 -8.02186864e-05 9.99987207e-01 9.04279975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:181.52, Y:2.83, Z:0.90 [[ 9.99934763e-01 -1.02413315e-02 -5.05819141e-03 1.81517694e+02] [ 1.02415180e-02 9.99947554e-01 1.09787574e-05 2.82839917e+00] [ 5.05781369e-03 -6.27815996e-05 9.99987207e-01 9.04358482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:181.55, Y:2.83, Z:0.90 [[ 9.99980350e-01 -3.70325749e-03 -5.05819096e-03 1.81548270e+02] [ 3.70336144e-03 9.99993142e-01 1.11849996e-05 2.83032707e+00] [ 5.05811485e-03 -2.99170892e-05 9.99987207e-01 9.03762548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:181.58, Y:2.83, Z:0.90 [[ 9.99987125e-01 -4.06388560e-04 -5.05819073e-03 1.81578018e+02] [ 4.06450851e-04 9.99999917e-01 1.12870879e-05 2.83119696e+00] [ 5.05818572e-03 -1.33428485e-05 9.99987207e-01 9.03498336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09439141800001 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:181.61, Y:2.83, Z:0.90 [[ 9.99974780e-01 4.98546904e-03 -5.05819118e-03 1.81607207e+02] [-4.98547676e-03 9.99987572e-01 1.10828674e-05 2.83282995e+00] [ 5.05818357e-03 1.41349066e-05 9.99987207e-01 9.02667532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12439141800002 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:181.63, Y:2.84, Z:0.90 [[ 9.99968803e-01 6.06691009e-03 -5.05819388e-03 1.81634242e+02] [-6.06693881e-03 9.99981596e-01 9.66565403e-06 2.83611176e+00] [ 5.05815943e-03 2.10224003e-05 9.99987207e-01 9.03496907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15439141800002 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:181.66, Y:2.84, Z:0.90 [[ 9.99953755e-01 8.17933147e-03 -5.05822801e-03 1.81662028e+02] [-8.17969110e-03 9.99966545e-01 -5.04145121e-05 2.83699650e+00] [ 5.05764643e-03 9.17869233e-05 9.99987206e-01 9.04335152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18439141800002 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:181.69, Y:2.83, Z:0.90 [[ 9.99949807e-01 8.64854583e-03 -5.05823380e-03 1.81692464e+02] [-8.64898464e-03 9.99962595e-01 -6.48832803e-05 2.83448689e+00] [ 5.05748345e-03 1.08628610e-04 9.99987205e-01 9.03849917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:181.72, Y:2.83, Z:0.90 [[ 9.99955020e-01 8.02323992e-03 -5.05818715e-03 1.81721203e+02] [-8.02332509e-03 9.99967813e-01 3.45363183e-06 2.83384555e+00] [ 5.05805205e-03 3.71300034e-05 9.99987207e-01 9.04402232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:181.75, Y:2.83, Z:0.91 [[ 9.99959360e-01 7.46277416e-03 -5.05818739e-03 1.81746969e+02] [-7.46285415e-03 9.99972153e-01 3.06033653e-06 2.83413903e+00] [ 5.05806937e-03 3.46883026e-05 9.99987207e-01 9.06522255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:181.78, Y:2.83, Z:0.91 [[ 9.99958560e-01 7.56915962e-03 -5.05820177e-03 1.81775333e+02] [-7.56951342e-03 9.99971350e-01 -5.08049555e-05 2.83408157e+00] [ 5.05767230e-03 8.90909763e-05 9.99987206e-01 9.06683956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:181.81, Y:2.83, Z:0.91 [[ 9.99982257e-01 3.14649927e-03 -5.05820207e-03 1.81806329e+02] [-3.14680300e-03 9.99995047e-01 -5.20894843e-05 2.83082698e+00] [ 5.05801312e-03 6.80057255e-05 9.99987206e-01 9.05496176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:181.84, Y:2.83, Z:0.91 [[ 9.99987106e-01 4.49508098e-04 -5.05817439e-03 1.81835108e+02] [-4.49500887e-04 9.99999899e-01 2.56256410e-06 2.82953921e+00] [ 5.05817504e-03 -2.88877188e-07 9.99987207e-01 9.05492958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:181.86, Y:2.83, Z:0.90 [[ 9.99967009e-01 -6.35575779e-03 -5.05817457e-03 1.81864191e+02] [ 6.35584997e-03 9.99979801e-01 2.14795478e-06 2.82621226e+00] [ 5.05805875e-03 -3.42968826e-05 9.99987207e-01 9.04736025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:181.89, Y:2.82, Z:0.90 [[ 9.99933982e-01 -1.03172964e-02 -5.05817471e-03 1.81893639e+02] [ 1.03174372e-02 9.99946774e-01 1.73098417e-06 2.82413538e+00] [ 5.05788763e-03 -5.39182696e-05 9.99987207e-01 9.04446000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:181.92, Y:2.82, Z:0.90 [[ 9.99885669e-01 -1.42500185e-02 -5.05817475e-03 1.81924041e+02] [ 1.42502090e-02 9.99898461e-01 1.62760010e-06 2.82180659e+00] [ 5.05763795e-03 -7.37074616e-05 9.99987207e-01 9.04089934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:181.96, Y:2.82, Z:0.90 [[ 9.99748454e-01 -2.18504686e-02 -5.05817471e-03 1.81955363e+02] [ 2.18507569e-02 9.99761244e-01 1.72974833e-06 2.81756635e+00] [ 5.05692924e-03 -1.12254259e-04 9.99987207e-01 9.03610597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:181.99, Y:2.82, Z:0.90 [[ 9.99674498e-01 -2.50062692e-02 -5.05817431e-03 1.81987193e+02] [ 2.50066019e-02 9.99687286e-01 2.52492908e-06 2.81540067e+00] [ 5.05652941e-03 -1.29011859e-04 9.99987207e-01 9.03639414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:182.02, Y:2.81, Z:0.90 [[ 9.99594920e-01 -2.80073517e-02 -5.05817408e-03 1.82019194e+02] [ 2.80077248e-02 9.99607707e-01 2.92766102e-06 2.81347402e+00] [ 5.05610780e-03 -1.44594423e-04 9.99987207e-01 9.03674128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.544391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:182.05, Y:2.81, Z:0.90 [[ 9.99441316e-01 -3.30374007e-02 -5.05817381e-03 1.82050837e+02] [ 3.30378402e-02 9.99454102e-01 3.33323821e-06 2.81037537e+00] [ 5.05530244e-03 -1.70442514e-04 9.99987207e-01 9.03805734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.574391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:182.08, Y:2.81, Z:0.90 [[ 9.99377153e-01 -3.49244900e-02 -5.05817343e-03 1.82083966e+02] [ 3.49249562e-02 9.99389938e-01 3.83868697e-06 2.80891522e+00] [ 5.05495357e-03 -1.80492782e-04 9.99987207e-01 9.03963387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.604391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:182.11, Y:2.81, Z:0.90 [[ 9.99097631e-01 -4.21703451e-02 -5.05817291e-03 1.82110645e+02] [ 4.21709070e-02 9.99110412e-01 4.43556245e-06 2.81169173e+00] [ 5.05348617e-03 -2.17739299e-04 9.99987207e-01 9.02957421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.634391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:182.14, Y:2.81, Z:0.90 [[ 9.99059317e-01 -4.30685034e-02 -5.05823220e-03 1.82142560e+02] [ 4.30687382e-02 9.99072109e-01 -6.25375694e-05 2.81066871e+00] [ 5.05623212e-03 -1.55372937e-04 9.99987205e-01 9.02661988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:182.18, Y:2.80, Z:0.90 [[ 9.99218648e-01 -3.91983084e-02 -5.05822930e-03 1.82178885e+02] [ 3.91985044e-02 9.99231441e-01 -6.04308128e-05 2.80407484e+00] [ 5.05671054e-03 -1.37891428e-04 9.99987205e-01 9.03083132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:182.21, Y:2.80, Z:0.90 [[ 9.99140541e-01 -4.11411477e-02 -5.05810241e-03 1.82211296e+02] [ 4.11417205e-02 9.99153321e-01 9.21578579e-06 2.80263041e+00] [ 5.05344068e-03 -2.17306901e-04 9.99987208e-01 9.01757501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:182.24, Y:2.80, Z:0.90 [[ 9.99101260e-01 -4.20843050e-02 -5.05810166e-03 1.82244241e+02] [ 4.20848920e-02 9.99114038e-01 9.61367148e-06 2.80192102e+00] [ 5.05321579e-03 -2.22474693e-04 9.99987208e-01 9.01230127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:182.28, Y:2.80, Z:0.90 [[ 9.99053567e-01 -4.32016890e-02 -5.05810046e-03 1.82275492e+02] [ 4.32022933e-02 9.99066345e-01 1.02085546e-05 2.80123664e+00] [ 5.05293691e-03 -2.28720432e-04 9.99987208e-01 9.00121953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:182.31, Y:2.80, Z:0.90 [[ 9.98961099e-01 -4.52894966e-02 -5.05809985e-03 1.82307642e+02] [ 4.52901291e-02 9.98973876e-01 1.05030102e-05 2.80051113e+00] [ 5.05243393e-03 -2.39574093e-04 9.99987208e-01 8.99615908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:182.34, Y:2.80, Z:0.90 [[ 9.98922088e-01 -4.61419335e-02 -5.05809898e-03 1.82339988e+02] [ 4.61425789e-02 9.98934864e-01 1.09059241e-05 2.80027454e+00] [ 5.05220819e-03 -2.44287899e-04 9.99987208e-01 8.99302596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84439141800001 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:182.37, Y:2.80, Z:0.90 [[ 9.98896311e-01 -4.66966258e-02 -5.05809808e-03 1.82372995e+02] [ 4.66972803e-02 9.98909087e-01 1.13078025e-05 2.80035852e+00] [ 5.05205210e-03 -2.47494746e-04 9.99987208e-01 9.00149385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87439141800002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:182.40, Y:2.80, Z:0.90 [[ 9.98909676e-01 -4.64098581e-02 -5.05809664e-03 1.82404658e+02] [ 4.64105120e-02 9.98922452e-01 1.19162747e-05 2.80100628e+00] [ 5.05209327e-03 -2.46652137e-04 9.99987208e-01 9.00848905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90439141800002 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:182.44, Y:2.80, Z:0.90 [[ 9.98939716e-01 -4.57586997e-02 -5.05809592e-03 1.82437811e+02] [ 4.57593467e-02 9.98952492e-01 1.22168316e-05 2.80147667e+00] [ 5.05223850e-03 -2.43659043e-04 9.99987208e-01 9.01548109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93439141800002 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:182.47, Y:2.80, Z:0.90 [[ 9.99067185e-01 -4.28856133e-02 -5.05809444e-03 1.82470496e+02] [ 4.28862266e-02 9.99079962e-01 1.28012130e-05 2.80320584e+00] [ 5.05289182e-03 -2.29711856e-04 9.99987208e-01 9.02616775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:182.50, Y:2.80, Z:0.90 [[ 9.99167773e-01 -4.04744023e-02 -5.05809284e-03 1.82502425e+02] [ 4.04749878e-02 9.99180552e-01 1.34032303e-05 2.80409393e+00] [ 5.05340551e-03 -2.18118322e-04 9.99987208e-01 9.01886348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:182.53, Y:2.80, Z:0.90 [[ 9.99273726e-01 -3.77681946e-02 -5.05809002e-03 1.82534364e+02] [ 3.77687505e-02 9.99286506e-01 1.43947846e-05 2.80498776e+00] [ 5.05393744e-03 -2.05422070e-04 9.99987208e-01 9.02075926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:182.57, Y:2.81, Z:0.90 [[ 9.99383256e-01 -3.47494264e-02 -5.05808888e-03 1.82566859e+02] [ 3.47499457e-02 9.99396038e-01 1.47857999e-05 2.80599168e+00] [ 5.05452019e-03 -1.90544995e-04 9.99987208e-01 9.02170114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:182.60, Y:2.81, Z:0.90 [[ 9.99606520e-01 -2.75902279e-02 -5.05808770e-03 1.82598907e+02] [ 2.75906575e-02 9.99619305e-01 1.51774393e-05 2.80922177e+00] [ 5.05574337e-03 -1.54727433e-04 9.99987208e-01 9.02338800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:182.63, Y:2.81, Z:0.90 [[ 9.99709961e-01 -2.35459035e-02 -5.05808619e-03 1.82631462e+02] [ 2.35462839e-02 9.99722748e-01 1.56654514e-05 2.81108070e+00] [ 5.05631497e-03 -1.34760041e-04 9.99987208e-01 9.03423707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:182.66, Y:2.81, Z:0.90 [[ 9.99899453e-01 -1.32476404e-02 -5.05808497e-03 1.82661681e+02] [ 1.32478910e-02 9.99912243e-01 1.60508217e-05 2.81391887e+00] [ 5.05742845e-03 -8.30581663e-05 9.99987208e-01 9.02267016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:182.69, Y:2.82, Z:0.90 [[ 9.99926663e-01 -1.10037564e-02 -5.05819306e-03 1.82692836e+02] [ 1.10037976e-02 9.99939456e-01 -1.96959137e-05 2.81610291e+00] [ 5.05810354e-03 -3.59648632e-05 9.99987207e-01 9.04300629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:182.72, Y:2.82, Z:0.90 [[ 9.99962889e-01 -6.97397418e-03 -5.05807537e-03 1.82724206e+02] [ 6.97414666e-03 9.99975680e-01 1.64627607e-05 2.81774185e+00] [ 5.05783755e-03 -5.17379092e-05 9.99987208e-01 9.04761587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:182.75, Y:2.82, Z:0.91 [[ 9.99986740e-01 9.67570372e-04 -5.05807476e-03 1.82753816e+02] [-9.67498538e-04 9.99999532e-01 1.66486232e-05 2.82033617e+00] [ 5.05808850e-03 -1.17547225e-05 9.99987208e-01 9.05400383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:182.78, Y:2.82, Z:0.90 [[ 9.99979022e-01 4.04603525e-03 -5.05814317e-03 1.82781419e+02] [-4.04611327e-03 9.99991814e-01 -5.19093637e-06 2.82093620e+00] [ 5.05808076e-03 2.56566477e-05 9.99987207e-01 9.03935483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:182.81, Y:2.82, Z:0.91 [[ 9.99975945e-01 4.74591993e-03 -5.05814837e-03 1.82811716e+02] [-4.74601407e-03 9.99988738e-01 -6.60932865e-06 2.82208313e+00] [ 5.05806004e-03 3.06152130e-05 9.99987207e-01 9.07196982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.294391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:182.84, Y:2.82, Z:0.91 [[ 9.99965809e-01 6.54192301e-03 -5.05804988e-03 1.82838702e+02] [-6.54190928e-03 9.99978601e-01 1.92594790e-05 2.82328301e+00] [ 5.05806763e-03 1.38304829e-05 9.99987208e-01 9.06575332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.324391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:182.87, Y:2.82, Z:0.91 [[ 9.99966344e-01 6.45967914e-03 -5.05805334e-03 1.82866994e+02] [-6.45966921e-03 9.99979136e-01 1.83005402e-05 2.82344485e+00] [ 5.05806603e-03 1.43734272e-05 9.99987208e-01 9.06925338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.354391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:182.90, Y:2.82, Z:0.91 [[ 9.99978739e-01 4.11561558e-03 -5.05805549e-03 1.82895190e+02] [-4.11557877e-03 9.99991531e-01 1.76866670e-05 2.82355009e+00] [ 5.05808545e-03 3.13053483e-06 9.99987208e-01 9.05767030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.384391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:182.92, Y:2.82, Z:0.91 [[ 9.99985047e-01 2.07867828e-03 -5.05805733e-03 1.82922491e+02] [-2.07861815e-03 9.99997840e-01 1.71443297e-05 2.82337212e+00] [ 5.05808204e-03 -6.63030355e-06 9.99987208e-01 9.05465116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:182.95, Y:2.82, Z:0.91 [[ 9.99987111e-01 -4.39244698e-04 -5.05805894e-03 1.82950901e+02] [ 4.39334557e-04 9.99999903e-01 1.66544155e-05 2.82260152e+00] [ 5.05805114e-03 -1.88763810e-05 9.99987208e-01 9.06060246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:182.98, Y:2.82, Z:0.91 [[ 9.99967058e-01 -6.34815537e-03 -5.05806023e-03 1.82978957e+02] [ 6.34831879e-03 9.99979849e-01 1.62544123e-05 2.82138957e+00] [ 5.05785512e-03 -4.83640556e-05 9.99987208e-01 9.06117978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:183.01, Y:2.82, Z:0.91 [[ 9.99941495e-01 -9.56156316e-03 -5.05806177e-03 1.83009061e+02] [ 9.56176517e-03 9.99954285e-01 1.57581692e-05 2.82080238e+00] [ 5.05767987e-03 -6.41212462e-05 9.99987208e-01 9.06813577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:183.04, Y:2.82, Z:0.91 [[ 9.99906178e-01 -1.27299606e-02 -5.05806177e-03 1.83040053e+02] [ 1.27302031e-02 9.99918968e-01 1.57581692e-05 2.82018794e+00] [ 5.05745131e-03 -8.01468445e-05 9.99987208e-01 9.07381861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:183.07, Y:2.82, Z:0.91 [[ 9.99862773e-01 -1.57750118e-02 -5.05806114e-03 1.83072226e+02] [ 1.57752943e-02 9.99875562e-01 1.59582914e-05 2.81946150e+00] [ 5.05717999e-03 -9.57485047e-05 9.99987208e-01 9.08289218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:183.10, Y:2.82, Z:0.91 [[ 9.99753426e-01 -2.16218199e-02 -5.05805982e-03 1.83103722e+02] [ 2.16221792e-02 9.99766213e-01 1.63678654e-05 2.81797498e+00] [ 5.05652341e-03 -1.25730105e-04 9.99987208e-01 9.08895450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59439141800001 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:183.14, Y:2.82, Z:0.91 [[ 9.99690970e-01 -2.43388769e-02 -5.05805881e-03 1.83135796e+02] [ 2.43392725e-02 9.99703756e-01 1.66733251e-05 2.81705005e+00] [ 5.05615458e-03 -1.39777644e-04 9.99987208e-01 9.09394071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62439141800002 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:183.17, Y:2.82, Z:0.91 [[ 9.99561904e-01 -2.91618902e-02 -5.05805746e-03 1.83167645e+02] [ 2.91623496e-02 9.99574688e-01 1.70745914e-05 2.81572003e+00] [ 5.05540828e-03 -1.64571951e-04 9.99987208e-01 9.09492842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65439141800002 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:183.20, Y:2.81, Z:0.91 [[ 9.99493854e-01 -3.14078254e-02 -5.05805608e-03 1.83199991e+02] [ 3.14083155e-02 9.99506637e-01 1.74733040e-05 2.81497918e+00] [ 5.05501182e-03 -1.76329481e-04 9.99987208e-01 9.08447457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68439141800002 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:183.23, Y:2.81, Z:0.91 [[ 9.99430617e-01 -3.33595128e-02 -5.05805247e-03 1.83232554e+02] [ 3.33600329e-02 9.99443399e-01 1.84619018e-05 2.81404478e+00] [ 5.05462127e-03 -1.87188187e-04 9.99987208e-01 9.08173494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:183.26, Y:2.81, Z:0.91 [[ 9.99309469e-01 -3.68103559e-02 -5.05805028e-03 1.83264486e+02] [ 3.68109230e-02 9.99322248e-01 1.90428597e-05 2.81357591e+00] [ 5.05392121e-03 -2.05221210e-04 9.99987208e-01 9.07462695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:183.30, Y:2.81, Z:0.91 [[ 9.99269623e-01 -3.78766106e-02 -5.05804877e-03 1.83296123e+02] [ 3.78771933e-02 9.99282401e-01 1.94356579e-05 2.81324503e+00] [ 5.05368297e-03 -2.11006154e-04 9.99987208e-01 9.07359806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:183.33, Y:2.81, Z:0.91 [[ 9.99232864e-01 -3.88342667e-02 -5.05804684e-03 1.83327957e+02] [ 3.88348642e-02 9.99245642e-01 1.99258338e-05 2.81304314e+00] [ 5.05345746e-03 -2.16339110e-04 9.99987208e-01 9.06650969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:183.36, Y:2.81, Z:0.91 [[ 9.99236935e-01 -3.87293580e-02 -5.05804529e-03 1.83359929e+02] [ 3.87299561e-02 9.99249714e-01 2.03115456e-05 2.81312005e+00] [ 5.05346366e-03 -2.16193919e-04 9.99987208e-01 9.06253745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:183.39, Y:2.81, Z:0.91 [[ 9.99268319e-01 -3.79109852e-02 -5.05804372e-03 1.83393112e+02] [ 3.79115748e-02 9.99281098e-01 2.06970402e-05 2.81337542e+00] [ 5.05362283e-03 -2.12440299e-04 9.99987208e-01 9.06642912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:183.43, Y:2.81, Z:0.91 [[ 9.99304508e-01 -3.69447733e-02 -5.05804121e-03 1.83426277e+02] [ 3.69453535e-02 9.99317287e-01 2.12912979e-05 2.81374938e+00] [ 5.05380142e-03 -2.08147611e-04 9.99987208e-01 9.07223200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:183.46, Y:2.81, Z:0.91 [[ 9.99358197e-01 -3.54628049e-02 -5.05803861e-03 1.83457873e+02] [ 3.54633692e-02 9.99370977e-01 2.18926751e-05 2.81422721e+00] [ 5.05408061e-03 -2.01253715e-04 9.99987208e-01 9.07093665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:183.49, Y:2.82, Z:0.91 [[ 9.99483421e-01 -3.17381197e-02 -5.05803641e-03 1.83488982e+02] [ 3.17386388e-02 9.99496202e-01 2.23899893e-05 2.81585105e+00] [ 5.05477757e-03 -1.82913614e-04 9.99987208e-01 9.06513463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:183.52, Y:2.82, Z:0.91 [[ 9.99552334e-01 -2.94880998e-02 -5.05803509e-03 1.83520693e+02] [ 2.94885917e-02 9.99565117e-01 2.26841386e-05 2.81685261e+00] [ 5.05516652e-03 -1.71828315e-04 9.99987208e-01 9.05104823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:183.55, Y:2.82, Z:0.91 [[ 9.99689594e-01 -2.43953263e-02 -5.05803221e-03 1.83552950e+02] [ 2.43957562e-02 9.99702379e-01 2.33088469e-05 2.81858245e+00] [ 5.05595821e-03 -1.46696132e-04 9.99987208e-01 9.06652770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:183.58, Y:2.82, Z:0.91 [[ 9.99752014e-01 -2.16870037e-02 -5.05803035e-03 1.83584501e+02] [ 2.16874010e-02 9.99764800e-01 2.37057647e-05 2.81935483e+00] [ 5.05632660e-03 -1.33395418e-04 9.99987208e-01 9.06371904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.044391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:183.61, Y:2.83, Z:0.91 [[ 9.99700152e-01 -2.39587453e-02 -5.05802895e-03 1.83608036e+02] [ 2.39591731e-02 9.99712938e-01 2.40009216e-05 2.82820213e+00] [ 5.05600195e-03 -1.45179916e-04 9.99987208e-01 9.05702372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.074391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:183.65, Y:2.82, Z:0.91 [[ 9.99897629e-01 -1.33844251e-02 -5.05854877e-03 1.83645335e+02] [ 1.33840798e-02 9.99910424e-01 -1.02092504e-04 2.82250788e+00] [ 5.05946209e-03 3.43780318e-05 9.99987200e-01 9.08040147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.104391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:183.67, Y:2.83, Z:0.91 [[ 9.99848798e-01 -1.66372833e-02 -5.05793140e-03 1.83670359e+02] [ 1.66376207e-02 9.99861585e-01 2.46407922e-05 2.83155039e+00] [ 5.05682135e-03 -1.08789011e-04 9.99987208e-01 9.05366996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.134391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:183.71, Y:2.82, Z:0.91 [[ 9.99945913e-01 -9.08760594e-03 -5.05830981e-03 1.83708017e+02] [ 9.08740892e-03 9.99958707e-01 -6.19336815e-05 2.82433158e+00] [ 5.05866377e-03 1.59634020e-05 9.99987205e-01 9.07789110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:183.74, Y:2.83, Z:0.91 [[ 9.99980991e-01 -3.52642713e-03 -5.05779457e-03 1.83737986e+02] [ 3.52671910e-03 9.99993780e-01 4.88087635e-05 2.82622743e+00] [ 5.05759099e-03 -6.66452564e-05 9.99987208e-01 9.09010915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:183.77, Y:2.83, Z:0.91 [[ 9.99980562e-01 -3.64615839e-03 -5.05782207e-03 1.83768107e+02] [ 3.64642106e-03 9.99993351e-01 4.27120922e-05 2.82619181e+00] [ 5.05763270e-03 -6.11542108e-05 9.99987208e-01 9.09165342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:183.80, Y:2.83, Z:0.91 [[ 9.99987188e-01 -2.05961011e-04 -5.05782318e-03 1.83797743e+02] [ 2.06178400e-04 9.99999978e-01 4.24593173e-05 2.82719837e+00] [ 5.05781433e-03 -4.35015872e-05 9.99987208e-01 9.10029919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:183.83, Y:2.83, Z:0.91 [[ 9.99984189e-01 2.45766838e-03 -5.05791226e-03 1.83826827e+02] [-2.45759441e-03 9.99996980e-01 2.08401333e-05 2.82799804e+00] [ 5.05794820e-03 -8.40950692e-06 9.99987208e-01 9.10337033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:183.85, Y:2.83, Z:0.91 [[ 9.99955680e-01 7.94079647e-03 -5.05791769e-03 1.83853274e+02] [-7.94079978e-03 9.99968471e-01 1.94269609e-05 2.82982081e+00] [ 5.05791248e-03 2.07378118e-05 9.99987208e-01 9.10773310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:183.88, Y:2.83, Z:0.91 [[ 9.99933244e-01 1.03886879e-02 -5.05792171e-03 1.83881671e+02] [-1.03887281e-02 9.99946036e-01 1.83178131e-05 2.83050438e+00] [ 5.05783906e-03 3.42287832e-05 9.99987208e-01 9.11701833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34439141800001 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:183.91, Y:2.83, Z:0.91 [[ 9.99912236e-01 1.22448805e-02 -5.05792311e-03 1.83909214e+02] [-1.22449465e-02 9.99925028e-01 1.79228219e-05 2.83099130e+00] [ 5.05776336e-03 4.40127487e-05 9.99987208e-01 9.12064157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37439141800002 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:183.94, Y:2.83, Z:0.91 [[ 9.99891764e-01 1.38158601e-02 -5.05792513e-03 1.83936663e+02] [-1.38159492e-02 9.99904555e-01 1.73335518e-05 2.83139174e+00] [ 5.05768185e-03 5.25483607e-05 9.99987208e-01 9.12332518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40439141800002 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:183.96, Y:2.83, Z:0.91 [[ 9.99864757e-01 1.56488303e-02 -5.05792675e-03 1.83964555e+02] [-1.56489452e-02 9.99877548e-01 1.68470284e-05 2.83196777e+00] [ 5.05757103e-03 6.23064686e-05 9.99987208e-01 9.12976814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43439141800002 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:183.99, Y:2.83, Z:0.91 [[ 9.99857274e-01 1.61198200e-02 -5.05792861e-03 1.83993005e+02] [-1.61199439e-02 9.99870065e-01 1.62680019e-05 2.83196768e+00] [ 5.05753364e-03 6.52678456e-05 9.99987208e-01 9.13227887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:184.02, Y:2.83, Z:0.91 [[ 9.99850073e-01 1.65604620e-02 -5.05792981e-03 1.84021287e+02] [-1.65605935e-02 9.99862864e-01 1.58855599e-05 2.83165172e+00] [ 5.05749926e-03 6.78791414e-05 9.99987208e-01 9.13748148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:184.05, Y:2.83, Z:0.91 [[ 9.99834440e-01 1.74788534e-02 -5.05793154e-03 1.84049178e+02] [-1.74789995e-02 9.99847231e-01 1.53132075e-05 2.83099058e+00] [ 5.05742650e-03 7.30969108e-05 9.99987208e-01 9.14023789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:184.08, Y:2.83, Z:0.91 [[ 9.99829467e-01 1.77610293e-02 -5.05793293e-03 1.84077599e+02] [-1.77611814e-02 9.99842258e-01 1.48403684e-05 2.83036690e+00] [ 5.05739866e-03 7.49970269e-05 9.99987208e-01 9.14928035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:184.11, Y:2.83, Z:0.92 [[ 9.99829906e-01 1.77363228e-02 -5.05793457e-03 1.84106672e+02] [-1.77364776e-02 9.99842696e-01 1.42574176e-05 2.82809609e+00] [ 5.05739182e-03 7.54549506e-05 9.99987208e-01 9.15217350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:184.13, Y:2.83, Z:0.92 [[ 9.99837914e-01 1.72789580e-02 -5.05793564e-03 1.84133233e+02] [-1.72791089e-02 9.99850705e-01 1.38693710e-05 2.82679844e+00] [ 5.05742016e-03 7.35294979e-05 9.99987208e-01 9.15053826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:184.16, Y:2.83, Z:0.92 [[ 9.99843025e-01 1.69806577e-02 -5.05793739e-03 1.84161038e+02] [-1.69808082e-02 9.99855816e-01 1.31964265e-05 2.82572391e+00] [ 5.05743220e-03 7.26935098e-05 9.99987208e-01 9.15757467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:184.19, Y:2.82, Z:0.92 [[ 9.99888561e-01 1.40457338e-02 -5.05796902e-03 1.84190308e+02] [-1.40459094e-02 9.99901351e-01 8.05914636e-07 2.82238705e+00] [ 5.05748138e-03 7.02379496e-05 9.99987208e-01 9.16351621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:184.21, Y:2.83, Z:0.91 [[ 9.99959022e-01 7.50803855e-03 -5.05794003e-03 1.84212244e+02] [-7.50807127e-03 9.99971814e-01 1.25186525e-05 2.82860247e+00] [ 5.05789146e-03 2.54572347e-05 9.99987208e-01 9.14917837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:184.25, Y:2.82, Z:0.92 [[ 9.99945757e-01 9.10478972e-03 -5.05815313e-03 1.84248643e+02] [-9.10554261e-03 9.99958536e-01 -1.25838207e-04 2.81711892e+00] [ 5.05679766e-03 1.71888610e-04 9.99987200e-01 9.16052487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:184.28, Y:2.82, Z:0.92 [[ 9.99961016e-01 7.23771264e-03 -5.05782938e-03 1.84276954e+02] [-7.23774507e-03 9.99973807e-01 1.18907382e-05 2.81509640e+00] [ 5.05778296e-03 2.47170050e-05 9.99987209e-01 9.17063941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:184.31, Y:2.81, Z:0.92 [[ 9.99974106e-01 5.11922673e-03 -5.05783032e-03 1.84305721e+02] [-5.11923416e-03 9.99986897e-01 1.14774512e-05 2.81338094e+00] [ 5.05782280e-03 1.44150637e-05 9.99987209e-01 9.17266382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.794391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:184.33, Y:2.81, Z:0.92 [[ 9.99981287e-01 3.44158370e-03 -5.05783122e-03 1.84334039e+02] [-3.44157175e-03 9.99994078e-01 1.10669718e-05 2.81151347e+00] [ 5.05783935e-03 6.34012428e-06 9.99987209e-01 9.17386801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.824391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:184.36, Y:2.81, Z:0.92 [[ 9.99987058e-01 5.49962025e-04 -5.05783207e-03 1.84363318e+02] [-5.49915144e-04 9.99999849e-01 1.06597963e-05 2.80837605e+00] [ 5.05783717e-03 -7.87827986e-06 9.99987209e-01 9.18404809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.854391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:184.39, Y:2.81, Z:0.92 [[ 9.99987204e-01 -9.83806662e-05 -5.05783290e-03 1.84392509e+02] [ 9.84337752e-05 9.99999995e-01 1.02514112e-05 2.80678955e+00] [ 5.05783187e-03 -1.07491416e-05 9.99987209e-01 9.18660266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.884391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:184.42, Y:2.81, Z:0.92 [[ 9.99987127e-01 -4.05942211e-04 -5.05783369e-03 1.84419869e+02] [ 4.05997195e-04 9.99999918e-01 9.84447487e-06 2.80542614e+00] [ 5.05782928e-03 -1.18978144e-05 9.99987209e-01 9.18577762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:184.44, Y:2.81, Z:0.92 [[ 9.99972749e-01 -5.37777264e-03 -5.05783470e-03 1.84443959e+02] [ 5.37788844e-03 9.99985539e-01 9.29482224e-06 2.80953325e+00] [ 5.05771158e-03 -3.64950397e-05 9.99987209e-01 9.16813519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:184.48, Y:2.80, Z:0.92 [[ 9.99987053e-01 5.57905998e-04 -5.05797109e-03 1.84479973e+02] [-5.58430902e-04 9.99999839e-01 -1.02365919e-04 2.80154526e+00] [ 5.05791316e-03 1.05189121e-04 9.99987203e-01 9.18142007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:184.50, Y:2.81, Z:0.92 [[ 9.99982529e-01 -3.05948654e-03 -5.05776525e-03 1.84501829e+02] [ 3.05957282e-03 9.99995319e-01 9.32279180e-06 2.80719690e+00] [ 5.05771305e-03 -2.47972300e-05 9.99987209e-01 9.17180661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:184.54, Y:2.80, Z:0.92 [[ 9.99979946e-01 3.81108554e-03 -5.05792568e-03 1.84540593e+02] [-3.81185448e-03 9.99992725e-01 -1.42395680e-04 2.79701931e+00] [ 5.05734620e-03 1.61672901e-04 9.99987198e-01 9.18130013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:184.57, Y:2.80, Z:0.92 [[ 9.99975158e-01 4.90950418e-03 -5.05760645e-03 1.84568327e+02] [-4.90951357e-03 9.99987948e-01 1.05576983e-05 2.79543503e+00] [ 5.05759733e-03 1.42729515e-05 9.99987210e-01 9.18158825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:184.60, Y:2.79, Z:0.92 [[ 9.99967961e-01 6.20465404e-03 -5.05760761e-03 1.84596159e+02] [-6.20468299e-03 9.99980751e-01 9.96752481e-06 2.79394167e+00] [ 5.05757210e-03 2.14136464e-05 9.99987210e-01 9.19175044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09439141800001 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:184.62, Y:2.79, Z:0.92 [[ 9.99961267e-01 7.20310667e-03 -5.05760874e-03 1.84623686e+02] [-7.20315148e-03 9.99974057e-01 9.35494465e-06 2.79276173e+00] [ 5.05754492e-03 2.70761396e-05 9.99987210e-01 9.18671725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12439141800002 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:184.65, Y:2.79, Z:0.92 [[ 9.99946516e-01 9.02141961e-03 -5.05760963e-03 1.84651090e+02] [-9.02149024e-03 9.99959305e-01 8.84936077e-06 2.79009332e+00] [ 5.05748365e-03 3.67782884e-05 9.99987210e-01 9.19410158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15439141800002 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:184.68, Y:2.79, Z:0.92 [[ 9.99940693e-01 9.64523121e-03 -5.05761054e-03 1.84680167e+02] [-9.64531265e-03 9.99953483e-01 8.29005883e-06 2.78860443e+00] [ 5.05745524e-03 4.04926678e-05 9.99987210e-01 9.20497388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18439141800002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:184.71, Y:2.78, Z:0.92 [[ 9.99926862e-01 1.09859827e-02 -5.05761118e-03 1.84708275e+02] [-1.09860834e-02 9.99939651e-01 7.88232046e-06 2.78491935e+00] [ 5.05739255e-03 4.76815941e-05 9.99987210e-01 9.20005984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:184.74, Y:2.78, Z:0.92 [[ 9.99921004e-01 1.15067579e-02 -5.05761192e-03 1.84736348e+02] [-1.15068678e-02 9.99933794e-01 7.37697461e-06 2.78302458e+00] [ 5.05736196e-03 5.08208799e-05 9.99987210e-01 9.20043303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:184.76, Y:2.78, Z:0.92 [[ 9.99912017e-01 1.22628962e-02 -5.05761272e-03 1.84764753e+02] [-1.22630187e-02 9.99924806e-01 6.77454538e-06 2.78106699e+00] [ 5.05731550e-03 5.52476503e-05 9.99987210e-01 9.19865078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:184.79, Y:2.78, Z:0.92 [[ 9.99903826e-01 1.29135497e-02 -5.05761346e-03 1.84793027e+02] [-1.29136837e-02 9.99916615e-01 6.17553688e-06 2.77804368e+00] [ 5.05727147e-03 5.91374773e-05 9.99987210e-01 9.20470010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:184.82, Y:2.78, Z:0.92 [[ 9.99956578e-01 7.82702009e-03 -5.05761413e-03 1.84815032e+02] [-7.82709207e-03 9.99969368e-01 5.56288626e-06 2.78495432e+00] [ 5.05750274e-03 3.40237667e-05 9.99987210e-01 9.16442488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:184.85, Y:2.77, Z:0.92 [[ 9.99892912e-01 1.37325881e-02 -5.05765668e-03 1.84853030e+02] [-1.37334699e-02 9.99905682e-01 -1.39665096e-04 2.77425867e+00] [ 5.05526169e-03 2.09109316e-04 9.99987200e-01 9.20223302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:184.88, Y:2.77, Z:0.92 [[ 9.99894756e-01 1.35977458e-02 -5.05746255e-03 1.84880526e+02] [-1.35978858e-02 9.99907544e-01 6.70948108e-06 2.77210424e+00] [ 5.05708619e-03 6.20620230e-05 9.99987211e-01 9.20338362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:184.91, Y:2.77, Z:0.92 [[ 9.99910194e-01 1.24106870e-02 -5.05746327e-03 1.84907936e+02] [-1.24108148e-02 9.99922983e-01 6.11139234e-06 2.76745781e+00] [ 5.05714960e-03 5.66563966e-05 9.99987211e-01 9.20049496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:184.94, Y:2.77, Z:0.92 [[ 9.99926201e-01 1.10460628e-02 -5.05746382e-03 1.84936318e+02] [-1.10461757e-02 9.99938989e-01 5.61543732e-06 2.76531170e+00] [ 5.05721729e-03 5.02506111e-05 9.99987211e-01 9.20937602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:184.96, Y:2.76, Z:0.92 [[ 9.99952647e-01 8.31416509e-03 -5.05746443e-03 1.84964155e+02] [-8.31424614e-03 9.99965436e-01 4.99966220e-06 2.76027637e+00] [ 5.05733119e-03 3.70495787e-05 9.99987211e-01 9.20690204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:184.99, Y:2.76, Z:0.92 [[ 9.99964172e-01 6.78791617e-03 -5.05746488e-03 1.84993133e+02] [-6.78798025e-03 9.99976961e-01 4.49586935e-06 2.75792673e+00] [ 5.05737888e-03 2.98342634e-05 9.99987211e-01 9.21115638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:185.02, Y:2.76, Z:0.92 [[ 9.99971006e-01 5.69296948e-03 -5.05746520e-03 1.85020715e+02] [-5.69302160e-03 9.99983795e-01 4.09125785e-06 2.75534077e+00] [ 5.05740654e-03 2.47011194e-05 9.99987211e-01 9.20736948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.544391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:185.05, Y:2.75, Z:0.92 [[ 9.99976952e-01 4.52952997e-03 -5.05746556e-03 1.85049619e+02] [-4.52956974e-03 9.99989741e-01 3.59179163e-06 2.75288743e+00] [ 5.05742995e-03 1.93164341e-05 9.99987211e-01 9.21967906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.574391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:185.08, Y:2.75, Z:0.92 [[ 9.99986905e-01 7.82601386e-04 -5.05746582e-03 1.85075439e+02] [-7.82595293e-04 9.99999694e-01 3.18382457e-06 2.75233828e+00] [ 5.05746676e-03 7.74166061e-07 9.99987211e-01 9.21045729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.604391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:185.11, Y:2.75, Z:0.92 [[ 9.99985605e-01 1.79233894e-03 -5.05749269e-03 1.85109338e+02] [-1.79274320e-03 9.99998390e-01 -7.54011229e-05 2.74605856e+00] [ 5.05734940e-03 8.44668231e-05 9.99987208e-01 9.23098835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.634391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:185.14, Y:2.74, Z:0.92 [[ 9.99986324e-01 -1.33204284e-03 -5.05743606e-03 1.85137189e+02] [ 1.33207821e-03 9.99999113e-01 3.62476709e-06 2.74190396e+00] [ 5.05742675e-03 -1.03616179e-05 9.99987211e-01 9.23556380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:185.17, Y:2.74, Z:0.92 [[ 9.99980941e-01 -3.54121427e-03 -5.05743638e-03 1.85165794e+02] [ 3.54127533e-03 9.99993730e-01 3.11789106e-06 2.73968791e+00] [ 5.05739362e-03 -2.10276063e-05 9.99987211e-01 9.24026844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:185.19, Y:2.74, Z:0.92 [[ 9.99971283e-01 -5.64398151e-03 -5.05743660e-03 1.85193989e+02] [ 5.64406737e-03 9.99984072e-01 2.70443704e-06 2.73737142e+00] [ 5.05734078e-03 -3.12488722e-05 9.99987211e-01 9.23673336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:185.22, Y:2.73, Z:0.92 [[ 9.99937887e-01 -9.93196022e-03 -5.05743674e-03 1.85222896e+02] [ 9.93209936e-03 9.99950675e-01 2.39783031e-06 2.73254944e+00] [ 5.05716347e-03 -5.26286456e-05 9.99987211e-01 9.21963657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:185.25, Y:2.73, Z:0.92 [[ 9.99898886e-01 -1.32905939e-02 -5.05743485e-03 1.85251931e+02] [ 1.32907994e-02 9.99911673e-01 7.01107884e-06 2.73124347e+00] [ 5.05689497e-03 -7.42277218e-05 9.99987211e-01 9.22770810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:185.28, Y:2.73, Z:0.92 [[ 9.99864830e-01 -1.56443205e-02 -5.05743677e-03 1.85283072e+02] [ 1.56445301e-02 9.99877617e-01 1.89096884e-06 2.72922589e+00] [ 5.05678824e-03 -8.10119350e-05 9.99987211e-01 9.22447994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:185.31, Y:2.73, Z:0.92 [[ 9.99811736e-01 -1.87327420e-02 -5.05743668e-03 1.85313358e+02] [ 1.87329921e-02 9.99824522e-01 2.09382564e-06 2.72857837e+00] [ 5.05650999e-03 -9.68343531e-05 9.99987211e-01 9.21518342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84439141800001 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:185.35, Y:2.72, Z:0.92 [[ 9.99727162e-01 -2.28040106e-02 -5.05744672e-03 1.85345199e+02] [ 2.28041627e-02 9.99739951e-01 -2.76061723e-05 2.72412045e+00] [ 5.05676107e-03 -8.77321976e-05 9.99987211e-01 9.21381368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87439141800002 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:185.38, Y:2.72, Z:0.92 [[ 9.99664146e-01 -2.54168915e-02 -5.05742975e-03 1.85375288e+02] [ 2.54172308e-02 9.99676930e-01 2.82132225e-06 2.72377406e+00] [ 5.05572414e-03 -1.31366234e-04 9.99987211e-01 9.20226159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90439141800002 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:185.41, Y:2.72, Z:0.92 [[ 9.99634059e-01 -2.65738752e-02 -5.05744419e-03 1.85407191e+02] [ 2.65740807e-02 9.99646846e-01 -2.65728880e-05 2.72118947e+00] [ 5.05636428e-03 -1.07833766e-04 9.99987211e-01 9.20719304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93439141800002 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:185.44, Y:2.72, Z:0.92 [[ 9.99535221e-01 -3.00626607e-02 -5.05742391e-03 1.85438001e+02] [ 3.00630624e-02 9.99548004e-01 3.41993298e-06 2.71995223e+00] [ 5.05503517e-03 -1.55459994e-04 9.99987211e-01 9.19844871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:185.47, Y:2.72, Z:0.92 [[ 9.99510028e-01 -3.08889279e-02 -5.05743155e-03 1.85470565e+02] [ 3.08892714e-02 9.99522813e-01 -1.01994114e-05 2.71898096e+00] [ 5.05533326e-03 -1.46025962e-04 9.99987211e-01 9.20834008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:185.50, Y:2.72, Z:0.92 [[ 9.99479310e-01 -3.18674092e-02 -5.05742297e-03 1.85502436e+02] [ 3.18678330e-02 9.99492092e-01 3.22975669e-06 2.71792956e+00] [ 5.05475134e-03 -1.64397186e-04 9.99987211e-01 9.21317516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:185.53, Y:2.72, Z:0.92 [[ 9.99491240e-01 -3.14910164e-02 -5.05742269e-03 1.85534869e+02] [ 3.14914375e-02 9.99504022e-01 3.62735800e-06 2.71749809e+00] [ 5.05480009e-03 -1.62891023e-04 9.99987211e-01 9.21589684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:185.57, Y:2.72, Z:0.92 [[ 9.99508190e-01 -3.09483517e-02 -5.05742237e-03 1.85567041e+02] [ 3.09487678e-02 9.99520972e-01 4.02304202e-06 2.71740404e+00] [ 5.05487522e-03 -1.60542054e-04 9.99987211e-01 9.21974920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:185.60, Y:2.72, Z:0.92 [[ 9.99511195e-01 -3.08511515e-02 -5.05742203e-03 1.85599734e+02] [ 3.08515684e-02 9.99523977e-01 4.41691345e-06 2.71729231e+00] [ 5.05487831e-03 -1.60444156e-04 9.99987211e-01 9.22140175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:185.63, Y:2.72, Z:0.92 [[ 9.99523480e-01 -3.04505325e-02 -5.05742155e-03 1.85630009e+02] [ 3.04509467e-02 9.99536262e-01 4.90873332e-06 2.71927976e+00] [ 5.05492676e-03 -1.58909668e-04 9.99987211e-01 9.23345033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:185.66, Y:2.72, Z:0.92 [[ 9.99596324e-01 -2.79573201e-02 -5.05743918e-03 1.85660912e+02] [ 2.79575383e-02 9.99609111e-01 -2.75672329e-05 2.71823636e+00] [ 5.05623299e-03 -1.13837445e-04 9.99987211e-01 9.24776235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:185.69, Y:2.72, Z:0.92 [[ 9.99587998e-01 -2.82534282e-02 -5.05743590e-03 1.85692643e+02] [ 2.82537023e-02 9.99600784e-01 -1.72616740e-05 2.71890713e+00] [ 5.05590459e-03 -1.25636726e-04 9.99987211e-01 9.24933659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:185.73, Y:2.72, Z:0.93 [[ 9.99610554e-01 -2.74438237e-02 -5.05742575e-03 1.85725152e+02] [ 2.74441878e-02 9.99623337e-01 2.58608184e-06 2.71922386e+00] [ 5.05544983e-03 -1.41382017e-04 9.99987211e-01 9.25281982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:185.76, Y:2.72, Z:0.93 [[ 9.99639185e-01 -2.63803545e-02 -5.05742552e-03 1.85756725e+02] [ 2.63807070e-02 9.99651969e-01 2.98072057e-06 2.71988012e+00] [ 5.05558674e-03 -1.36398106e-04 9.99987211e-01 9.25727801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:185.78, Y:2.72, Z:0.93 [[ 9.99538878e-01 -2.99408455e-02 -5.05742533e-03 1.85784017e+02] [ 2.99412450e-02 9.99551660e-01 3.27439945e-06 2.72481383e+00] [ 5.05505984e-03 -1.54698500e-04 9.99987211e-01 9.26578219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.294391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:185.82, Y:2.72, Z:0.93 [[ 9.99643507e-01 -2.62160601e-02 -5.05745343e-03 1.85818176e+02] [ 2.62160199e-02 9.99656298e-01 -7.42642530e-05 2.72073073e+00] [ 5.05766209e-03 -5.83485214e-05 9.99987208e-01 9.25653583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.324391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:185.85, Y:2.73, Z:0.93 [[ 9.99575657e-01 -2.86867412e-02 -5.05738540e-03 1.85846667e+02] [ 2.86871302e-02 9.99588440e-01 4.37619688e-06 2.72530862e+00] [ 5.05517844e-03 -1.49456213e-04 9.99987211e-01 9.25971524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.354391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:185.88, Y:2.72, Z:0.92 [[ 9.99664383e-01 -2.54075405e-02 -5.05743185e-03 1.85881510e+02] [ 2.54075758e-02 9.99677174e-01 -5.72711552e-05 2.72227813e+00] [ 5.05725430e-03 -7.12451493e-05 9.99987209e-01 9.24748161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.384391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:185.91, Y:2.72, Z:0.93 [[ 9.99697704e-01 -2.40608201e-02 -5.05736484e-03 1.85912370e+02] [ 2.40611551e-02 9.99710488e-01 5.40794337e-06 2.72389566e+00] [ 5.05577055e-03 -1.27092349e-04 9.99987211e-01 9.25308236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:185.94, Y:2.72, Z:0.92 [[ 9.99717531e-01 -2.32224234e-02 -5.05736448e-03 1.85944763e+02] [ 2.32227493e-02 9.99730316e-01 5.72057289e-06 2.72460883e+00] [ 5.05586774e-03 -1.23164865e-04 9.99987211e-01 9.24703682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:185.98, Y:2.73, Z:0.92 [[ 9.99745520e-01 -2.19845164e-02 -5.05736400e-03 1.85977261e+02] [ 2.19848285e-02 9.99758304e-01 6.11739104e-06 2.72537538e+00] [ 5.05600717e-03 -1.17301115e-04 9.99987211e-01 9.24794747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:186.01, Y:2.73, Z:0.92 [[ 9.99803831e-01 -1.91500015e-02 -5.05736349e-03 1.86008477e+02] [ 1.91502794e-02 9.99816617e-01 6.51325196e-06 2.72750199e+00] [ 5.05631133e-03 -1.03361898e-04 9.99987211e-01 9.24772479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:186.04, Y:2.73, Z:0.92 [[ 9.99834153e-01 -1.74954063e-02 -5.05736256e-03 1.86039427e+02] [ 1.74956663e-02 9.99846939e-01 7.17019216e-06 2.72839170e+00] [ 5.05646303e-03 -9.56509307e-05 9.99987211e-01 9.24828150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:186.07, Y:2.73, Z:0.93 [[ 9.99862962e-01 -1.57632854e-02 -5.05736226e-03 1.86070513e+02] [ 1.57635243e-02 9.99875748e-01 7.37724457e-06 2.72913396e+00] [ 5.05661758e-03 -8.70980863e-05 9.99987211e-01 9.25254789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:186.10, Y:2.73, Z:0.93 [[ 9.99885552e-01 -1.42585395e-02 -5.05736195e-03 1.86100791e+02] [ 1.42587601e-02 9.99898339e-01 7.58367526e-06 2.73007917e+00] [ 5.05673968e-03 -7.96945184e-05 9.99987211e-01 9.25809100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59439141800001 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:186.13, Y:2.73, Z:0.93 [[ 9.99914852e-01 -1.20296429e-02 -5.05736179e-03 1.86131253e+02] [ 1.20298356e-02 9.99927639e-01 7.68585573e-06 2.73045913e+00] [ 5.05690338e-03 -6.85244325e-05 9.99987211e-01 9.26306452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62439141800002 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:186.16, Y:2.73, Z:0.93 [[ 9.99916522e-01 -1.18900131e-02 -5.05736164e-03 1.86161860e+02] [ 1.18902045e-02 9.99929309e-01 7.78507890e-06 2.73013670e+00] [ 5.05691157e-03 -6.79174931e-05 9.99987211e-01 9.26390789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65439141800002 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:186.19, Y:2.73, Z:0.93 [[ 9.99907943e-01 -1.25908510e-02 -5.05736164e-03 1.86191786e+02] [ 1.25910514e-02 9.99920730e-01 7.78507890e-06 2.73098734e+00] [ 5.05686272e-03 -7.14618625e-05 9.99987211e-01 9.27197152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68439141800002 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:186.22, Y:2.73, Z:0.93 [[ 9.99892531e-01 -1.37603823e-02 -5.05740963e-03 1.86222280e+02] [ 1.37604104e-02 9.99905321e-01 -2.92481284e-05 2.72915132e+00] [ 5.05733326e-03 -4.03470469e-05 9.99987211e-01 9.26699267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:186.25, Y:2.73, Z:0.93 [[ 9.99869108e-01 -1.53684700e-02 -5.05736051e-03 1.86254020e+02] [ 1.53687013e-02 9.99881895e-01 6.87668244e-06 2.72858545e+00] [ 5.05665753e-03 -8.46008453e-05 9.99987211e-01 9.26581209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:186.28, Y:2.73, Z:0.93 [[ 9.99838524e-01 -1.72438028e-02 -5.05736022e-03 1.86284930e+02] [ 1.72440592e-02 9.99851310e-01 7.08692130e-06 2.72779775e+00] [ 5.05648604e-03 -9.42951958e-05 9.99987211e-01 9.26300878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:186.32, Y:2.73, Z:0.93 [[ 9.99741155e-01 -2.21821154e-02 -5.05735976e-03 1.86315949e+02] [ 2.21824365e-02 9.99753939e-01 7.39871901e-06 2.72618408e+00] [ 5.05595123e-03 -1.19581366e-04 9.99987211e-01 9.26228896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:186.34, Y:2.72, Z:0.93 [[ 9.99732396e-01 -2.25734344e-02 -5.05735931e-03 1.86344193e+02] [ 2.25737619e-02 9.99745180e-01 7.69343466e-06 2.72459767e+00] [ 5.05589693e-03 -1.21855001e-04 9.99987211e-01 9.26166879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:186.38, Y:2.72, Z:0.93 [[ 9.99646585e-01 -2.60984233e-02 -5.05743187e-03 1.86377978e+02] [ 2.60985768e-02 9.99659374e-01 -3.56592190e-05 2.72376722e+00] [ 5.05663982e-03 -9.63451576e-05 9.99987210e-01 9.25956949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:186.41, Y:2.73, Z:0.93 [[ 9.99335847e-01 -3.60872173e-02 -5.05736553e-03 1.86407660e+02] [ 3.60876328e-02 9.99348629e-01 -9.10323058e-06 2.72575598e+00] [ 5.05439982e-03 -1.73411166e-04 9.99987211e-01 9.28189149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:186.44, Y:2.72, Z:0.93 [[ 9.99393400e-01 -3.44565533e-02 -5.05750282e-03 1.86442254e+02] [ 3.44567371e-02 9.99406189e-01 -5.08106388e-05 2.72042604e+00] [ 5.05625038e-03 -1.23485228e-04 9.99987209e-01 9.26222027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:186.47, Y:2.72, Z:0.93 [[ 9.99188769e-01 -3.99528364e-02 -5.05723848e-03 1.86470615e+02] [ 3.99534439e-02 9.99201542e-01 1.91181539e-05 2.72407976e+00] [ 5.05243667e-03 -2.21156739e-04 9.99987212e-01 9.28213863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:186.51, Y:2.72, Z:0.93 [[ 9.99246478e-01 -3.84824438e-02 -5.05744490e-03 1.86505107e+02] [ 3.84827440e-02 9.99259264e-01 -3.79762265e-05 2.71982179e+00] [ 5.05516009e-03 -1.56676747e-04 9.99987210e-01 9.26710237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:186.54, Y:2.72, Z:0.93 [[ 9.99266964e-01 -3.79467871e-02 -5.05720677e-03 1.86537296e+02] [ 3.79473763e-02 9.99279739e-01 2.05704293e-05 2.71964058e+00] [ 5.05278368e-03 -2.12463079e-04 9.99987212e-01 9.26879363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:186.57, Y:2.72, Z:0.93 [[ 9.99264578e-01 -3.80095627e-02 -5.05725434e-03 1.86569461e+02] [ 3.80100951e-02 9.99277355e-01 9.17594857e-06 2.71983366e+00] [ 5.05325097e-03 -2.01395919e-04 9.99987212e-01 9.26617475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.044391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:186.60, Y:2.72, Z:0.93 [[ 9.99306984e-01 -3.68778468e-02 -5.05720070e-03 1.86601884e+02] [ 3.68784280e-02 9.99319759e-01 2.16857146e-05 2.71991199e+00] [ 5.05296086e-03 -2.08172298e-04 9.99987212e-01 9.26381663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.074391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:186.63, Y:2.72, Z:0.93 [[ 9.99421709e-01 -3.36254649e-02 -5.05719891e-03 1.86634338e+02] [ 3.36260066e-02 9.99434486e-01 2.20948307e-05 2.72094755e+00] [ 5.05359605e-03 -1.92135457e-04 9.99987212e-01 9.26397996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.104391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:186.67, Y:2.72, Z:0.93 [[ 9.99487911e-01 -3.15965120e-02 -5.05719710e-03 1.86666935e+02] [ 3.15970298e-02 9.99500689e-01 2.25028792e-05 2.72195630e+00] [ 5.05396097e-03 -1.82283763e-04 9.99987212e-01 9.27010836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.134391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:186.70, Y:2.72, Z:0.93 [[ 9.99611730e-01 -2.74009922e-02 -5.05719524e-03 1.86697737e+02] [ 2.74014584e-02 9.99624509e-01 2.29138493e-05 2.72374770e+00] [ 5.05466844e-03 -1.61479477e-04 9.99987212e-01 9.27169918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:186.73, Y:2.72, Z:0.93 [[ 9.99662487e-01 -2.54820828e-02 -5.05719207e-03 1.86730277e+02] [ 2.54825280e-02 9.99675267e-01 2.35932412e-05 2.72433110e+00] [ 5.05494863e-03 -1.52455316e-04 9.99987212e-01 9.27339361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:186.76, Y:2.72, Z:0.93 [[ 9.99710909e-01 -2.35058137e-02 -5.05719014e-03 1.86762790e+02] [ 2.35062356e-02 9.99723690e-01 2.39987395e-05 2.72477552e+00] [ 5.05522868e-03 -1.42867305e-04 9.99987212e-01 9.27200848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:186.79, Y:2.73, Z:0.93 [[ 9.99784178e-01 -2.01500058e-02 -5.05718817e-03 1.86793643e+02] [ 2.01503869e-02 9.99796960e-01 2.44063518e-05 2.72605175e+00] [ 5.05566958e-03 -1.26305383e-04 9.99987212e-01 9.26305254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:186.83, Y:2.73, Z:0.93 [[ 9.99809909e-01 -1.88300277e-02 -5.05720668e-03 1.86825024e+02] [ 1.88303721e-02 9.99822693e-01 2.04996139e-05 2.72667390e+00] [ 5.05592399e-03 -1.15724801e-04 9.99987212e-01 9.25729020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:186.86, Y:2.73, Z:0.93 [[ 9.99864450e-01 -1.56686593e-02 -5.05719020e-03 1.86855992e+02] [ 1.56689809e-02 9.99877234e-01 2.39751592e-05 2.72813826e+00] [ 5.05619369e-03 -1.03212926e-04 9.99987212e-01 9.25340260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:186.89, Y:2.73, Z:0.93 [[ 9.99888493e-01 -1.40508577e-02 -5.05718924e-03 1.86887193e+02] [ 1.40511597e-02 9.99901277e-01 2.41770551e-05 2.72915044e+00] [ 5.05635027e-03 -9.52337327e-05 9.99987212e-01 9.25426869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34439141800001 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:186.92, Y:2.73, Z:0.93 [[ 9.99910465e-01 -1.23890111e-02 -5.05718825e-03 1.86918516e+02] [ 1.23892928e-02 9.99923249e-01 2.43812266e-05 2.73035820e+00] [ 5.05649805e-03 -8.70340296e-05 9.99987212e-01 9.25356067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37439141800002 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:186.95, Y:2.73, Z:0.93 [[ 9.99931081e-01 -1.05951893e-02 -5.05718495e-03 1.86949527e+02] [ 1.05954515e-02 9.99943866e-01 2.50488770e-05 2.73150997e+00] [ 5.05663567e-03 -7.86303085e-05 9.99987212e-01 9.25585735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40439141800002 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:186.98, Y:2.73, Z:0.93 [[ 9.99958712e-01 -7.54973969e-03 -5.05718444e-03 1.86979981e+02] [ 7.54996342e-03 9.99971498e-01 2.51509038e-05 2.73397873e+00] [ 5.05685042e-03 -6.33314230e-05 9.99987212e-01 9.25560932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43439141800002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:187.01, Y:2.73, Z:0.93 [[ 9.99967287e-01 -6.31269907e-03 -5.05718394e-03 1.87009819e+02] [ 6.31290750e-03 9.99980073e-01 2.52519409e-05 2.73489990e+00] [ 5.05692375e-03 -5.71766492e-05 9.99987212e-01 9.26054024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:187.04, Y:2.74, Z:0.93 [[ 9.99974269e-01 -5.08790690e-03 -5.05718493e-03 1.87039562e+02] [ 5.08809864e-03 9.99987055e-01 2.50505790e-05 2.73562236e+00] [ 5.05699201e-03 -5.07813902e-05 9.99987212e-01 9.26353729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:187.07, Y:2.74, Z:0.92 [[ 9.99984299e-01 -2.41399715e-03 -5.05718483e-03 1.87067338e+02] [ 2.41415481e-03 9.99997086e-01 2.50720544e-05 2.73559540e+00] [ 5.05710956e-03 -3.72804878e-05 9.99987212e-01 9.23997329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:187.10, Y:2.74, Z:0.93 [[ 9.99982274e-01 -3.14236203e-03 -5.05736777e-03 1.87098147e+02] [ 3.14234379e-03 9.99995063e-01 -1.15519012e-05 2.73763098e+00] [ 5.05737910e-03 -4.34029177e-06 9.99987211e-01 9.27767527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:187.13, Y:2.74, Z:0.93 [[ 9.99982648e-01 -3.02139274e-03 -5.05718423e-03 1.87127025e+02] [ 3.02155899e-03 9.99995435e-01 2.52333371e-05 2.73785797e+00] [ 5.05708490e-03 -4.05134797e-05 9.99987212e-01 9.28798938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:187.16, Y:2.74, Z:0.93 [[ 9.99983535e-01 -2.71186029e-03 -5.05719101e-03 1.87155705e+02] [ 2.71201529e-03 9.99996322e-01 2.37917950e-05 2.73785117e+00] [ 5.05710789e-03 -3.75065826e-05 9.99987212e-01 9.29916244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:187.18, Y:2.74, Z:0.93 [[ 9.99981538e-01 -3.36874249e-03 -5.05719242e-03 1.87184525e+02] [ 3.36890435e-03 9.99994325e-01 2.34876955e-05 2.73787443e+00] [ 5.05708460e-03 -4.05244594e-05 9.99987212e-01 9.29957556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:187.21, Y:2.74, Z:0.93 [[ 9.99980385e-01 -3.69512829e-03 -5.05719862e-03 1.87213006e+02] [ 3.69528714e-03 9.99993172e-01 2.20682312e-05 2.73734114e+00] [ 5.05708254e-03 -4.07555994e-05 9.99987212e-01 9.30087756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:187.24, Y:2.74, Z:0.93 [[ 9.99978621e-01 -4.14509099e-03 -5.05720447e-03 1.87241414e+02] [ 4.14524835e-03 9.99991408e-01 2.06348654e-05 2.73683070e+00] [ 5.05707548e-03 -4.15977927e-05 9.99987212e-01 9.29986668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:187.27, Y:2.74, Z:0.93 [[ 9.99975347e-01 -4.87132341e-03 -5.05720568e-03 1.87270488e+02] [ 4.87148853e-03 9.99988134e-01 2.03321899e-05 2.73578826e+00] [ 5.05704663e-03 -4.49678082e-05 9.99987212e-01 9.29668908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:187.30, Y:2.74, Z:0.93 [[ 9.99974898e-01 -4.96267706e-03 -5.05720707e-03 1.87300051e+02] [ 4.96284156e-03 9.99987685e-01 1.99802219e-05 2.73503610e+00] [ 5.05704564e-03 -4.50778378e-05 9.99987212e-01 9.30390237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:187.33, Y:2.73, Z:0.93 [[ 9.99972193e-01 -5.48072256e-03 -5.05720786e-03 1.87329552e+02] [ 5.48089267e-03 9.99984980e-01 1.97785524e-05 2.73438702e+00] [ 5.05702350e-03 -4.74960159e-05 9.99987212e-01 9.30648880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.794391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:187.36, Y:2.73, Z:0.93 [[ 9.99966949e-01 -6.36590405e-03 -5.05720864e-03 1.87358565e+02] [ 6.36608447e-03 9.99979736e-01 1.95784073e-05 2.73270773e+00] [ 5.05698152e-03 -5.17723776e-05 9.99987212e-01 9.29977853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.824391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:187.39, Y:2.73, Z:0.93 [[ 9.99963339e-01 -6.90974804e-03 -5.05720977e-03 1.87388408e+02] [ 6.90993391e-03 9.99976126e-01 1.92807225e-05 2.73146802e+00] [ 5.05695581e-03 -5.42250010e-05 9.99987212e-01 9.29387123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.854391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:187.42, Y:2.73, Z:0.93 [[ 9.99957861e-01 -7.66167023e-03 -5.05721014e-03 1.87417756e+02] [ 7.66186522e-03 9.99970647e-01 1.91829595e-05 2.73023960e+00] [ 5.05691473e-03 -5.79298136e-05 9.99987212e-01 9.29647580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.884391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:187.45, Y:2.73, Z:0.93 [[ 9.99945991e-01 -9.07964001e-03 -5.05721090e-03 1.87447606e+02] [ 9.07985211e-03 9.99958777e-01 1.89810772e-05 2.72841824e+00] [ 5.05683009e-03 -6.48987791e-05 9.99987212e-01 9.29443435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:187.48, Y:2.73, Z:0.93 [[ 9.99942388e-01 -9.46816536e-03 -5.05721166e-03 1.87477507e+02] [ 9.46838140e-03 9.99955174e-01 1.87777402e-05 2.72773266e+00] [ 5.05680717e-03 -6.66602672e-05 9.99987212e-01 9.29279026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:187.51, Y:2.73, Z:0.93 [[ 9.99940014e-01 -9.71565249e-03 -5.05721203e-03 1.87507705e+02] [ 9.71587118e-03 9.99952800e-01 1.86764324e-05 2.72679434e+00] [ 5.05679187e-03 -6.78105326e-05 9.99987212e-01 9.29759316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:187.54, Y:2.73, Z:0.93 [[ 9.99934980e-01 -1.02206256e-02 -5.05721203e-03 1.87537660e+02] [ 1.02208507e-02 9.99947766e-01 1.86764324e-05 2.72515906e+00] [ 5.05675699e-03 -7.03642274e-05 9.99987212e-01 9.30095930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:187.57, Y:2.73, Z:0.93 [[ 9.99934980e-01 -1.02206280e-02 -5.05721374e-03 1.87568658e+02] [ 1.02208507e-02 9.99947766e-01 1.82004671e-05 2.72504774e+00] [ 5.05676356e-03 -6.98883105e-05 9.99987212e-01 9.30252814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:187.60, Y:2.72, Z:0.93 [[ 9.99932290e-01 -1.04804943e-02 -5.05721374e-03 1.87598853e+02] [ 1.04807203e-02 9.99945076e-01 1.82004671e-05 2.72399246e+00] [ 5.05674523e-03 -7.12024776e-05 9.99987212e-01 9.30607957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:187.63, Y:2.72, Z:0.93 [[ 9.99925619e-01 -1.10986994e-02 -5.05721251e-03 1.87629470e+02] [ 1.10989351e-02 9.99938405e-01 1.85362311e-05 2.72306566e+00] [ 5.05669528e-03 -7.46645258e-05 9.99987212e-01 9.31158338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09439141800001 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:187.66, Y:2.72, Z:0.93 [[ 9.99901223e-01 -1.31136743e-02 -5.05721251e-03 1.87660133e+02] [ 1.31139357e-02 9.99914008e-01 1.85362311e-05 2.72044516e+00] [ 5.05653456e-03 -8.48543600e-05 9.99987212e-01 9.31819749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12439141800002 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:187.69, Y:2.72, Z:0.93 [[ 9.99888604e-01 -1.40429539e-02 -5.05721215e-03 1.87690733e+02] [ 1.40432277e-02 9.99901389e-01 1.86341306e-05 2.71917104e+00] [ 5.05645178e-03 -8.96516367e-05 9.99987212e-01 9.33155734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15439141800002 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:187.72, Y:2.72, Z:0.93 [[ 9.99848772e-01 -1.66390544e-02 -5.05725709e-03 1.87721459e+02] [ 1.66392941e-02 9.99861557e-01 5.33602784e-06 2.71846492e+00] [ 5.05646817e-03 -8.94844092e-05 9.99987212e-01 9.32966893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18439141800002 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:187.75, Y:2.72, Z:0.93 [[ 9.99829960e-01 -1.77334374e-02 -5.05722471e-03 1.87751270e+02] [ 1.77337385e-02 9.99842745e-01 1.46990753e-05 2.71658104e+00] [ 5.05616877e-03 -1.04380076e-04 9.99987212e-01 9.33643465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:187.78, Y:2.71, Z:0.93 [[ 9.99701198e-01 -2.39152571e-02 -5.05727427e-03 1.87783915e+02] [ 2.39155707e-02 9.99713982e-01 1.53182061e-06 2.71402162e+00] [ 5.05579116e-03 -1.22478963e-04 9.99987212e-01 9.33068494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:187.82, Y:2.71, Z:0.93 [[ 9.99631530e-01 -2.66688735e-02 -5.05720268e-03 1.87816074e+02] [ 2.66693147e-02 9.99644310e-01 1.98085267e-05 2.71262445e+00] [ 5.05487561e-03 -1.54673358e-04 9.99987212e-01 9.33229329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:187.85, Y:2.71, Z:0.93 [[ 9.99562305e-01 -2.91482868e-02 -5.05720106e-03 1.87846912e+02] [ 2.91487617e-02 9.99575084e-01 2.02138356e-05 2.71130777e+00] [ 5.05446298e-03 -1.67616137e-04 9.99987212e-01 9.32981414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:187.88, Y:2.71, Z:0.93 [[ 9.99483932e-01 -3.17221517e-02 -5.05719983e-03 1.87878147e+02] [ 3.17226611e-02 9.99496710e-01 2.05164511e-05 2.71023185e+00] [ 5.05400376e-03 -1.80933700e-04 9.99987212e-01 9.32499866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:187.91, Y:2.71, Z:0.93 [[ 9.99340194e-01 -3.59666594e-02 -5.05719861e-03 1.87910476e+02] [ 3.59672245e-02 9.99352970e-01 2.08142509e-05 2.70854557e+00] [ 5.05317783e-03 -2.02693915e-04 9.99987212e-01 9.31656546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:187.94, Y:2.71, Z:0.93 [[ 9.99270759e-01 -3.78467230e-02 -5.05719695e-03 1.87942449e+02] [ 3.78473141e-02 9.99283534e-01 2.12081049e-05 2.70809439e+00] [ 5.05277098e-03 -2.12593961e-04 9.99987212e-01 9.31681489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:187.97, Y:2.71, Z:0.93 [[ 9.99209295e-01 -3.94361523e-02 -5.05719525e-03 1.87973826e+02] [ 3.94367658e-02 9.99222068e-01 2.16080906e-05 2.70775297e+00] [ 5.05240895e-03 -2.21030430e-04 9.99987212e-01 9.31623168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:188.01, Y:2.71, Z:0.93 [[ 9.99123359e-01 -4.15564499e-02 -5.05719230e-03 1.88005624e+02] [ 4.15570938e-02 9.99136131e-01 2.22764495e-05 2.70767206e+00] [ 5.05189782e-03 -2.32419136e-04 9.99987212e-01 9.32586154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:188.04, Y:2.71, Z:0.93 [[ 9.99090393e-01 -4.23416061e-02 -5.05719046e-03 1.88036548e+02] [ 4.23422622e-02 9.99103164e-01 2.26878619e-05 2.70794090e+00] [ 5.05169434e-03 -2.36800109e-04 9.99987212e-01 9.32590588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:188.07, Y:2.71, Z:0.93 [[ 9.99076395e-01 -4.26706301e-02 -5.05718732e-03 1.88068076e+02] [ 4.26712938e-02 9.99089165e-01 2.33657003e-05 2.70797246e+00] [ 5.05158403e-03 -2.39140845e-04 9.99987212e-01 9.32698461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:188.10, Y:2.71, Z:0.93 [[ 9.99080600e-01 -4.25720488e-02 -5.05718596e-03 1.88100158e+02] [ 4.25727127e-02 9.99093371e-01 2.36564869e-05 2.70911825e+00] [ 5.05159387e-03 -2.38932862e-04 9.99987212e-01 9.33029870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.544391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:188.13, Y:2.71, Z:0.93 [[ 9.99094348e-01 -4.22481891e-02 -5.05718414e-03 1.88131634e+02] [ 4.22488509e-02 9.99107118e-01 2.40400697e-05 2.70999446e+00] [ 5.05165302e-03 -2.37678516e-04 9.99987212e-01 9.33280938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.574391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:188.16, Y:2.71, Z:0.93 [[ 9.99072906e-01 -4.27522380e-02 -5.05718276e-03 1.88163857e+02] [ 4.27529076e-02 9.99085676e-01 2.43264067e-05 2.71231165e+00] [ 5.05151885e-03 -2.40513121e-04 9.99987212e-01 9.34777421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.604391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:188.19, Y:2.71, Z:0.93 [[ 9.99118512e-01 -4.16728214e-02 -5.05717345e-03 1.88194606e+02] [ 4.16734869e-02 9.99131283e-01 2.62435190e-05 2.71210829e+00] [ 5.05168655e-03 -2.36970437e-04 9.99987212e-01 9.34353465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.634391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:188.23, Y:2.71, Z:0.93 [[ 9.99135023e-01 -4.12750616e-02 -5.05717909e-03 1.88225711e+02] [ 4.12757163e-02 9.99147794e-01 2.51073773e-05 2.71405323e+00] [ 5.05183302e-03 -2.33824349e-04 9.99987212e-01 9.33820128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:188.26, Y:2.71, Z:0.93 [[ 9.99124170e-01 -4.15369549e-02 -5.05717756e-03 1.88257915e+02] [ 4.15376144e-02 9.99136941e-01 2.54103119e-05 2.71494725e+00] [ 5.05175745e-03 -2.35451149e-04 9.99987212e-01 9.33785884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:188.29, Y:2.72, Z:0.93 [[ 9.99131001e-01 -4.13723044e-02 -5.05717550e-03 1.88290079e+02] [ 4.13729638e-02 9.99143772e-01 2.58152385e-05 2.71570317e+00] [ 5.05177737e-03 -2.35023144e-04 9.99987212e-01 9.34037943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:188.32, Y:2.72, Z:0.94 [[ 9.99147050e-01 -4.09828809e-02 -5.05717340e-03 1.88322574e+02] [ 4.09835375e-02 9.99159822e-01 2.62207852e-05 2.71785147e+00] [ 5.05184986e-03 -2.33459276e-04 9.99987212e-01 9.35184262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:188.35, Y:2.72, Z:0.94 [[ 9.99088453e-01 -4.23873693e-02 -5.05717121e-03 1.88352742e+02] [ 4.23880459e-02 9.99101223e-01 2.66356165e-05 2.72156684e+00] [ 5.05149693e-03 -2.40974942e-04 9.99987212e-01 9.35136566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:188.39, Y:2.72, Z:0.94 [[ 9.99195953e-01 -3.97727425e-02 -5.05733001e-03 1.88385998e+02] [ 3.97732323e-02 9.99208732e-01 -3.72704600e-06 2.72083098e+00] [ 5.05347654e-03 -1.97422312e-04 9.99987212e-01 9.36027093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:188.42, Y:2.72, Z:0.94 [[ 9.99248710e-01 -3.84244829e-02 -5.05715927e-03 1.88418277e+02] [ 3.84251136e-02 9.99261482e-01 2.75805519e-05 2.72225467e+00] [ 5.05236470e-03 -2.21881750e-04 9.99987212e-01 9.36117719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84439141800001 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:188.45, Y:2.73, Z:0.94 [[ 9.99370196e-01 -3.51231629e-02 -5.05715698e-03 1.88449957e+02] [ 3.51237535e-02 9.99382970e-01 2.79936905e-05 2.72567438e+00] [ 5.05305334e-03 -2.05602395e-04 9.99987212e-01 9.36037155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87439141800002 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:188.48, Y:2.73, Z:0.94 [[ 9.99451449e-01 -3.27296042e-02 -5.05715526e-03 1.88482251e+02] [ 3.27301657e-02 9.99464224e-01 2.83016082e-05 2.72737562e+00] [ 5.05351945e-03 -1.93807613e-04 9.99987212e-01 9.36450558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90439141800002 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:188.51, Y:2.73, Z:0.94 [[ 9.99538413e-01 -2.99563954e-02 -5.05715296e-03 1.88514248e+02] [ 2.99569235e-02 9.99551190e-01 2.87063431e-05 2.72933656e+00] [ 5.05402332e-03 -1.80189837e-04 9.99987212e-01 9.36954252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93439141800002 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:188.55, Y:2.73, Z:0.94 [[ 9.99706082e-01 -2.37102160e-02 -5.05715062e-03 1.88546317e+02] [ 2.37106664e-02 9.99718862e-01 2.91118383e-05 2.73388936e+00] [ 5.05503862e-03 -1.49011693e-04 9.99987212e-01 9.37711617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:188.58, Y:2.74, Z:0.94 [[ 9.99783823e-01 -2.01675939e-02 -5.05714822e-03 1.88578778e+02] [ 2.01680011e-02 9.99796605e-01 2.95228555e-05 2.73580232e+00] [ 5.05552422e-03 -1.31509044e-04 9.99987212e-01 9.37787566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:188.60, Y:2.74, Z:0.94 [[ 9.99729181e-01 -2.27153996e-02 -5.05714581e-03 1.88603295e+02] [ 2.27158414e-02 9.99741962e-01 2.99302218e-05 2.74491113e+00] [ 5.05516100e-03 -1.44799438e-04 9.99987212e-01 9.36686947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:188.64, Y:2.74, Z:0.94 [[ 9.99920673e-01 -1.15354449e-02 -5.05773371e-03 1.88638827e+02] [ 1.15351903e-02 9.99933464e-01 -7.94938901e-05 2.74076882e+00] [ 5.05831419e-03 2.11456630e-05 9.99987206e-01 9.38284746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:188.67, Y:2.74, Z:0.94 [[ 9.99941575e-01 -9.55364714e-03 -5.05707427e-03 1.88669573e+02] [ 9.55392282e-03 9.99954360e-01 3.03590914e-05 2.74190725e+00] [ 5.05655342e-03 -7.86722149e-05 9.99987212e-01 9.38383669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:188.69, Y:2.75, Z:0.94 [[ 9.99890349e-01 -1.39181742e-02 -5.05707366e-03 1.88693722e+02] [ 1.39185062e-02 9.99903132e-01 3.04601262e-05 2.74933584e+00] [ 5.05615984e-03 -1.00843697e-04 9.99987212e-01 9.37909907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:188.73, Y:2.74, Z:0.94 [[ 9.99961016e-01 -7.23784100e-03 -5.05768033e-03 1.88729951e+02] [ 7.23751711e-03 9.99973805e-01 -8.23409325e-05 2.74343036e+00] [ 5.05814382e-03 4.57326746e-05 9.99987206e-01 9.39043229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:188.76, Y:2.74, Z:0.94 [[ 9.99966634e-01 -6.41538847e-03 -5.05699147e-03 1.88760123e+02] [ 6.41562622e-03 9.99979419e-01 3.07929652e-05 2.74303869e+00] [ 5.05668985e-03 -6.32357049e-05 9.99987213e-01 9.39576618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:188.79, Y:2.74, Z:0.94 [[ 9.99950561e-01 -8.56155803e-03 -5.05714668e-03 1.88789554e+02] [ 8.56169272e-03 9.99963348e-01 4.98575968e-06 2.74305809e+00] [ 5.05691864e-03 -4.82832491e-05 9.99987213e-01 9.38727688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:188.82, Y:2.74, Z:0.94 [[ 9.99937545e-01 -9.96661472e-03 -5.05699858e-03 1.88819976e+02] [ 9.96689373e-03 9.99950329e-01 2.99725477e-05 2.74263343e+00] [ 5.05644867e-03 -8.03732432e-05 9.99987213e-01 9.38539294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:188.85, Y:2.74, Z:0.94 [[ 9.99896335e-01 -1.34813378e-02 -5.05699858e-03 1.88850010e+02] [ 1.34816618e-02 9.99909118e-01 2.99725477e-05 2.74162150e+00] [ 5.05613492e-03 -9.81461850e-05 9.99987213e-01 9.37763484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:188.88, Y:2.74, Z:0.94 [[ 9.99865096e-01 -1.56274097e-02 -5.05699799e-03 1.88881533e+02] [ 1.56277616e-02 9.99877879e-01 3.00729679e-05 2.74087876e+00] [ 5.05591046e-03 -1.09098470e-04 9.99987213e-01 9.37875261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.294391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:188.91, Y:2.74, Z:0.94 [[ 9.99815580e-01 -1.85265683e-02 -5.05699679e-03 1.88912596e+02] [ 1.85269582e-02 9.99828361e-01 3.02726308e-05 2.74107076e+00] [ 5.05556796e-03 -1.23957816e-04 9.99987213e-01 9.38670934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.324391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:188.94, Y:2.74, Z:0.94 [[ 9.99756506e-01 -2.14791797e-02 -5.05706048e-03 1.88944704e+02] [ 2.14795539e-02 9.99769288e-01 1.97014437e-05 2.73905489e+00] [ 5.05547058e-03 -1.28320050e-04 9.99987213e-01 9.38434020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.354391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:188.98, Y:2.74, Z:0.94 [[ 9.99715317e-01 -2.33176353e-02 -5.05699065e-03 1.88977071e+02] [ 2.33180905e-02 9.99728096e-01 3.10675503e-05 2.73842398e+00] [ 5.05489121e-03 -1.48978072e-04 9.99987213e-01 9.38527184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.384391418 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:189.01, Y:2.74, Z:0.94 [[ 9.99678787e-01 -2.48344599e-02 -5.05698822e-03 1.89009277e+02] [ 2.48349364e-02 9.99691565e-01 3.14579041e-05 2.73777694e+00] [ 5.05464723e-03 -1.57037781e-04 9.99987213e-01 9.38070603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:189.04, Y:2.74, Z:0.94 [[ 9.99602985e-01 -2.77181952e-02 -5.05698577e-03 1.89041263e+02] [ 2.77187106e-02 9.99615762e-01 3.18484343e-05 2.73704642e+00] [ 5.05415990e-03 -1.72008915e-04 9.99987213e-01 9.38645974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:189.07, Y:2.74, Z:0.94 [[ 9.99508388e-01 -3.09420426e-02 -5.05698313e-03 1.89072097e+02] [ 3.09426013e-02 9.99521163e-01 3.22611123e-05 2.73930521e+00] [ 5.05356344e-03 -1.88721465e-04 9.99987213e-01 9.39207098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:189.11, Y:2.74, Z:0.94 [[ 9.99549191e-01 -2.95945809e-02 -5.05713713e-03 1.89106505e+02] [ 2.95949994e-02 9.99561972e-01 7.93471181e-06 2.73599593e+00] [ 5.05468713e-03 -1.57597105e-04 9.99987213e-01 9.39010839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:189.14, Y:2.74, Z:0.94 [[ 9.99531783e-01 -3.01768385e-02 -5.05697631e-03 1.89137803e+02] [ 3.01773900e-02 9.99544558e-01 3.27596504e-05 2.73533968e+00] [ 5.05368457e-03 -1.85350658e-04 9.99987213e-01 9.39035722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:189.17, Y:2.74, Z:0.94 [[ 9.99510785e-01 -3.08644976e-02 -5.05697427e-03 1.89170167e+02] [ 3.08650594e-02 9.99523560e-01 3.30707865e-05 2.73532159e+00] [ 5.05354422e-03 -1.89138419e-04 9.99987213e-01 9.39044983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:189.20, Y:2.74, Z:0.94 [[ 9.99518056e-01 -3.06281354e-02 -5.05697156e-03 1.89201442e+02] [ 3.06286962e-02 9.99530831e-01 3.34809066e-05 2.73521343e+00] [ 5.05357353e-03 -1.88353216e-04 9.99987213e-01 9.38867452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59439141800001 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:189.23, Y:2.74, Z:0.94 [[ 9.99530758e-01 -3.02107882e-02 -5.05696952e-03 1.89232744e+02] [ 3.02113452e-02 9.99543533e-01 3.37864443e-05 2.73610926e+00] [ 5.05364046e-03 -1.86548442e-04 9.99987213e-01 9.40441026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62439141800002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:189.27, Y:2.74, Z:0.94 [[ 9.99597903e-01 -2.79008495e-02 -5.05707340e-03 1.89265514e+02] [ 2.79012997e-02 9.99610683e-01 1.84867893e-05 2.73700033e+00] [ 5.05458880e-03 -1.59578276e-04 9.99987213e-01 9.40896845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65439141800002 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:189.30, Y:2.74, Z:0.94 [[ 9.99670306e-01 -2.51735293e-02 -5.05696989e-03 1.89297154e+02] [ 2.51740208e-02 9.99683084e-01 3.35573067e-05 2.73698971e+00] [ 5.05452250e-03 -1.60850509e-04 9.99987213e-01 9.39986616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68439141800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:189.33, Y:2.74, Z:0.94 [[ 9.99759304e-01 -2.13485504e-02 -5.05695648e-03 1.89330532e+02] [ 2.13490027e-02 9.99772083e-01 3.54694428e-05 2.73549650e+00] [ 5.05504670e-03 -1.43421883e-04 9.99987213e-01 9.41712065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:189.36, Y:2.74, Z:0.94 [[ 9.99778429e-01 -2.04333913e-02 -5.05664632e-03 1.89358685e+02] [ 2.04340506e-02 9.99791200e-01 7.87427059e-05 2.73849867e+00] [ 5.05398152e-03 -1.82053026e-04 9.99987212e-01 9.41759963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:189.39, Y:2.74, Z:0.94 [[ 9.99874950e-01 -1.49836959e-02 -5.05694997e-03 1.89391162e+02] [ 1.49840672e-02 9.99887732e-01 3.55467826e-05 2.73981668e+00] [ 5.05584961e-03 -1.11316016e-04 9.99987213e-01 9.43261019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:189.42, Y:2.74, Z:0.94 [[ 9.99911964e-01 -1.22674865e-02 -5.05694703e-03 1.89421140e+02] [ 1.22678252e-02 9.99924747e-01 3.59601018e-05 2.74034628e+00] [ 5.05612534e-03 -9.79946782e-05 9.99987213e-01 9.42609374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:189.45, Y:2.74, Z:0.94 [[ 9.99953700e-01 -8.18682997e-03 -5.05694630e-03 1.89452544e+02] [ 8.18711701e-03 9.99966484e-01 3.60620679e-05 2.73871297e+00] [ 5.05648158e-03 -7.74622094e-05 9.99987213e-01 9.41043347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:189.48, Y:2.74, Z:0.94 [[ 9.99965442e-01 -6.59889123e-03 -5.05656690e-03 1.89479737e+02] [ 6.59942149e-03 9.99978220e-01 8.81871530e-05 2.74243077e+00] [ 5.05587483e-03 -1.21554522e-04 9.99987212e-01 9.40308273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:189.51, Y:2.74, Z:0.94 [[ 9.99971082e-01 -5.67997624e-03 -5.05693690e-03 1.89509090e+02] [ 5.68022859e-03 9.99983867e-01 3.55391004e-05 2.74298559e+00] [ 5.05665346e-03 -6.42626303e-05 9.99987213e-01 9.39987943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:189.54, Y:2.74, Z:0.94 [[ 9.99970856e-01 -5.71961173e-03 -5.05693830e-03 1.89539241e+02] [ 5.71986356e-03 9.99983641e-01 3.53386405e-05 2.74281341e+00] [ 5.05665345e-03 -6.42626078e-05 9.99987213e-01 9.40140478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:189.57, Y:2.74, Z:0.94 [[ 9.99974233e-01 -5.09517581e-03 -5.05693970e-03 1.89569210e+02] [ 5.09541865e-03 9.99987018e-01 3.51382030e-05 2.74316432e+00] [ 5.05669501e-03 -6.09045224e-05 9.99987213e-01 9.39736792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:189.60, Y:2.74, Z:0.94 [[ 9.99969289e-01 -5.98729391e-03 -5.05694108e-03 1.89597531e+02] [ 5.98754714e-03 9.99982074e-01 3.49382550e-05 2.74363459e+00] [ 5.05664124e-03 -6.52158552e-05 9.99987213e-01 9.39147336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:189.63, Y:2.74, Z:0.94 [[ 9.99973002e-01 -5.33126387e-03 -5.05694363e-03 1.89626254e+02] [ 5.33150682e-03 9.99985787e-01 3.45649045e-05 2.74323804e+00] [ 5.05668748e-03 -6.15251008e-05 9.99987213e-01 9.39289489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:189.66, Y:2.74, Z:0.94 [[ 9.99959070e-01 -7.50229711e-03 -5.05711284e-03 1.89655858e+02] [ 7.50244005e-03 9.99971856e-01 9.29593340e-06 2.74371611e+00] [ 5.05690078e-03 -4.72362389e-05 9.99987213e-01 9.40572767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.044391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:189.69, Y:2.74, Z:0.94 [[ 9.99945875e-01 -9.09254154e-03 -5.05695293e-03 1.89686030e+02] [ 9.09282702e-03 9.99958659e-01 3.34625906e-05 2.74447695e+00] [ 5.05643961e-03 -7.94427777e-05 9.99987213e-01 9.42919201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.074391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:189.72, Y:2.74, Z:0.94 [[ 9.99951917e-01 -8.40187106e-03 -5.05695293e-03 1.89716090e+02] [ 8.40214770e-03 9.99964701e-01 3.34625906e-05 2.74431248e+00] [ 5.05649328e-03 -7.59502471e-05 9.99987213e-01 9.44194678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.104391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:189.75, Y:2.74, Z:0.94 [[ 9.99947181e-01 -8.94768408e-03 -5.05714317e-03 1.89746148e+02] [ 8.94782387e-03 9.99959967e-01 5.01521252e-06 2.74416167e+00] [ 5.05689585e-03 -5.02653740e-05 9.99987213e-01 9.44520072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.134391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:189.78, Y:2.74, Z:0.94 [[ 9.99889555e-01 -1.39750572e-02 -5.05719464e-03 1.89776461e+02] [ 1.39752222e-02 9.99902342e-01 -2.70942866e-06 2.74458473e+00] [ 5.05673862e-03 -6.79662893e-05 9.99987212e-01 9.44442076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:189.81, Y:2.74, Z:0.94 [[ 9.99862218e-01 -1.58105385e-02 -5.05694198e-03 1.89807690e+02] [ 1.58109147e-02 9.99874999e-01 3.44156658e-05 2.74401860e+00] [ 5.05576573e-03 -1.14365802e-04 9.99987213e-01 9.44508520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:189.84, Y:2.74, Z:0.94 [[ 9.99828556e-01 -1.78125252e-02 -5.05694068e-03 1.89839107e+02] [ 1.78129279e-02 9.99841337e-01 3.46061339e-05 2.74331979e+00] [ 5.05552190e-03 -1.24679121e-04 9.99987213e-01 9.44524956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:189.87, Y:2.74, Z:0.95 [[ 9.99733408e-01 -2.25286479e-02 -5.05693627e-03 1.89871068e+02] [ 2.25291141e-02 9.99746187e-01 3.52379357e-05 2.74285612e+00] [ 5.05485889e-03 -1.49156836e-04 9.99987213e-01 9.45339214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:189.90, Y:2.74, Z:0.95 [[ 9.99744186e-01 -2.20451601e-02 -5.05693357e-03 1.89898723e+02] [ 2.20456221e-02 9.99756965e-01 3.56214995e-05 2.74166041e+00] [ 5.05491928e-03 -1.47095633e-04 9.99987213e-01 9.45058958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:189.93, Y:2.74, Z:0.95 [[ 9.99606965e-01 -2.75742654e-02 -5.05729872e-03 1.89932501e+02] [ 2.75745222e-02 9.99619750e-01 -1.89456851e-05 2.74181298e+00] [ 5.05589810e-03 -1.20514357e-04 9.99987212e-01 9.45064070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:189.97, Y:2.74, Z:0.95 [[ 9.99460814e-01 -3.24423837e-02 -5.05691871e-03 1.89965001e+02] [ 3.24429773e-02 9.99473587e-01 3.53761747e-05 2.74133610e+00] [ 5.05310900e-03 -1.99418600e-04 9.99987213e-01 9.45019090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34439141800001 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:189.99, Y:2.74, Z:0.94 [[ 9.99446613e-01 -3.28769782e-02 -5.05691605e-03 1.89994130e+02] [ 3.28775792e-02 9.99459386e-01 3.57524831e-05 2.74084768e+00] [ 5.05300678e-03 -2.01991856e-04 9.99987213e-01 9.43984259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37439141800002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:190.03, Y:2.74, Z:0.95 [[ 9.99323264e-01 -3.64340331e-02 -5.05714047e-03 1.90028667e+02] [ 3.64345269e-02 9.99336042e-01 5.52722505e-06 2.74096280e+00] [ 5.05358136e-03 -1.89778005e-04 9.99987213e-01 9.45359608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40439141800002 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:190.06, Y:2.74, Z:0.94 [[ 9.99339807e-01 -3.59774733e-02 -5.05689067e-03 1.90061423e+02] [ 3.59781274e-02 9.99352577e-01 3.84125407e-05 2.73907344e+00] [ 5.05223473e-03 -2.20324638e-04 9.99987213e-01 9.44260958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43439141800002 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:190.09, Y:2.74, Z:0.95 [[ 9.99214162e-01 -3.93126943e-02 -5.05678735e-03 1.90091415e+02] [ 3.93134590e-02 9.99226926e-01 5.18709644e-05 2.74113747e+00] [ 5.05083889e-03 -2.50630004e-04 9.99987213e-01 9.45736445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:190.12, Y:2.74, Z:0.94 [[ 9.99152339e-01 -4.08537882e-02 -5.05688629e-03 1.90123456e+02] [ 4.08545079e-02 9.99165105e-01 3.90615597e-05 2.74244800e+00] [ 5.05106851e-03 -2.45625050e-04 9.99987213e-01 9.44873259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:190.16, Y:2.74, Z:0.95 [[ 9.99146010e-01 -4.10082692e-02 -5.05688233e-03 1.90156383e+02] [ 4.10089934e-02 9.99158777e-01 3.95684271e-05 2.74287646e+00] [ 5.05100573e-03 -2.46912290e-04 9.99987213e-01 9.45721025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:190.19, Y:2.74, Z:0.95 [[ 9.99139111e-01 -4.11760154e-02 -5.05687757e-03 1.90189398e+02] [ 4.11767448e-02 9.99151877e-01 4.01675759e-05 2.74360328e+00] [ 5.05093477e-03 -2.48358753e-04 9.99987213e-01 9.46447715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:190.22, Y:2.75, Z:0.95 [[ 9.99131330e-01 -4.13643933e-02 -5.05687263e-03 1.90222108e+02] [ 4.13651282e-02 9.99144096e-01 4.07800192e-05 2.74533990e+00] [ 5.05085759e-03 -2.49922779e-04 9.99987213e-01 9.47429840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:190.25, Y:2.75, Z:0.95 [[ 9.99123723e-01 -4.15477240e-02 -5.05686759e-03 1.90254498e+02] [ 4.15484643e-02 9.99136489e-01 4.13959716e-05 2.74598986e+00] [ 5.05078102e-03 -2.51464780e-04 9.99987213e-01 9.47701417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:190.29, Y:2.75, Z:0.95 [[ 9.99107789e-01 -4.19291642e-02 -5.05686336e-03 1.90287798e+02] [ 4.19299120e-02 9.99120554e-01 4.19057222e-05 2.74673409e+00] [ 5.05065905e-03 -2.53902169e-04 9.99987213e-01 9.47937992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:190.32, Y:2.75, Z:0.95 [[ 9.99069934e-01 -4.28216653e-02 -5.05685824e-03 1.90320477e+02] [ 4.28224276e-02 9.99082698e-01 4.25150585e-05 2.74780724e+00] [ 5.05039901e-03 -2.59022463e-04 9.99987213e-01 9.47742117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:190.35, Y:2.75, Z:0.95 [[ 9.99042562e-01 -4.34555855e-02 -5.05685301e-03 1.90352639e+02] [ 4.34563589e-02 9.99055325e-01 4.31280757e-05 2.74814920e+00] [ 5.05020177e-03 -2.62839203e-04 9.99987213e-01 9.47342231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:190.39, Y:2.75, Z:0.95 [[ 9.99018816e-01 -4.39980977e-02 -5.05684863e-03 1.90385208e+02] [ 4.39988807e-02 9.99031579e-01 4.36359539e-05 2.74851709e+00] [ 5.05003157e-03 -2.66088818e-04 9.99987213e-01 9.47849414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734391418 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:190.42, Y:2.75, Z:0.95 [[ 9.99018012e-01 -4.40163619e-02 -5.05684315e-03 1.90417004e+02] [ 4.40171482e-02 9.99030775e-01 4.42622076e-05 2.74890714e+00] [ 5.04999367e-03 -2.66806557e-04 9.99987213e-01 9.47235880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:190.45, Y:2.75, Z:0.95 [[ 9.99028719e-01 -4.37726703e-02 -5.05683856e-03 1.90449669e+02] [ 4.37734562e-02 9.99041482e-01 4.47799292e-05 2.74947565e+00] [ 5.05003135e-03 -2.66091736e-04 9.99987213e-01 9.47228022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.794391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:190.48, Y:2.75, Z:0.95 [[ 9.99127201e-01 -4.14640283e-02 -5.05683317e-03 1.90481872e+02] [ 4.14647877e-02 9.99139965e-01 4.53812409e-05 2.75169812e+00] [ 5.05060242e-03 -2.55022146e-04 9.99987213e-01 9.46736806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.824391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:190.51, Y:2.75, Z:0.95 [[ 9.99233737e-01 -3.88119371e-02 -5.05682865e-03 1.90514110e+02] [ 3.88126651e-02 9.99246504e-01 4.58789566e-05 2.75312129e+00] [ 5.05123770e-03 -2.42112798e-04 9.99987213e-01 9.47426045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.854391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:190.55, Y:2.76, Z:0.95 [[ 9.99448719e-01 -3.28128813e-02 -5.05691017e-03 1.90547370e+02] [ 3.28134882e-02 9.99461492e-01 3.70778588e-05 2.75666134e+00] [ 5.05297035e-03 -2.02992281e-04 9.99987213e-01 9.48348422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.884391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:190.58, Y:2.76, Z:0.95 [[ 9.99572425e-01 -2.87992181e-02 -5.05681147e-03 1.90579016e+02] [ 2.87998268e-02 9.99585198e-01 4.75704026e-05 2.75832807e+00] [ 5.05334390e-03 -1.93185357e-04 9.99987213e-01 9.48631480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:190.61, Y:2.76, Z:0.95 [[ 9.99784561e-01 -2.01310953e-02 -5.05680862e-03 1.90611513e+02] [ 2.01315947e-02 9.99797338e-01 4.78704290e-05 2.76213491e+00] [ 5.05482012e-03 -1.49661737e-04 9.99987213e-01 9.50180307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:190.64, Y:2.76, Z:0.95 [[ 9.99857962e-01 -1.60774850e-02 -5.05680487e-03 1.90642830e+02] [ 1.60779346e-02 9.99870740e-01 4.82640728e-05 2.76377009e+00] [ 5.05537526e-03 -1.29560195e-04 9.99987213e-01 9.50399368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:190.67, Y:2.77, Z:0.95 [[ 9.99912423e-01 -1.22300696e-02 -5.05680206e-03 1.90674702e+02] [ 1.22304715e-02 9.99925204e-01 4.85562869e-05 2.76532433e+00] [ 5.05582999e-03 -1.10399108e-04 9.99987213e-01 9.50487060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004391418 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:190.71, Y:2.77, Z:0.95 [[ 9.99970382e-01 -5.80202431e-03 -5.05679834e-03 1.90705843e+02] [ 5.80234597e-03 9.99983165e-01 4.89409993e-05 2.76791791e+00] [ 5.05642925e-03 -7.82808433e-05 9.99987213e-01 9.50721936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:190.73, Y:2.78, Z:0.95 [[ 9.99932858e-01 -1.04262943e-02 -5.05679643e-03 1.90727848e+02] [ 1.04266761e-02 9.99945640e-01 4.91370154e-05 2.77691006e+00] [ 5.05600923e-03 -1.01859295e-04 9.99987213e-01 9.48084073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:190.77, Y:2.77, Z:0.95 [[ 9.99985959e-01 -1.58054428e-03 -5.05810672e-03 1.90765773e+02] [ 1.58005117e-03 9.99998747e-01 -1.01482894e-04 2.76941070e+00] [ 5.05826078e-03 9.34894019e-05 9.99987203e-01 9.49704992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09439141800001 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:190.79, Y:2.77, Z:0.95 [[ 9.99986871e-01 -8.29254714e-04 -5.05663878e-03 1.90794576e+02] [ 8.29514346e-04 9.99999655e-01 4.92475818e-05 2.77012237e+00] [ 5.05659620e-03 -5.34414897e-05 9.99987214e-01 9.49166998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12439141800002 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:190.82, Y:2.77, Z:0.95 [[ 9.99987175e-01 -2.84811642e-04 -5.05665168e-03 1.90823571e+02] [ 2.85057427e-04 9.99999958e-01 4.78856446e-05 2.77139025e+00] [ 5.05663783e-03 -4.93264666e-05 9.99987214e-01 9.49352978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15439141800002 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:190.85, Y:2.77, Z:0.95 [[ 9.99986993e-01 -6.66663717e-04 -5.05666421e-03 1.90852322e+02] [ 6.66907497e-04 9.99999777e-01 4.65237040e-05 2.77179336e+00] [ 5.05663206e-03 -4.98954261e-05 9.99987214e-01 9.49798239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18439141800002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:190.88, Y:2.77, Z:0.95 [[ 9.99985746e-01 -1.71429613e-03 -5.05666775e-03 1.90880325e+02] [ 1.71455134e-03 9.99998529e-01 4.61361473e-05 2.77205390e+00] [ 5.05658122e-03 -5.48054061e-05 9.99987214e-01 9.50193213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:190.91, Y:2.77, Z:0.95 [[ 9.99976277e-01 -4.67721688e-03 -5.05667245e-03 1.90909229e+02] [ 4.67750733e-03 9.99989059e-01 4.56142954e-05 2.77194923e+00] [ 5.05640378e-03 -6.92658358e-05 9.99987214e-01 9.51559311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:190.94, Y:2.77, Z:0.95 [[ 9.99966192e-01 -6.48423569e-03 -5.05667611e-03 1.90938992e+02] [ 6.48454717e-03 9.99978974e-01 4.52053264e-05 2.77137032e+00] [ 5.05627667e-03 -7.79940529e-05 9.99987214e-01 9.51428432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:190.97, Y:2.77, Z:0.95 [[ 9.99951582e-01 -8.44176043e-03 -5.05667701e-03 1.90969575e+02] [ 8.44209642e-03 9.99964364e-01 4.51038740e-05 2.77073267e+00] [ 5.05611606e-03 -8.77906451e-05 9.99987214e-01 9.51326970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:191.00, Y:2.77, Z:0.95 [[ 9.99929790e-01 -1.07166231e-02 -5.05667701e-03 1.91000212e+02] [ 1.07169882e-02 9.99942570e-01 4.51038740e-05 2.77042903e+00] [ 5.05590325e-03 -9.92930549e-05 9.99987214e-01 9.51354391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:191.03, Y:2.77, Z:0.95 [[ 9.99884208e-01 -1.43527020e-02 -5.05667701e-03 1.91030207e+02] [ 1.43531136e-02 9.99896988e-01 4.51038740e-05 2.76888824e+00] [ 5.05550875e-03 -1.17677711e-04 9.99987214e-01 9.49666172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:191.06, Y:2.77, Z:0.95 [[ 9.99858888e-01 -1.60198022e-02 -5.05667612e-03 1.91062608e+02] [ 1.60202356e-02 9.99871667e-01 4.52033709e-05 2.76766187e+00] [ 5.05530304e-03 -1.26206135e-04 9.99987214e-01 9.50891633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:191.09, Y:2.77, Z:0.95 [[ 9.99836774e-01 -1.73451817e-02 -5.05667257e-03 1.91094784e+02] [ 1.73456340e-02 9.99849552e-01 4.55975905e-05 2.76631525e+00] [ 5.05512091e-03 -1.33301339e-04 9.99987214e-01 9.50863169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:191.13, Y:2.77, Z:0.95 [[ 9.99810412e-01 -1.88034555e-02 -5.05666900e-03 1.91125640e+02] [ 1.88039284e-02 9.99823189e-01 4.59904603e-05 2.76525561e+00] [ 5.05491014e-03 -1.41066983e-04 9.99987214e-01 9.51153387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:191.16, Y:2.76, Z:0.95 [[ 9.99762725e-01 -2.11878043e-02 -5.05666632e-03 1.91157869e+02] [ 2.11883092e-02 9.99775502e-01 4.62830972e-05 2.76374535e+00] [ 5.05455047e-03 -1.53414325e-04 9.99987214e-01 9.51773959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:191.19, Y:2.76, Z:0.95 [[ 9.99798095e-01 -1.94473722e-02 -5.05666254e-03 1.91192190e+02] [ 1.94478568e-02 9.99810871e-01 4.66925581e-05 2.75962110e+00] [ 5.05479813e-03 -1.45024380e-04 9.99987214e-01 9.49566215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:191.22, Y:2.76, Z:0.95 [[ 9.99727799e-01 -2.27764299e-02 -5.05596809e-03 1.91217278e+02] [ 2.27773267e-02 9.99740556e-01 1.19862048e-04 2.76191152e+00] [ 5.05192632e-03 -2.34990858e-04 9.99987211e-01 9.51819823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.544391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:191.25, Y:2.76, Z:0.95 [[ 9.99684475e-01 -2.46044763e-02 -5.05675286e-03 1.91249027e+02] [ 2.46049535e-02 9.99697252e-01 3.21678733e-05 2.76039359e+00] [ 5.05443046e-03 -1.56578892e-04 9.99987214e-01 9.51267528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.574391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:191.28, Y:2.76, Z:0.95 [[ 9.99678008e-01 -2.48658437e-02 -5.05662016e-03 1.91281585e+02] [ 2.48663970e-02 9.99690782e-01 4.65749921e-05 2.75937750e+00] [ 5.05389844e-03 -1.72299920e-04 9.99987214e-01 9.51654437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.604391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:191.31, Y:2.76, Z:0.95 [[ 9.99685004e-01 -2.45829890e-02 -5.05661646e-03 1.91313265e+02] [ 2.45835407e-02 9.99697778e-01 4.69735912e-05 2.75809622e+00] [ 5.05393349e-03 -1.71268331e-04 9.99987214e-01 9.52329323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.634391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:191.35, Y:2.76, Z:0.95 [[ 9.99703300e-01 -2.38273499e-02 -5.05661368e-03 1.91345252e+02] [ 2.38278934e-02 9.99716074e-01 4.72708743e-05 2.75686691e+00] [ 5.05405164e-03 -1.67745301e-04 9.99987214e-01 9.53340468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:191.38, Y:2.76, Z:0.95 [[ 9.99756257e-01 -2.14908871e-02 -5.05660987e-03 1.91376151e+02] [ 2.14914028e-02 9.99769032e-01 4.76748989e-05 2.75536222e+00] [ 5.05441738e-03 -1.56336918e-04 9.99987214e-01 9.54119413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:191.41, Y:2.75, Z:0.95 [[ 9.99791681e-01 -1.97743674e-02 -5.05660702e-03 1.91408430e+02] [ 1.97748627e-02 9.99804457e-01 4.79755066e-05 2.75458698e+00] [ 5.05466955e-03 -1.47959222e-04 9.99987214e-01 9.54695505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:191.44, Y:2.75, Z:0.95 [[ 9.99824292e-01 -1.80503717e-02 -5.05660324e-03 1.91439246e+02] [ 1.80508470e-02 9.99837069e-01 4.83700811e-05 2.75370089e+00] [ 5.05490627e-03 -1.39637554e-04 9.99987214e-01 9.54144968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:191.47, Y:2.75, Z:0.95 [[ 9.99873916e-01 -1.50526626e-02 -5.05660041e-03 1.91471256e+02] [ 1.50531011e-02 9.99886694e-01 4.86641469e-05 2.75179370e+00] [ 5.05529495e-03 -1.24775529e-04 9.99987214e-01 9.52006602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:191.50, Y:2.75, Z:0.95 [[ 9.99893115e-01 -1.37182044e-02 -5.05659665e-03 1.91502766e+02] [ 1.37186278e-02 9.99905894e-01 4.90518336e-05 2.75043246e+00] [ 5.05544789e-03 -1.18416158e-04 9.99987214e-01 9.50917803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:191.54, Y:2.75, Z:0.95 [[ 9.99894170e-01 -1.36411353e-02 -5.05659476e-03 1.91535457e+02] [ 1.36415586e-02 9.99906948e-01 4.92462039e-05 2.75003428e+00] [ 5.05545246e-03 -1.18220826e-04 9.99987214e-01 9.51083070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84439141800001 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:191.57, Y:2.75, Z:0.95 [[ 9.99908373e-01 -1.25569200e-02 -5.05659093e-03 1.91567347e+02] [ 1.25573315e-02 9.99921152e-01 4.96359524e-05 2.74860749e+00] [ 5.05556896e-03 -1.13128693e-04 9.99987214e-01 9.50451035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87439141800002 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:191.60, Y:2.75, Z:0.95 [[ 9.99921362e-01 -1.14760996e-02 -5.05658687e-03 1.91598584e+02] [ 1.14764993e-02 9.99934142e-01 5.00462363e-05 2.74613615e+00] [ 5.05567952e-03 -1.08074217e-04 9.99987214e-01 9.49602618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90439141800002 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:191.63, Y:2.75, Z:0.95 [[ 9.99923010e-01 -1.13315665e-02 -5.05658383e-03 1.91630247e+02] [ 1.13319659e-02 9.99935790e-01 5.03519332e-05 2.74519536e+00] [ 5.05568858e-03 -1.07649092e-04 9.99987214e-01 9.49760032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93439141800002 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:191.66, Y:2.74, Z:0.95 [[ 9.99929665e-01 -1.07283193e-02 -5.05658182e-03 1.91661509e+02] [ 1.07287121e-02 9.99942444e-01 5.05526974e-05 2.74439017e+00] [ 5.05574844e-03 -1.04799752e-04 9.99987214e-01 9.50411354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:191.69, Y:2.74, Z:0.95 [[ 9.99936060e-01 -1.01146499e-02 -5.05657980e-03 1.91693021e+02] [ 1.01150359e-02 9.99948840e-01 5.07542843e-05 2.74381318e+00] [ 5.05580775e-03 -1.01898525e-04 9.99987214e-01 9.51472583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:191.72, Y:2.74, Z:0.95 [[ 9.99950987e-01 -8.51199458e-03 -5.05657776e-03 1.91724135e+02] [ 8.51236105e-03 9.99963768e-01 5.09565825e-05 2.74254078e+00] [ 5.05596081e-03 -9.39975005e-05 9.99987214e-01 9.52337748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:191.75, Y:2.74, Z:0.95 [[ 9.99958196e-01 -7.61817190e-03 -5.05657572e-03 1.91753970e+02] [ 7.61852797e-03 9.99970977e-01 5.11578401e-05 2.74157124e+00] [ 5.05603924e-03 -8.96793651e-05 9.99987214e-01 9.52712615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:191.78, Y:2.74, Z:0.95 [[ 9.99962694e-01 -7.00292421e-03 -5.05657471e-03 1.91784134e+02] [ 7.00327292e-03 9.99975475e-01 5.12576350e-05 2.74068146e+00] [ 5.05609175e-03 -8.66682955e-05 9.99987214e-01 9.53291521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:191.81, Y:2.74, Z:0.95 [[ 9.99967380e-01 -6.29839647e-03 -5.05657471e-03 1.91813583e+02] [ 6.29873617e-03 9.99980161e-01 5.12576350e-05 2.73918697e+00] [ 5.05615156e-03 -8.31059930e-05 9.99987214e-01 9.53116440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:191.84, Y:2.74, Z:0.95 [[ 9.99966281e-01 -6.47047667e-03 -5.05657574e-03 1.91843018e+02] [ 6.47081806e-03 9.99979063e-01 5.11559807e-05 2.73856764e+00] [ 5.05613887e-03 -8.38744375e-05 9.99987214e-01 9.54163699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:191.87, Y:2.74, Z:0.95 [[ 9.99963830e-01 -6.83882010e-03 -5.05657778e-03 1.91872506e+02] [ 6.83916517e-03 9.99976611e-01 5.09533877e-05 2.73778609e+00] [ 5.05611106e-03 -8.55343153e-05 9.99987214e-01 9.54880735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:191.90, Y:2.74, Z:0.96 [[ 9.99957667e-01 -7.68731785e-03 -5.05657983e-03 1.91903353e+02] [ 7.68767273e-03 9.99970448e-01 5.07494497e-05 2.73566297e+00] [ 5.05604027e-03 -8.96206322e-05 9.99987214e-01 9.56210544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:191.93, Y:2.73, Z:0.96 [[ 9.99948183e-01 -8.83528016e-03 -5.05665008e-03 1.91933019e+02] [ 8.83561407e-03 9.99960964e-01 4.36976341e-05 2.73442700e+00] [ 5.05606661e-03 -8.83739784e-05 9.99987214e-01 9.55762389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:191.96, Y:2.73, Z:0.96 [[ 9.99942894e-01 -9.41491316e-03 -5.05658014e-03 1.91963064e+02] [ 9.41528976e-03 9.99955674e-01 5.06763506e-05 2.73307614e+00] [ 5.05587889e-03 -9.82826238e-05 9.99987214e-01 9.55946560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:191.99, Y:2.73, Z:0.96 [[ 9.99928542e-01 -1.08324827e-02 -5.05658014e-03 1.91993460e+02] [ 1.08328774e-02 9.99941321e-01 5.06763506e-05 2.73079921e+00] [ 5.05573447e-03 -1.05450042e-04 9.99987214e-01 9.56403431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.294391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:192.03, Y:2.73, Z:0.96 [[ 9.99921289e-01 -1.14824579e-02 -5.05657915e-03 1.92025110e+02] [ 1.14828614e-02 9.99934068e-01 5.07749110e-05 2.72956017e+00] [ 5.05566274e-03 -1.08834912e-04 9.99987214e-01 9.56163031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.324391418 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:192.06, Y:2.73, Z:0.96 [[ 9.99916585e-01 -1.18850593e-02 -5.05657718e-03 1.92056046e+02] [ 1.18854689e-02 9.99929364e-01 5.09696759e-05 2.72812384e+00] [ 5.05561423e-03 -1.11065215e-04 9.99987214e-01 9.56106923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.354391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:192.09, Y:2.73, Z:0.96 [[ 9.99902919e-01 -1.29839990e-02 -5.05657522e-03 1.92086703e+02] [ 1.29844237e-02 9.99915698e-01 5.11633677e-05 2.72557388e+00] [ 5.05548464e-03 -1.16815116e-04 9.99987214e-01 9.55113609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.384391418 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:192.12, Y:2.72, Z:0.95 [[ 9.99896932e-01 -1.34371377e-02 -5.05657425e-03 1.92118526e+02] [ 1.34375687e-02 9.99909710e-01 5.12595376e-05 2.72383217e+00] [ 5.05542891e-03 -1.19202318e-04 9.99987214e-01 9.54816639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414391418 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:192.15, Y:2.72, Z:0.95 [[ 9.99895061e-01 -1.35756754e-02 -5.05657228e-03 1.92149898e+02] [ 1.35761091e-02 9.99907839e-01 5.14532293e-05 2.72195898e+00] [ 5.05540775e-03 -1.20096407e-04 9.99987214e-01 9.54690143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:192.18, Y:2.72, Z:0.95 [[ 9.99885762e-01 -1.42440482e-02 -5.05665139e-03 1.92181186e+02] [ 1.42444511e-02 9.99898542e-01 4.36742892e-05 2.72016960e+00] [ 5.05551625e-03 -1.15698523e-04 9.99987214e-01 9.54241895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:192.21, Y:2.72, Z:0.95 [[ 9.99870567e-01 -1.52735177e-02 -5.05656604e-03 1.92212107e+02] [ 1.52739757e-02 9.99883345e-01 5.19769420e-05 2.71742028e+00] [ 5.05518230e-03 -1.29204082e-04 9.99987214e-01 9.54260810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504391418 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:192.24, Y:2.72, Z:0.95 [[ 9.99860656e-01 -1.59091295e-02 -5.05656309e-03 1.92243996e+02] [ 1.59095971e-02 9.99873433e-01 5.22625465e-05 2.71600461e+00] [ 5.05509165e-03 -1.32703146e-04 9.99987214e-01 9.54409777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:192.28, Y:2.71, Z:0.95 [[ 9.99853077e-01 -1.63784900e-02 -5.05655915e-03 1.92276454e+02] [ 1.63789656e-02 9.99865854e-01 5.26415213e-05 2.71450971e+00] [ 5.05501864e-03 -1.35454995e-04 9.99987214e-01 9.54853943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:192.31, Y:2.71, Z:0.96 [[ 9.99828759e-01 -1.78012305e-02 -5.05655518e-03 1.92307778e+02] [ 1.78017262e-02 9.99841535e-01 5.30197453e-05 2.71176801e+00] [ 5.05481008e-03 -1.43026077e-04 9.99987214e-01 9.55162305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59439141800001 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:192.34, Y:2.71, Z:0.96 [[ 9.99810155e-01 -1.88171699e-02 -5.05654854e-03 1.92340143e+02] [ 1.88176817e-02 9.99822930e-01 5.36451419e-05 2.71000104e+00] [ 5.05464373e-03 -1.48787478e-04 9.99987214e-01 9.55382725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62439141800002 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:192.37, Y:2.71, Z:0.96 [[ 9.99789951e-01 -1.98616419e-02 -5.05654460e-03 1.92371992e+02] [ 1.98621689e-02 9.99802726e-01 5.40144382e-05 2.70809494e+00] [ 5.05447426e-03 -1.54437035e-04 9.99987214e-01 9.56829728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65439141800002 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:192.40, Y:2.71, Z:0.96 [[ 9.99736617e-01 -2.23858782e-02 -5.05654025e-03 1.92404463e+02] [ 2.23864395e-02 9.99749391e-01 5.44185064e-05 2.70573762e+00] [ 5.05405483e-03 -1.67602106e-04 9.99987214e-01 9.57927281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68439141800002 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:192.44, Y:2.70, Z:0.96 [[ 9.99719001e-01 -2.31592350e-02 -5.05653579e-03 1.92437000e+02] [ 2.31598082e-02 9.99731774e-01 5.48303092e-05 2.70456215e+00] [ 5.05390966e-03 -1.71923301e-04 9.99987214e-01 9.58184598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:192.47, Y:2.70, Z:0.96 [[ 9.99698386e-01 -2.40326687e-02 -5.05653128e-03 1.92467770e+02] [ 2.40332551e-02 9.99711158e-01 5.52427532e-05 2.70344889e+00] [ 5.05374311e-03 -1.76750998e-04 9.99987214e-01 9.57510523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:192.50, Y:2.70, Z:0.96 [[ 9.99649554e-01 -2.59846132e-02 -5.05652791e-03 1.92499314e+02] [ 2.59852262e-02 9.99662325e-01 5.55493909e-05 2.70098099e+00] [ 5.05337702e-03 -1.86924945e-04 9.99987214e-01 9.57400526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:192.53, Y:2.70, Z:0.96 [[ 9.99624800e-01 -2.69200736e-02 -5.05652481e-03 1.92531631e+02] [ 2.69206999e-02 9.99637571e-01 5.58300258e-05 2.69943263e+00] [ 5.05318923e-03 -1.91934265e-04 9.99987214e-01 9.57965145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:192.56, Y:2.70, Z:0.96 [[ 9.99598782e-01 -2.78694717e-02 -5.05652030e-03 1.92563999e+02] [ 2.78701122e-02 9.99611551e-01 5.62360922e-05 2.69815532e+00] [ 5.05298883e-03 -1.97139317e-04 9.99987214e-01 9.57599384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:192.59, Y:2.70, Z:0.96 [[ 9.99569347e-01 -2.89059075e-02 -5.05651575e-03 1.92594860e+02] [ 2.89065632e-02 9.99582116e-01 5.66419675e-05 2.69615331e+00] [ 5.05276543e-03 -2.02784067e-04 9.99987214e-01 9.56416344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:192.63, Y:2.70, Z:0.96 [[ 9.99568977e-01 -2.89186973e-02 -5.05651235e-03 1.92627068e+02] [ 2.89193548e-02 9.99581746e-01 5.69442599e-05 2.69527207e+00] [ 5.05275069e-03 -2.03150790e-04 9.99987214e-01 9.56349806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:192.66, Y:2.69, Z:0.96 [[ 9.99577009e-01 -2.86397398e-02 -5.05650779e-03 1.92659578e+02] [ 2.86403958e-02 9.99589778e-01 5.73458738e-05 2.69490187e+00] [ 5.05279113e-03 -2.02142001e-04 9.99987214e-01 9.56298263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:192.69, Y:2.70, Z:0.96 [[ 9.99610054e-01 -2.74621889e-02 -5.05650316e-03 1.92690467e+02] [ 2.74628318e-02 9.99622824e-01 5.77517480e-05 2.69520046e+00] [ 5.05300997e-03 -1.96595124e-04 9.99987214e-01 9.56311699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:192.72, Y:2.70, Z:0.96 [[ 9.99637305e-01 -2.64516511e-02 -5.05649969e-03 1.92722764e+02] [ 2.64522827e-02 9.99650075e-01 5.80540397e-05 2.69524108e+00] [ 5.05319467e-03 -1.91788943e-04 9.99987214e-01 9.56530149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:192.76, Y:2.69, Z:0.95 [[ 9.99747992e-01 -2.18720223e-02 -5.05649506e-03 1.92758560e+02] [ 2.18725974e-02 9.99760764e-01 5.84537850e-05 2.69087555e+00] [ 5.05400687e-03 -1.69037735e-04 9.99987214e-01 9.54732060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:192.79, Y:2.69, Z:0.96 [[ 9.99746901e-01 -2.19220936e-02 -5.05528431e-03 1.92788285e+02] [ 2.19231871e-02 9.99759645e-01 1.60980241e-04 2.69156509e+00] [ 5.05054023e-03 -2.71767440e-04 9.99987209e-01 9.55262260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.044391418 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:192.81, Y:2.70, Z:0.96 [[ 9.99700822e-01 -2.39313152e-02 -5.05562594e-03 1.92814596e+02] [ 2.39322838e-02 9.99713573e-01 1.31173592e-04 2.69644999e+00] [ 5.05103872e-03 -2.52127023e-04 9.99987212e-01 9.58458492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.074391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:192.85, Y:2.70, Z:0.96 [[ 9.99711598e-01 -2.34766300e-02 -5.05645993e-03 1.92845959e+02] [ 2.34772151e-02 9.99724371e-01 5.63854969e-05 2.69669846e+00] [ 5.05374248e-03 -1.75080833e-04 9.99987214e-01 9.58502420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.104391418 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:192.88, Y:2.69, Z:0.96 [[ 9.99817607e-01 -1.84169678e-02 -5.05645213e-03 1.92882024e+02] [ 1.84174917e-02 9.99830382e-01 5.70765319e-05 2.69080596e+00] [ 5.05454329e-03 -1.50193287e-04 9.99987214e-01 9.57405079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.134391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:192.91, Y:2.70, Z:0.96 [[ 9.99712312e-01 -2.34465409e-02 -5.05494775e-03 1.92905961e+02] [ 2.34477673e-02 9.99725046e-01 1.83471970e-04 2.69689643e+00] [ 5.04925609e-03 -3.01946426e-04 9.99987207e-01 9.59149839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:192.94, Y:2.69, Z:0.96 [[ 9.99789087e-01 -1.99051256e-02 -5.05637306e-03 1.92940406e+02] [ 1.99056681e-02 9.99801861e-01 5.69683169e-05 2.69251379e+00] [ 5.05423723e-03 -1.57606785e-04 9.99987215e-01 9.56336705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194391418 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:192.97, Y:2.69, Z:0.96 [[ 9.99800032e-01 -1.93478590e-02 -5.05531297e-03 1.92973084e+02] [ 1.93488579e-02 9.99812782e-01 1.48755233e-04 2.69145300e+00] [ 5.05148843e-03 -2.46540019e-04 9.99987211e-01 9.56426093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:193.00, Y:2.70, Z:0.96 [[ 9.99699807e-01 -2.39737897e-02 -5.05494261e-03 1.92996036e+02] [ 2.39750107e-02 9.99712542e-01 1.81064922e-04 2.69821764e+00] [ 5.04914872e-03 -3.02202870e-04 9.99987207e-01 9.59369914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:193.03, Y:2.70, Z:0.96 [[ 9.99716841e-01 -2.32523338e-02 -5.05629608e-03 1.93028722e+02] [ 2.32529028e-02 9.99729613e-01 5.37520538e-05 2.69827988e+00] [ 5.05367906e-03 -1.71310395e-04 9.99987215e-01 9.60362215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:193.06, Y:2.70, Z:0.96 [[ 9.99739571e-01 -2.22536478e-02 -5.05629163e-03 1.93060586e+02] [ 2.22542061e-02 9.99752343e-01 5.41676636e-05 2.69838209e+00] [ 5.05383397e-03 -1.66677313e-04 9.99987215e-01 9.60946325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:193.09, Y:2.70, Z:0.96 [[ 9.99764397e-01 -2.11088635e-02 -5.05628715e-03 1.93091717e+02] [ 2.11094093e-02 9.99777170e-01 5.45828734e-05 2.69858026e+00] [ 5.05400827e-03 -1.61305248e-04 9.99987215e-01 9.61447491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34439141800001 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:193.12, Y:2.70, Z:0.96 [[ 9.99786824e-01 -2.00185077e-02 -5.05628379e-03 1.93123780e+02] [ 2.00190410e-02 9.99799597e-01 5.48917352e-05 2.69914735e+00] [ 5.05417165e-03 -1.56101986e-04 9.99987215e-01 9.62000402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37439141800002 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:193.16, Y:2.70, Z:0.96 [[ 9.99852419e-01 -1.64187367e-02 -5.05627925e-03 1.93155140e+02] [ 1.64192262e-02 9.99865194e-01 5.53069444e-05 2.70063497e+00] [ 5.05468956e-03 -1.38318975e-04 9.99987215e-01 9.63939419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40439141800002 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:193.19, Y:2.70, Z:0.96 [[ 9.99872756e-01 -1.51296184e-02 -5.05639114e-03 1.93187086e+02] [ 1.51300401e-02 9.99885533e-01 4.51720443e-05 2.70138457e+00] [ 5.05512892e-03 -1.21669697e-04 9.99987215e-01 9.63497385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43439141800002 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:193.22, Y:2.70, Z:0.96 [[ 9.99923713e-01 -1.12695573e-02 -5.05626667e-03 1.93217123e+02] [ 1.12699862e-02 9.99936490e-01 5.63422396e-05 2.70341932e+00] [ 5.05531060e-03 -1.13321997e-04 9.99987215e-01 9.63124669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:193.25, Y:2.70, Z:0.96 [[ 9.99946346e-01 -9.04092500e-03 -5.05626552e-03 1.93247679e+02] [ 9.04132595e-03 9.99959125e-01 5.64458872e-05 2.70391278e+00] [ 5.05554852e-03 -1.02158203e-04 9.99987215e-01 9.63273533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:193.28, Y:2.70, Z:0.96 [[ 9.99964741e-01 -6.70452364e-03 -5.05626437e-03 1.93278493e+02] [ 6.70489525e-03 9.99977520e-01 5.65479365e-05 2.70448580e+00] [ 5.05577158e-03 -9.04476657e-05 9.99987215e-01 9.63623171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:193.31, Y:2.71, Z:0.96 [[ 9.99983931e-01 -2.56358865e-03 -5.05626437e-03 1.93307797e+02] [ 2.56390734e-03 9.99996712e-01 5.65479365e-05 2.70663585e+00] [ 5.05610278e-03 -6.95108212e-05 9.99987215e-01 9.64276857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:193.34, Y:2.71, Z:0.96 [[ 9.99986818e-01 -8.93297963e-04 -5.05626549e-03 1.93336887e+02] [ 8.93594801e-04 9.99999599e-01 5.64482208e-05 2.70741038e+00] [ 5.05621304e-03 -6.09657293e-05 9.99987215e-01 9.64867290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:193.36, Y:2.71, Z:0.96 [[ 9.99987170e-01 3.06007745e-04 -5.05628092e-03 1.93364970e+02] [-3.05733403e-04 9.99999952e-01 5.50304665e-05 2.70770280e+00] [ 5.05629751e-03 -5.34838865e-05 9.99987215e-01 9.64756050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:193.39, Y:2.71, Z:0.96 [[ 9.99986657e-01 1.05799622e-03 -5.05628911e-03 1.93392316e+02] [-1.05773535e-03 9.99999439e-01 5.42670180e-05 2.70810491e+00] [ 5.05634369e-03 -4.89180782e-05 9.99987215e-01 9.63222402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:193.42, Y:2.71, Z:0.96 [[ 9.99987081e-01 5.22192125e-04 -5.05629438e-03 1.93421176e+02] [-5.21926911e-04 9.99999862e-01 5.37716359e-05 2.70818627e+00] [ 5.05632176e-03 -5.11319251e-05 9.99987215e-01 9.62849211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:193.45, Y:2.71, Z:0.96 [[ 9.99987209e-01 -1.24738763e-04 -5.05629849e-03 1.93449599e+02] [ 1.25010279e-04 9.99999991e-01 5.33825747e-05 2.70772653e+00] [ 5.05629178e-03 -5.40139811e-05 9.99987215e-01 9.62411599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:193.48, Y:2.71, Z:0.96 [[ 9.99987196e-01 -2.03065974e-04 -5.05630264e-03 1.93478904e+02] [ 2.03336489e-04 9.99999978e-01 5.29865286e-05 2.70749740e+00] [ 5.05629177e-03 -5.40139810e-05 9.99987215e-01 9.62559903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:193.51, Y:2.71, Z:0.96 [[ 9.99983192e-01 -2.83716293e-03 -5.05630676e-03 1.93507085e+02] [ 2.83746511e-03 9.99995973e-01 5.25904822e-05 2.70675010e+00] [ 5.05613719e-03 -6.69366923e-05 9.99987215e-01 9.61994653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:193.54, Y:2.71, Z:0.96 [[ 9.99977177e-01 -4.48091353e-03 -5.05631181e-03 1.93535510e+02] [ 4.48123424e-03 9.99989958e-01 5.20997869e-05 2.70633355e+00] [ 5.05602758e-03 -7.47571155e-05 9.99987215e-01 9.61786155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.794391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:193.57, Y:2.71, Z:0.96 [[ 9.99968334e-01 -6.14521975e-03 -5.05631480e-03 1.93565499e+02] [ 6.14556026e-03 9.99981115e-01 5.18081088e-05 2.70590368e+00] [ 5.05590094e-03 -8.28803555e-05 9.99987215e-01 9.62278833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.824391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:193.59, Y:2.71, Z:0.96 [[ 9.99957259e-01 -7.74042299e-03 -5.05631675e-03 1.93594969e+02] [ 7.74078292e-03 9.99970038e-01 5.16170425e-05 2.70535463e+00] [ 5.05576572e-03 -9.07546866e-05 9.99987215e-01 9.63269009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.854391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:193.63, Y:2.70, Z:0.96 [[ 9.99927232e-01 -1.09528451e-02 -5.05631880e-03 1.93625890e+02] [ 1.09532450e-02 9.99940010e-01 5.14160208e-05 2.70453645e+00] [ 5.05545232e-03 -1.06795378e-04 9.99987215e-01 9.63222655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.884391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:193.66, Y:2.70, Z:0.96 [[ 9.99912424e-01 -1.22302417e-02 -5.05631880e-03 1.93657478e+02] [ 1.22306579e-02 9.99925201e-01 5.14160208e-05 2.70411044e+00] [ 5.05531176e-03 -1.13253624e-04 9.99987215e-01 9.63507235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:193.69, Y:2.70, Z:0.96 [[ 9.99895736e-01 -1.35259272e-02 -5.05631673e-03 1.93689000e+02] [ 1.35263610e-02 9.99908513e-01 5.16186181e-05 2.70390794e+00] [ 5.05515595e-03 -1.20006802e-04 9.99987215e-01 9.63820252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:193.72, Y:2.70, Z:0.96 [[ 9.99873849e-01 -1.50571909e-02 -5.05631463e-03 1.93720424e+02] [ 1.50576454e-02 9.99886626e-01 5.18236053e-05 2.70366001e+00] [ 5.05496105e-03 -1.27953260e-04 9.99987215e-01 9.62148004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:193.75, Y:2.70, Z:0.97 [[ 9.99878360e-01 -1.47546393e-02 -5.05630794e-03 1.93751501e+02] [ 1.47550931e-02 9.99891136e-01 5.24678963e-05 2.70340205e+00] [ 5.05498335e-03 -1.27067809e-04 9.99987215e-01 9.66563512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:193.78, Y:2.70, Z:0.96 [[ 9.99858051e-01 -1.60720576e-02 -5.05630461e-03 1.93782379e+02] [ 1.60725299e-02 9.99870827e-01 5.27871832e-05 2.70331102e+00] [ 5.05480307e-03 -1.34047297e-04 9.99987215e-01 9.63958512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:193.81, Y:2.70, Z:0.96 [[ 9.99853244e-01 -1.63683876e-02 -5.05630123e-03 1.93814811e+02] [ 1.63688653e-02 9.99866020e-01 5.31085433e-05 2.70329401e+00] [ 5.05475449e-03 -1.35866663e-04 9.99987215e-01 9.64232253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:193.85, Y:2.70, Z:0.96 [[ 9.99857649e-01 -1.60970531e-02 -5.05629702e-03 1.93846818e+02] [ 1.60975294e-02 9.99870425e-01 5.35065180e-05 2.70342353e+00] [ 5.05478055e-03 -1.34892791e-04 9.99987215e-01 9.64733834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09439141800001 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:193.88, Y:2.70, Z:0.97 [[ 9.99866346e-01 -1.55474632e-02 -5.05629274e-03 1.93878751e+02] [ 1.55479344e-02 9.99879122e-01 5.39081148e-05 2.70346817e+00] [ 5.05484341e-03 -1.32515818e-04 9.99987215e-01 9.65335234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12439141800002 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:193.91, Y:2.70, Z:0.97 [[ 9.99894879e-01 -1.35891735e-02 -5.05628842e-03 1.93910281e+02] [ 1.35896218e-02 9.99907655e-01 5.43104600e-05 2.70414173e+00] [ 5.05508346e-03 -1.23017798e-04 9.99987215e-01 9.65958269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15439141800002 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:193.94, Y:2.70, Z:0.97 [[ 9.99914795e-01 -1.20348059e-02 -5.05628160e-03 1.93941652e+02] [ 1.20352375e-02 9.99927572e-01 5.49379952e-05 2.70423493e+00] [ 5.05525422e-03 -1.15786864e-04 9.99987215e-01 9.66480658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18439141800002 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:193.97, Y:2.70, Z:0.97 [[ 9.99936987e-01 -1.00227763e-02 -5.05627944e-03 1.93973386e+02] [ 1.00231832e-02 9.99949765e-01 5.51359526e-05 2.70439944e+00] [ 5.05547282e-03 -1.05812493e-04 9.99987215e-01 9.66805470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:194.00, Y:2.71, Z:0.97 [[ 9.99975094e-01 -4.92400997e-03 -5.05627727e-03 1.94004146e+02] [ 4.92435269e-03 9.99987874e-01 5.53342761e-05 2.70529398e+00] [ 5.05594349e-03 -8.02317905e-05 9.99987215e-01 9.66576740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:194.03, Y:2.71, Z:0.97 [[ 9.99984986e-01 -2.11227353e-03 -5.05627727e-03 1.94033625e+02] [ 2.11258031e-03 9.99997767e-01 5.53342761e-05 2.70576164e+00] [ 5.05614910e-03 -6.60152371e-05 9.99987215e-01 9.66616817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:194.06, Y:2.71, Z:0.97 [[ 9.99986939e-01 7.45703236e-04 -5.05627948e-03 1.94062650e+02] [-7.45434004e-04 9.99999721e-01 5.51313844e-05 2.70613177e+00] [ 5.05631918e-03 -5.13615417e-05 9.99987215e-01 9.66594402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:194.09, Y:2.71, Z:0.97 [[ 9.99965187e-01 6.63770150e-03 -5.05629468e-03 1.94090891e+02] [-6.63751482e-03 9.99977970e-01 5.37001236e-05 2.70700692e+00] [ 5.05653974e-03 -2.01370232e-05 9.99987215e-01 9.66985320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:194.12, Y:2.71, Z:0.97 [[ 9.99942655e-01 9.44032133e-03 -5.05631151e-03 1.94119764e+02] [-9.44017874e-03 9.99955439e-01 5.20662846e-05 2.70696515e+00] [ 5.05657772e-03 -4.33081442e-06 9.99987215e-01 9.67415133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:194.15, Y:2.71, Z:0.97 [[ 9.99917241e-01 1.18298577e-02 -5.05631572e-03 1.94146229e+02] [-1.18297477e-02 9.99930025e-01 5.16535666e-05 2.70708088e+00] [ 5.05657296e-03 8.16564766e-06 9.99987215e-01 9.67094690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:194.17, Y:2.71, Z:0.97 [[ 9.99889878e-01 1.39522218e-02 -5.05632454e-03 1.94174115e+02] [-1.39521435e-02 9.99902663e-01 5.07752743e-05 2.70679452e+00] [ 5.05654080e-03 1.97768825e-05 9.99987215e-01 9.66708771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:194.20, Y:2.71, Z:0.97 [[ 9.99843637e-01 1.69450847e-02 -5.05632957e-03 1.94203259e+02] [-1.69450471e-02 9.99856421e-01 5.02700566e-05 2.70670787e+00] [ 5.05645541e-03 3.54175466e-05 9.99987215e-01 9.66368543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:194.23, Y:2.71, Z:0.97 [[ 9.99828808e-01 1.77985667e-02 -5.05633362e-03 1.94230186e+02] [-1.77985421e-02 9.99841592e-01 4.98588173e-05 2.70659379e+00] [ 5.05642007e-03 4.01450850e-05 9.99987215e-01 9.65824179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:194.26, Y:2.71, Z:0.97 [[ 9.99821109e-01 1.82258903e-02 -5.05634055e-03 1.94258689e+02] [-1.82258748e-02 9.99833894e-01 4.91464583e-05 2.70626634e+00] [ 5.05639639e-03 4.30185635e-05 9.99987215e-01 9.66210772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:194.29, Y:2.71, Z:0.97 [[ 9.99819179e-01 1.83314704e-02 -5.05634436e-03 1.94287043e+02] [-1.83314582e-02 9.99831964e-01 4.87510005e-05 2.70557984e+00] [ 5.05638839e-03 4.39479800e-05 9.99987215e-01 9.67230144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.544391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:194.31, Y:2.70, Z:0.97 [[ 9.99845251e-01 1.68495338e-02 -5.05634823e-03 1.94314612e+02] [-1.68495047e-02 9.99858036e-01 4.83462417e-05 2.70417944e+00] [ 5.05644502e-03 3.68582031e-05 9.99987215e-01 9.67741680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.574391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:194.34, Y:2.70, Z:0.97 [[ 9.99865618e-01 1.55942332e-02 -5.05635298e-03 1.94343806e+02] [-1.55941906e-02 9.99878402e-01 4.78443797e-05 2.70334586e+00] [ 5.05648423e-03 3.10117818e-05 9.99987215e-01 9.69533782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.604391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:194.37, Y:2.70, Z:0.97 [[ 9.99890993e-01 1.38720921e-02 -5.05635684e-03 1.94372253e+02] [-1.38720296e-02 9.99903778e-01 4.74329413e-05 2.70264705e+00] [ 5.05652830e-03 2.27141610e-05 9.99987215e-01 9.70332076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.634391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:194.40, Y:2.70, Z:0.97 [[ 9.99935401e-01 1.01797313e-02 -5.05636065e-03 1.94401232e+02] [-1.01796236e-02 9.99948185e-01 4.70233651e-05 2.70049896e+00] [ 5.05657734e-03 4.45152088e-06 9.99987215e-01 9.71628382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:194.43, Y:2.70, Z:0.97 [[ 9.99959298e-01 7.47230640e-03 -5.05636441e-03 1.94428775e+02] [-7.47216622e-03 9.99972082e-01 4.66148575e-05 2.69910422e+00] [ 5.05657157e-03 -8.83096482e-06 9.99987215e-01 9.71801252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:194.46, Y:2.70, Z:0.97 [[ 9.99985995e-01 1.56310982e-03 -5.05636904e-03 1.94457640e+02] [-1.56289666e-03 9.99998778e-01 4.61073112e-05 2.69513514e+00] [ 5.05643493e-03 -3.82040831e-05 9.99987215e-01 9.71385957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:194.49, Y:2.69, Z:0.97 [[ 9.99984939e-01 -2.13436362e-03 -5.05637269e-03 1.94486682e+02] [ 2.13462200e-03 9.99997721e-01 4.57040196e-05 2.69319428e+00] [ 5.05626361e-03 -5.64967756e-05 9.99987215e-01 9.71317109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:194.52, Y:2.69, Z:0.97 [[ 9.99936158e-01 -1.01051085e-02 -5.05637637e-03 1.94515568e+02] [ 1.01054667e-02 9.99948937e-01 4.52923347e-05 2.68925781e+00] [ 5.05566050e-03 -9.63864861e-05 9.99987215e-01 9.70998995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:194.55, Y:2.69, Z:0.97 [[ 9.99887856e-01 -1.40963972e-02 -5.05637910e-03 1.94545551e+02] [ 1.40968048e-02 9.99900634e-01 4.49861189e-05 2.68713540e+00] [ 5.05524252e-03 -1.16259863e-04 9.99987215e-01 9.69008912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:194.58, Y:2.68, Z:0.97 [[ 9.99826519e-01 -1.79266430e-02 -5.05637910e-03 1.94576877e+02] [ 1.79270996e-02 9.99839296e-01 4.49861189e-05 2.68462346e+00] [ 5.05476006e-03 -1.35624527e-04 9.99987215e-01 9.70879482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84439141800001 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:194.61, Y:2.68, Z:0.97 [[ 9.99753837e-01 -2.16032194e-02 -5.05637730e-03 1.94609175e+02] [ 2.16037240e-02 9.99766611e-01 4.51867810e-05 2.68233312e+00] [ 5.05422102e-03 -1.54412238e-04 9.99987215e-01 9.70825253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87439141800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:194.64, Y:2.68, Z:0.97 [[ 9.99603134e-01 -2.77129643e-02 -5.05637366e-03 1.94641443e+02] [ 2.77135490e-02 9.99615905e-01 4.55908360e-05 2.67858028e+00] [ 5.05316807e-03 -1.85702802e-04 9.99987215e-01 9.70640209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90439141800002 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:194.67, Y:2.68, Z:0.97 [[ 9.99530913e-01 -3.02057548e-02 -5.05637002e-03 1.94672534e+02] [ 3.02063733e-02 9.99543682e-01 4.59912241e-05 2.67705127e+00] [ 5.05267351e-03 -1.98704251e-04 9.99987215e-01 9.70205150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93439141800002 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:194.71, Y:2.67, Z:0.97 [[ 9.99422554e-01 -3.36004598e-02 -5.05636728e-03 1.94705103e+02] [ 3.36011233e-02 9.99435322e-01 4.62900082e-05 2.67473406e+00] [ 5.05195670e-03 -2.16162899e-04 9.99987215e-01 9.71166076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:194.74, Y:2.67, Z:0.97 [[ 9.99382852e-01 -3.47613137e-02 -5.05636352e-03 1.94736793e+02] [ 3.47619940e-02 9.99395618e-01 4.66979391e-05 2.67365491e+00] [ 5.05168426e-03 -2.22438398e-04 9.99987215e-01 9.71259963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:194.77, Y:2.67, Z:0.97 [[ 9.99360011e-01 -3.54118899e-02 -5.05635878e-03 1.94768923e+02] [ 3.54125811e-02 9.99372777e-01 4.72052947e-05 2.67263899e+00] [ 5.05151569e-03 -2.26233799e-04 9.99987215e-01 9.71238968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:194.80, Y:2.67, Z:0.97 [[ 9.99338965e-01 -3.60009221e-02 -5.05635505e-03 1.94800949e+02] [ 3.60016229e-02 9.99351730e-01 4.76016219e-05 2.67146585e+00] [ 5.05136346e-03 -2.29607143e-04 9.99987215e-01 9.71619026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:194.83, Y:2.68, Z:0.97 [[ 9.99210235e-01 -3.94124388e-02 -5.05635131e-03 1.94826777e+02] [ 3.94131851e-02 9.99222997e-01 4.79956365e-05 2.67617863e+00] [ 5.05053089e-03 -2.47244641e-04 9.99987215e-01 9.70482795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:194.86, Y:2.68, Z:0.97 [[ 9.99191312e-01 -3.98891752e-02 -5.05716811e-03 1.94858305e+02] [ 3.98894823e-02 9.99204097e-01 -4.01556260e-05 2.67675262e+00] [ 5.05474487e-03 -1.61604665e-04 9.99987212e-01 9.71331412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:194.90, Y:2.67, Z:0.97 [[ 9.99370413e-01 -3.51169471e-02 -5.05737508e-03 1.94895065e+02] [ 3.51170879e-02 9.99383203e-01 -6.09823806e-05 2.66915110e+00] [ 5.05639722e-03 -1.16656298e-04 9.99987210e-01 9.73591018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:194.92, Y:2.67, Z:0.97 [[ 9.99200426e-01 -3.96603506e-02 -5.05613973e-03 1.94920675e+02] [ 3.96611315e-02 9.99213186e-01 5.42200001e-05 2.67496554e+00] [ 5.05001111e-03 -2.54708870e-04 9.99987216e-01 9.68183797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:194.96, Y:2.67, Z:0.97 [[ 9.99377689e-01 -3.49093594e-02 -5.05677541e-03 1.94956603e+02] [ 3.49097833e-02 9.99390468e-01 -4.44940684e-06 2.66840575e+00] [ 5.05384847e-03 -1.72084296e-04 9.99987214e-01 9.74667861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:194.99, Y:2.67, Z:0.97 [[ 9.99386045e-01 -3.46694324e-02 -5.05608713e-03 1.94988256e+02] [ 3.46701626e-02 9.99398808e-01 5.68089699e-05 2.66829087e+00] [ 5.05107792e-03 -2.32069455e-04 9.99987216e-01 9.74687322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:195.01, Y:2.68, Z:0.97 [[ 9.99204691e-01 -3.95527758e-02 -5.05608372e-03 1.95012203e+02] [ 3.95535698e-02 9.99217450e-01 5.71116976e-05 2.67624946e+00] [ 5.04986815e-03 -2.57052436e-04 9.99987216e-01 9.71953770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:195.05, Y:2.68, Z:0.97 [[ 9.99277593e-01 -3.76658497e-02 -5.05727028e-03 1.95045792e+02] [ 3.76660770e-02 9.99290380e-01 -5.03214089e-05 2.67565787e+00] [ 5.05557694e-03 -1.40202475e-04 9.99987211e-01 9.71558568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.294391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:195.08, Y:2.68, Z:0.97 [[ 9.99311764e-01 -3.67480978e-02 -5.05714569e-03 1.95077794e+02] [ 3.67483673e-02 9.99324550e-01 -3.96559180e-05 2.67586964e+00] [ 5.05518712e-03 -1.46213222e-04 9.99987212e-01 9.72771820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.324391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:195.11, Y:2.68, Z:0.97 [[ 9.99364760e-01 -3.52775028e-02 -5.05708599e-03 1.95108038e+02] [ 3.52777772e-02 9.99377545e-01 -3.49669086e-05 2.67633431e+00] [ 5.05517173e-03 -1.43458057e-04 9.99987212e-01 9.73336916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.354391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:195.14, Y:2.68, Z:0.97 [[ 9.99427781e-01 -3.34444939e-02 -5.05734313e-03 1.95139297e+02] [ 3.34446446e-02 9.99440570e-01 -5.48069307e-05 2.67789431e+00] [ 5.05634689e-03 -1.14365474e-04 9.99987210e-01 9.72355741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.384391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:195.17, Y:2.68, Z:0.97 [[ 9.99512396e-01 -3.08122271e-02 -5.05739495e-03 1.95172509e+02] [ 3.08123237e-02 9.99525186e-01 -5.88375881e-05 2.67662115e+00] [ 5.05680654e-03 -9.70211915e-05 9.99987210e-01 9.73306147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:195.21, Y:2.68, Z:0.97 [[ 9.99563440e-01 -2.91093841e-02 -5.05703812e-03 1.95205037e+02] [ 2.91095933e-02 9.99576225e-01 -3.22421660e-05 2.67688624e+00] [ 5.05583363e-03 -1.14980233e-04 9.99987213e-01 9.73450522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:195.24, Y:2.67, Z:0.98 [[ 9.99754728e-01 -2.15617749e-02 -5.05701433e-03 1.95240740e+02] [ 2.15618964e-02 9.99767515e-01 -3.04893946e-05 2.67216040e+00] [ 5.05649606e-03 -7.85569028e-05 9.99987213e-01 9.78760031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:195.27, Y:2.67, Z:0.98 [[ 9.99783312e-01 -2.01933337e-02 -5.05555460e-03 1.95271716e+02] [ 2.01939557e-02 9.99796079e-01 7.20039000e-05 2.67252391e+00] [ 5.05306966e-03 -1.74079943e-04 9.99987218e-01 9.77693337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:195.30, Y:2.67, Z:0.98 [[ 9.99819506e-01 -1.83138259e-02 -5.05555020e-03 1.95304011e+02] [ 1.83144254e-02 9.99832274e-01 7.23112825e-05 2.67274995e+00] [ 5.05337796e-03 -1.64887728e-04 9.99987218e-01 9.78800679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:195.33, Y:2.67, Z:0.98 [[ 9.99890870e-01 -1.38812518e-02 -5.05554434e-03 1.95334793e+02] [ 1.38817967e-02 9.99903641e-01 7.27185700e-05 2.67463854e+00] [ 5.05404777e-03 -1.42890673e-04 9.99987218e-01 9.78347336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:195.37, Y:2.67, Z:0.98 [[ 9.99925872e-01 -1.10766608e-02 -5.05553996e-03 1.95365781e+02] [ 1.10771715e-02 9.99938644e-01 7.30217274e-05 2.67486649e+00] [ 5.05442094e-03 -1.29017398e-04 9.99987218e-01 9.79635009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59439141800001 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:195.39, Y:2.67, Z:0.98 [[ 9.99965938e-01 -6.52416380e-03 -5.05553704e-03 1.95393846e+02] [ 6.52461734e-03 9.99978712e-01 7.32237704e-05 2.67491145e+00] [ 5.05495169e-03 -1.06206721e-04 9.99987218e-01 9.78759057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62439141800002 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:195.42, Y:2.67, Z:0.98 [[ 9.99966550e-01 -6.42922672e-03 -5.05607236e-03 1.95424028e+02] [ 6.42948639e-03 9.99979330e-01 3.51050205e-05 2.67443415e+00] [ 5.05574215e-03 -6.76117946e-05 9.99987217e-01 9.78922407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65439141800002 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:195.46, Y:2.68, Z:0.98 [[ 9.99986222e-01 -1.41182747e-03 -5.05602707e-03 1.95455153e+02] [ 1.41203887e-03 9.99999002e-01 3.82421941e-05 2.67642201e+00] [ 5.05596804e-03 -4.53809740e-05 9.99987217e-01 9.79658337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68439141800002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:195.48, Y:2.68, Z:0.98 [[ 9.99983010e-01 2.90190914e-03 -5.05552649e-03 1.95483333e+02] [-2.90157747e-03 9.99995788e-01 7.29386643e-05 2.67665182e+00] [ 5.05571686e-03 -5.82684233e-05 9.99987218e-01 9.80025872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:195.51, Y:2.68, Z:0.98 [[ 9.99974078e-01 5.12676043e-03 -5.05574784e-03 1.95511837e+02] [-5.12653570e-03 9.99986858e-01 5.74097642e-05 2.67710372e+00] [ 5.05597572e-03 -3.14898042e-05 9.99987218e-01 9.80287947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:195.54, Y:2.68, Z:0.98 [[ 9.99932440e-01 1.04669019e-02 -5.05555096e-03 1.95538606e+02] [-1.04666749e-02 9.99945220e-01 7.13586098e-05 2.67750557e+00] [ 5.05602092e-03 -1.84389807e-05 9.99987218e-01 9.80142741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:195.57, Y:2.68, Z:0.98 [[ 9.99909777e-01 1.24450228e-02 -5.05556074e-03 1.95567202e+02] [-1.24448246e-02 9.99922558e-01 7.06588604e-05 2.67761870e+00] [ 5.05604857e-03 -7.73691861e-06 9.99987218e-01 9.80651464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:195.60, Y:2.68, Z:0.98 [[ 9.99890250e-01 1.39258286e-02 -5.05556624e-03 1.95595336e+02] [-1.39256514e-02 9.99903031e-01 7.02626891e-05 2.67740647e+00] [ 5.05605448e-03 1.47075242e-07 9.99987218e-01 9.82216059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:195.62, Y:2.68, Z:0.98 [[ 9.99864815e-01 1.56458763e-02 -5.05557477e-03 1.95622941e+02] [-1.56457242e-02 9.99877596e-01 6.96436726e-05 2.67619152e+00] [ 5.05604558e-03 9.46387068e-06 9.99987218e-01 9.82107387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:195.65, Y:2.68, Z:0.98 [[ 9.99860477e-01 1.59206635e-02 -5.05558176e-03 1.95651483e+02] [-1.59205175e-02 9.99873258e-01 6.91328294e-05 2.67529605e+00] [ 5.05604164e-03 1.13642940e-05 9.99987218e-01 9.82716172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:195.68, Y:2.68, Z:0.98 [[ 9.99899918e-01 1.32134511e-02 -5.05558704e-03 1.95676058e+02] [-1.32132725e-02 9.99912699e-01 6.87443938e-05 2.67801928e+00] [ 5.05605403e-03 -1.93666474e-06 9.99987218e-01 9.84015738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:195.71, Y:2.67, Z:0.98 [[ 9.99844099e-01 1.69176971e-02 -5.05652308e-03 1.95705938e+02] [-1.69179272e-02 9.99856882e-01 -2.74605907e-06 2.67244668e+00] [ 5.05575294e-03 8.82915205e-05 9.99987216e-01 9.84932900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:195.74, Y:2.67, Z:0.99 [[ 9.99880821e-01 1.45868942e-02 -5.05622956e-03 1.95738054e+02] [-1.45869794e-02 9.99893604e-01 2.00293937e-05 2.66958480e+00] [ 5.05598376e-03 5.37281099e-05 9.99987217e-01 9.85094361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:195.76, Y:2.67, Z:0.98 [[ 9.99938589e-01 9.86203344e-03 -5.05561632e-03 1.95762939e+02] [-9.86182282e-03 9.99951369e-01 6.65886852e-05 2.67241773e+00] [ 5.05602716e-03 -1.67270035e-05 9.99987218e-01 9.81947566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:195.80, Y:2.67, Z:0.98 [[ 9.99899870e-01 1.32166524e-02 -5.05666940e-03 1.95796828e+02] [-1.32169045e-02 9.99912653e-01 -1.64383047e-05 2.66578905e+00] [ 5.05601045e-03 8.32701751e-05 9.99987215e-01 9.84825354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.044391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:195.82, Y:2.66, Z:0.98 [[ 9.99926164e-01 1.10502524e-02 -5.05558575e-03 1.95824472e+02] [-1.10500587e-02 9.99938944e-01 6.62529387e-05 2.66212891e+00] [ 5.05600919e-03 -1.03835277e-05 9.99987218e-01 9.83797856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.074391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:195.85, Y:2.66, Z:0.98 [[ 9.99938442e-01 9.87694293e-03 -5.05559286e-03 1.95852859e+02] [-9.87673696e-03 9.99951222e-01 6.57065992e-05 2.65994413e+00] [ 5.05599523e-03 -1.57697936e-05 9.99987218e-01 9.84081164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.104391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:195.88, Y:2.66, Z:0.98 [[ 9.99951656e-01 8.43365854e-03 -5.05559807e-03 1.95882106e+02] [-8.43343617e-03 9.99964436e-01 6.53025639e-05 2.65765516e+00] [ 5.05596902e-03 -2.26633433e-05 9.99987218e-01 9.84337740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.134391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:195.91, Y:2.65, Z:0.99 [[ 9.99964465e-01 6.74602693e-03 -5.05560333e-03 1.95908628e+02] [-6.74578506e-03 9.99977245e-01 6.48930960e-05 2.65361209e+00] [ 5.05592606e-03 -3.07867766e-05 9.99987218e-01 9.85293437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:195.94, Y:2.65, Z:0.98 [[ 9.99980446e-01 3.68035043e-03 -5.05594963e-03 1.95937574e+02] [-3.68020842e-03 9.99993227e-01 3.73895095e-05 2.65209101e+00] [ 5.05605299e-03 -1.87818300e-05 9.99987218e-01 9.84488151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:195.97, Y:2.65, Z:0.98 [[ 9.99985540e-01 1.83294638e-03 -5.05561694e-03 1.95966151e+02] [-1.83264742e-03 9.99998319e-01 6.37660744e-05 2.65009413e+00] [ 5.05572532e-03 -5.44999891e-05 9.99987218e-01 9.84858929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:195.99, Y:2.65, Z:0.98 [[ 9.99986596e-01 -1.11743798e-03 -5.05562197e-03 1.95993737e+02] [ 1.11777262e-03 9.99999373e-01 6.33650526e-05 2.64623858e+00] [ 5.05554799e-03 -6.90152390e-05 9.99987218e-01 9.84843069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:196.02, Y:2.64, Z:0.98 [[ 9.99984140e-01 -2.48208757e-03 -5.05562816e-03 1.96021406e+02] [ 2.48243713e-03 9.99996917e-01 6.28675566e-05 2.64440464e+00] [ 5.05545653e-03 -7.54168386e-05 9.99987218e-01 9.84580103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:196.05, Y:2.64, Z:0.98 [[ 9.99977487e-01 -4.41202443e-03 -5.05563422e-03 1.96050150e+02] [ 4.41239616e-03 9.99990263e-01 6.23759191e-05 2.64158219e+00] [ 5.05530979e-03 -8.46819759e-05 9.99987218e-01 9.84921616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:196.08, Y:2.64, Z:0.99 [[ 9.99976337e-01 -4.66537634e-03 -5.05563667e-03 1.96079519e+02] [ 4.66575029e-03 9.99989113e-01 6.21766393e-05 2.63983099e+00] [ 5.05529156e-03 -8.57635063e-05 9.99987218e-01 9.85764004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34439141800001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:196.11, Y:2.64, Z:0.99 [[ 9.99974500e-01 -5.04388178e-03 -5.05563914e-03 1.96109531e+02] [ 5.04425956e-03 9.99987276e-01 6.19751270e-05 2.63827733e+00] [ 5.05526222e-03 -8.74755027e-05 9.99987218e-01 9.86089996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37439141800002 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:196.14, Y:2.64, Z:0.99 [[ 9.99974712e-01 -5.00164006e-03 -5.05564163e-03 1.96138994e+02] [ 5.00201627e-03 9.99987488e-01 6.17713470e-05 2.63675343e+00] [ 5.05526942e-03 -8.70581866e-05 9.99987218e-01 9.85976020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40439141800002 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:196.17, Y:2.63, Z:0.99 [[ 9.99978855e-01 -4.09014418e-03 -5.05564413e-03 1.96168579e+02] [ 4.09050770e-03 9.99991632e-01 6.15663041e-05 2.63419706e+00] [ 5.05535001e-03 -8.22451536e-05 9.99987218e-01 9.86159169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43439141800002 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:196.20, Y:2.63, Z:0.99 [[ 9.99981910e-01 -3.25895841e-03 -5.05564667e-03 1.96197667e+02] [ 3.25931025e-03 9.99994687e-01 6.13570465e-05 2.63319097e+00] [ 5.05541985e-03 -7.78338576e-05 9.99987218e-01 9.85837840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:196.23, Y:2.63, Z:0.99 [[ 9.99984240e-01 -2.44154171e-03 -5.05565042e-03 1.96226201e+02] [ 2.44188154e-03 9.99997017e-01 6.10467151e-05 2.63257483e+00] [ 5.05548629e-03 -7.33910525e-05 9.99987218e-01 9.86453655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:196.25, Y:2.63, Z:0.99 [[ 9.99987158e-01 3.53535018e-04 -5.05566739e-03 1.96254359e+02] [-3.53238177e-04 9.99999936e-01 5.96074754e-05 2.63107286e+00] [ 5.05568813e-03 -5.78208552e-05 9.99987218e-01 9.86757775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:196.28, Y:2.63, Z:0.99 [[ 9.99986829e-01 8.83707652e-04 -5.05575925e-03 1.96283440e+02] [-8.83457517e-04 9.99999608e-01 5.17082565e-05 2.63024985e+00] [ 5.05580297e-03 -4.72410269e-05 9.99987218e-01 9.85894567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:196.31, Y:2.63, Z:0.99 [[ 9.99986526e-01 1.17825586e-03 -5.05569030e-03 1.96311074e+02] [-1.17797897e-03 9.99999305e-01 5.77449540e-05 2.62967026e+00] [ 5.05575482e-03 -5.17886791e-05 9.99987218e-01 9.85449585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:196.34, Y:2.63, Z:0.99 [[ 9.99985042e-01 2.08693119e-03 -5.05569704e-03 1.96338966e+02] [-2.08666892e-03 9.99997821e-01 5.71488030e-05 2.62813944e+00] [ 5.05580529e-03 -4.65983823e-05 9.99987218e-01 9.85187442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:196.37, Y:2.63, Z:0.99 [[ 9.99984791e-01 2.20402866e-03 -5.05571468e-03 1.96367628e+02] [-2.20377601e-03 9.99997570e-01 5.55433127e-05 2.62732231e+00] [ 5.05582481e-03 -4.44008052e-05 9.99987218e-01 9.85476753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:196.40, Y:2.63, Z:0.99 [[ 9.99985275e-01 1.97235355e-03 -5.05571903e-03 1.96396907e+02] [-1.97209996e-03 9.99998054e-01 5.51447433e-05 2.62660292e+00] [ 5.05581795e-03 -4.51735480e-05 9.99987218e-01 9.86034065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:196.42, Y:2.63, Z:0.99 [[ 9.99987132e-01 4.19888695e-04 -5.05572332e-03 1.96424793e+02] [-4.19617264e-04 9.99999910e-01 5.47483326e-05 2.62541268e+00] [ 5.05574585e-03 -5.26261593e-05 9.99987218e-01 9.86777647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:196.45, Y:2.62, Z:0.99 [[ 9.99986972e-01 -7.03788005e-04 -5.05572859e-03 1.96453141e+02] [ 7.04071309e-04 9.99999751e-01 5.42567400e-05 2.62444226e+00] [ 5.05568915e-03 -5.78156266e-05 9.99987218e-01 9.87189993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:196.48, Y:2.62, Z:0.99 [[ 9.99984198e-01 -2.45850524e-03 -5.05573274e-03 1.96482106e+02] [ 2.45880901e-03 9.99996976e-01 5.38680750e-05 2.62340956e+00] [ 5.05558501e-03 -6.62983049e-05 9.99987218e-01 9.87532703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:196.51, Y:2.62, Z:0.99 [[ 9.99966632e-01 -6.41666789e-03 -5.05573685e-03 1.96510933e+02] [ 6.41702026e-03 9.99979409e-01 5.34794519e-05 2.62114957e+00] [ 5.05528959e-03 -8.59204332e-05 9.99987218e-01 9.87879667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.794391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:196.54, Y:2.62, Z:0.99 [[ 9.99945657e-01 -9.11712150e-03 -5.05574091e-03 1.96540345e+02] [ 9.11750642e-03 9.99958433e-01 5.30926654e-05 2.62005589e+00] [ 5.05504671e-03 -9.91855304e-05 9.99987218e-01 9.88450801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.824391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:196.57, Y:2.62, Z:0.99 [[ 9.99916632e-01 -1.18814592e-02 -5.05574294e-03 1.96570641e+02] [ 1.18818785e-02 9.99929407e-01 5.28987140e-05 2.61886594e+00] [ 5.05475752e-03 -1.12966027e-04 9.99987218e-01 9.88902542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.854391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:196.60, Y:2.62, Z:0.99 [[ 9.99823270e-01 -1.81071058e-02 -5.05574294e-03 1.96601168e+02] [ 1.81076046e-02 9.99836042e-01 5.28987140e-05 2.61701088e+00] [ 5.05395617e-03 -1.44436759e-04 9.99987218e-01 9.89336027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.884391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:196.63, Y:2.62, Z:0.99 [[ 9.99757868e-01 -2.14159793e-02 -5.05574193e-03 1.96633337e+02] [ 2.14165209e-02 9.99770639e-01 5.29952890e-05 2.61560428e+00] [ 5.05344739e-03 -1.61258860e-04 9.99987218e-01 9.89882523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:196.67, Y:2.61, Z:0.99 [[ 9.99673940e-01 -2.50290565e-02 -5.05573783e-03 1.96665897e+02] [ 2.50296462e-02 9.99686708e-01 5.33833037e-05 2.61432957e+00] [ 5.05281777e-03 -1.79909226e-04 9.99987218e-01 9.90404212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:196.70, Y:2.61, Z:0.99 [[ 9.99461857e-01 -3.24104411e-02 -5.05573342e-03 1.96697079e+02] [ 3.24111271e-02 9.99474620e-01 5.37978179e-05 2.61264606e+00] [ 5.05133363e-03 -2.17630885e-04 9.99987218e-01 9.90794469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:196.73, Y:2.62, Z:0.99 [[ 9.99245888e-01 -3.84979862e-02 -5.05573013e-03 1.96726218e+02] [ 3.84987515e-02 9.99258647e-01 5.41051723e-05 2.61522590e+00] [ 5.04989911e-03 -2.48703669e-04 9.99987218e-01 9.90959320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:196.76, Y:2.61, Z:0.99 [[ 9.99120774e-01 -4.16186475e-02 -5.05632447e-03 1.96757966e+02] [ 4.16191750e-02 9.99133547e-01 -9.10608503e-07 2.61474968e+00] [ 5.05198130e-03 -2.09530245e-04 9.99987217e-01 9.90925453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034391418 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:196.79, Y:2.61, Z:0.99 [[ 9.99038524e-01 -4.35483761e-02 -5.05627814e-03 1.96792037e+02] [ 4.35489497e-02 9.99051294e-01 3.34727220e-06 2.61123707e+00] [ 5.05133545e-03 -2.23539656e-04 9.99987217e-01 9.89968304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:196.82, Y:2.61, Z:0.99 [[ 9.98968976e-01 -4.51156754e-02 -5.05567938e-03 1.96824576e+02] [ 4.51165384e-02 9.98981729e-01 5.67186347e-05 2.61157477e+00] [ 5.04797243e-03 -2.84754910e-04 9.99987218e-01 9.90343402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09439141800001 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:196.86, Y:2.61, Z:0.99 [[ 9.98923296e-01 -4.61160411e-02 -5.05567478e-03 1.96856061e+02] [ 4.61169189e-02 9.98936047e-01 5.71258825e-05 2.61211323e+00] [ 5.04766136e-03 -2.90216519e-04 9.99987218e-01 9.90704257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12439141800002 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:196.89, Y:2.61, Z:0.99 [[ 9.98915324e-01 -4.62883889e-02 -5.05567134e-03 1.96888264e+02] [ 4.62892705e-02 9.98928076e-01 5.74290478e-05 2.61265133e+00] [ 5.04759374e-03 -2.91390094e-04 9.99987218e-01 9.90578075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15439141800002 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:196.92, Y:2.62, Z:0.99 [[ 9.98913010e-01 -4.63383070e-02 -5.05566676e-03 1.96920005e+02] [ 4.63391912e-02 9.98925761e-01 5.78295177e-05 2.61677970e+00] [ 5.04755604e-03 -2.92042166e-04 9.99987218e-01 9.91775424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18439141800002 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:196.95, Y:2.62, Z:0.99 [[ 9.99012628e-01 -4.41385320e-02 -5.05569385e-03 1.96952069e+02] [ 4.41393763e-02 9.99025381e-01 5.54911848e-05 2.61735907e+00] [ 5.04831718e-03 -2.78591568e-04 9.99987218e-01 9.90943534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:196.98, Y:2.63, Z:0.99 [[ 9.99009966e-01 -4.41987438e-02 -5.05564868e-03 1.96980125e+02] [ 4.41996083e-02 9.99022718e-01 5.93393324e-05 2.62529770e+00] [ 5.04808517e-03 -2.82738276e-04 9.99987218e-01 9.92804382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:197.01, Y:2.62, Z:0.99 [[ 9.99252712e-01 -3.83203776e-02 -5.05633628e-03 1.97014826e+02] [ 3.83208680e-02 9.99265486e-01 9.25269062e-08 2.62249148e+00] [ 5.05261878e-03 -1.93855653e-04 9.99987217e-01 9.91445477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:197.05, Y:2.62, Z:0.99 [[ 9.99340090e-01 -3.59697747e-02 -5.05560952e-03 1.97046973e+02] [ 3.59705408e-02 9.99352849e-01 6.06617824e-05 2.62416518e+00] [ 5.05015579e-03 -2.42474760e-04 9.99987218e-01 9.91744054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:197.08, Y:2.63, Z:0.99 [[ 9.99431443e-01 -3.33351296e-02 -5.05560482e-03 1.97079368e+02] [ 3.33358641e-02 9.99444204e-01 6.10516310e-05 2.62572562e+00] [ 5.05075977e-03 -2.29549875e-04 9.99987218e-01 9.91810533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:197.11, Y:2.63, Z:0.99 [[ 9.99592990e-01 -2.80765815e-02 -5.05560009e-03 1.97110329e+02] [ 2.80772507e-02 9.99605754e-01 6.14402046e-05 2.62961354e+00] [ 5.05188191e-03 -2.03362549e-04 9.99987218e-01 9.92253495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:197.14, Y:2.63, Z:0.99 [[ 9.99673400e-01 -2.50506266e-02 -5.05559656e-03 1.97142866e+02] [ 2.50512586e-02 9.99686166e-01 6.17296285e-05 2.63164485e+00] [ 5.05246358e-03 -1.88358525e-04 9.99987218e-01 9.92641158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:197.17, Y:2.63, Z:0.99 [[ 9.99755984e-01 -2.15038183e-02 -5.05559157e-03 1.97174903e+02] [ 2.15044071e-02 9.99768752e-01 6.21356702e-05 2.63368727e+00] [ 5.05308632e-03 -1.70838007e-04 9.99987218e-01 9.93040367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:197.21, Y:2.64, Z:0.99 [[ 9.99874012e-01 -1.50466618e-02 -5.05558650e-03 1.97205791e+02] [ 1.50471702e-02 9.99886783e-01 6.25450439e-05 2.63817069e+00] [ 5.05407303e-03 -1.38609435e-04 9.99987218e-01 9.92629726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:197.24, Y:2.64, Z:0.99 [[ 9.99912101e-01 -1.22569102e-02 -5.05558272e-03 1.97237517e+02] [ 1.22573845e-02 9.99924873e-01 6.28495991e-05 2.63968029e+00] [ 5.05443257e-03 -1.24812296e-04 9.99987218e-01 9.92149532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:197.27, Y:2.64, Z:0.99 [[ 9.99955235e-01 -7.99803056e-03 -5.05558016e-03 1.97267477e+02] [ 7.99845153e-03 9.99968010e-01 6.30543372e-05 2.64230381e+00] [ 5.05491413e-03 -1.03488327e-04 9.99987218e-01 9.91722703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:197.30, Y:2.64, Z:0.99 [[ 9.99955235e-01 -7.99803005e-03 -5.05557889e-03 1.97298474e+02] [ 7.99845153e-03 9.99968010e-01 6.31562641e-05 2.64191653e+00] [ 5.05491204e-03 -1.03590240e-04 9.99987218e-01 9.91879411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.544391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:197.33, Y:2.64, Z:0.99 [[ 9.99966375e-01 -6.45679683e-03 -5.05557889e-03 1.97328849e+02] [ 6.45719862e-03 9.99979150e-01 6.31562641e-05 2.64302191e+00] [ 5.05506570e-03 -9.57990175e-05 9.99987218e-01 9.91984438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.574391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:197.36, Y:2.64, Z:0.99 [[ 9.99973252e-01 -5.28554928e-03 -5.05557889e-03 1.97358722e+02] [ 5.28593611e-03 9.99986027e-01 6.31562641e-05 2.64410055e+00] [ 5.05517444e-03 -8.98780417e-05 9.99987218e-01 9.92465660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.604391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:197.39, Y:2.65, Z:0.99 [[ 9.99978521e-01 -4.17118148e-03 -5.05558144e-03 1.97388401e+02] [ 4.17155303e-03 9.99991297e-01 6.29514196e-05 2.64566548e+00] [ 5.05527486e-03 -8.40396935e-05 9.99987218e-01 9.92334313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.634391418 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:197.42, Y:2.65, Z:0.99 [[ 9.99986004e-01 -1.55971549e-03 -5.05558396e-03 1.97417293e+02] [ 1.56005265e-03 9.99998781e-01 6.27481712e-05 2.64848685e+00] [ 5.05547993e-03 -7.06342702e-05 9.99987218e-01 9.92362100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:197.45, Y:2.65, Z:0.99 [[ 9.99987200e-01 -2.03531430e-04 -5.05558770e-03 1.97446341e+02] [ 2.03849736e-04 9.99999977e-01 6.24460531e-05 2.64953076e+00] [ 5.05557487e-03 -6.34758340e-05 9.99987218e-01 9.91757475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:197.48, Y:2.65, Z:0.99 [[ 9.99987036e-01 6.06449692e-04 -5.05560456e-03 1.97475346e+02] [-6.06148794e-04 9.99999814e-01 6.10498521e-05 2.65019203e+00] [ 5.05564064e-03 -5.79846121e-05 9.99987218e-01 9.91608096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:197.50, Y:2.65, Z:0.99 [[ 9.99984255e-01 2.43535508e-03 -5.05562104e-03 1.97502911e+02] [-2.43508461e-03 9.99997033e-01 5.96532979e-05 2.65056868e+00] [ 5.05575131e-03 -4.73414936e-05 9.99987218e-01 9.91420262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754391418 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:197.53, Y:2.65, Z:0.99 [[ 9.99984077e-01 2.50718226e-03 -5.05562986e-03 1.97532132e+02] [-2.50691654e-03 9.99996856e-01 5.88955865e-05 2.65034284e+00] [ 5.05576163e-03 -4.62206066e-05 9.99987218e-01 9.91762870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:197.56, Y:2.65, Z:0.99 [[ 9.99985644e-01 1.77561736e-03 -5.05563458e-03 1.97559861e+02] [-1.77534435e-03 9.99998422e-01 5.84882011e-05 2.65011342e+00] [ 5.05573045e-03 -4.95118691e-05 9.99987218e-01 9.91791568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:197.59, Y:2.65, Z:0.99 [[ 9.99986054e-01 -1.52736451e-03 -5.05564038e-03 1.97588616e+02] [ 1.52767717e-03 9.99998831e-01 5.79823372e-05 2.64947996e+00] [ 5.05554591e-03 -6.57049150e-05 9.99987218e-01 9.91791491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84439141800001 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:197.62, Y:2.65, Z:0.99 [[ 9.99983585e-01 -2.69622493e-03 -5.05564498e-03 1.97617057e+02] [ 2.69655048e-03 9.99996363e-01 5.75778713e-05 2.64832745e+00] [ 5.05547135e-03 -7.12097281e-05 9.99987218e-01 9.90763369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87439141800002 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:197.65, Y:2.65, Z:0.99 [[ 9.99962250e-01 -7.06663053e-03 -5.05590054e-03 1.97646682e+02] [ 7.06689933e-03 9.99975029e-01 3.53038025e-05 2.64761114e+00] [ 5.05552481e-03 -7.10320099e-05 9.99987218e-01 9.90496360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90439141800002 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:197.68, Y:2.65, Z:0.99 [[ 9.99884248e-01 -1.43503027e-02 -5.05564119e-03 1.97676758e+02] [ 1.43507790e-02 9.99897021e-01 5.79356939e-05 2.64509519e+00] [ 5.05428917e-03 -1.30481377e-04 9.99987218e-01 9.89926437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93439141800002 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:197.71, Y:2.64, Z:0.99 [[ 9.99821396e-01 -1.82103636e-02 -5.05564119e-03 1.97708551e+02] [ 1.82108892e-02 9.99834166e-01 5.79356939e-05 2.64380606e+00] [ 5.05374777e-03 -1.49993068e-04 9.99987218e-01 9.89822008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:197.74, Y:2.64, Z:0.99 [[ 9.99741353e-01 -2.21735799e-02 -5.05563883e-03 1.97740207e+02] [ 2.21741571e-02 9.99754121e-01 5.81414127e-05 2.64266179e+00] [ 5.05310655e-03 -1.70230904e-04 9.99987218e-01 9.89954732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:197.77, Y:2.64, Z:0.99 [[ 9.99533541e-01 -3.01187906e-02 -5.05563527e-03 1.97771007e+02] [ 3.01194709e-02 9.99546304e-01 5.84492379e-05 2.64084050e+00] [ 5.05158113e-03 -2.10695033e-04 9.99987218e-01 9.90117554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:197.80, Y:2.64, Z:0.99 [[ 9.99412860e-01 -3.38876925e-02 -5.05563177e-03 1.97802907e+02] [ 3.38884224e-02 9.99425621e-01 5.87499269e-05 2.63986218e+00] [ 5.05073702e-03 -2.30042817e-04 9.99987218e-01 9.90156454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:197.84, Y:2.64, Z:0.99 [[ 9.99325977e-01 -3.63597587e-02 -5.05562702e-03 1.97835807e+02] [ 3.63605222e-02 9.99338736e-01 5.91565452e-05 2.63769512e+00] [ 5.05013299e-03 -2.42941911e-04 9.99987218e-01 9.89677848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:197.87, Y:2.64, Z:0.99 [[ 9.99081340e-01 -4.25549021e-02 -5.05535208e-03 1.97866015e+02] [ 4.25558614e-02 9.99094086e-01 8.22851640e-05 2.63709155e+00] [ 5.04727072e-03 -2.97344434e-04 9.99987218e-01 9.88983343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:197.90, Y:2.64, Z:0.99 [[ 9.99004003e-01 -4.43333203e-02 -5.05561481e-03 1.97898787e+02] [ 4.43341910e-02 9.99016755e-01 6.02328054e-05 2.63636548e+00] [ 5.04797358e-03 -2.84309406e-04 9.99987218e-01 9.88986890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:197.93, Y:2.64, Z:0.99 [[ 9.98947689e-01 -4.55845881e-02 -5.05560727e-03 1.97930413e+02] [ 4.55854779e-02 9.98960440e-01 6.08592918e-05 2.63620107e+00] [ 5.04757741e-03 -2.91257522e-04 9.99987218e-01 9.88461666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:197.96, Y:2.64, Z:0.99 [[ 9.98921774e-01 -4.61490015e-02 -5.05559506e-03 1.97963240e+02] [ 4.61499035e-02 9.98934524e-01 6.18571000e-05 2.63625720e+00] [ 5.04735380e-03 -2.95105628e-04 9.99987218e-01 9.88767589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204391418 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:198.00, Y:2.64, Z:0.99 [[ 9.99027349e-01 -4.38040833e-02 -5.05558737e-03 1.97997508e+02] [ 4.38049586e-02 9.99040100e-01 6.24792741e-05 2.63503240e+00] [ 5.04799767e-03 -2.83878299e-04 9.99987218e-01 9.87263528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:198.03, Y:2.64, Z:0.99 [[ 9.98944407e-01 -4.56565298e-02 -5.05496742e-03 1.98025840e+02] [ 4.56576765e-02 9.98957138e-01 1.11612184e-04 2.63840145e+00] [ 5.04459997e-03 -3.42292434e-04 9.99987217e-01 9.89701160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:198.06, Y:2.64, Z:0.99 [[ 9.99029141e-01 -4.37631825e-02 -5.05557394e-03 1.98058098e+02] [ 4.37640586e-02 9.99041893e-01 6.27375945e-05 2.63907240e+00] [ 5.04798456e-03 -2.83929119e-04 9.99987219e-01 9.89453235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.294391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:198.09, Y:2.64, Z:0.99 [[ 9.99180249e-01 -4.01655334e-02 -5.05573669e-03 1.98089163e+02] [ 4.01662976e-02 9.99193007e-01 4.96717694e-05 2.64104924e+00] [ 5.04966166e-03 -2.52701276e-04 9.99987218e-01 9.90151597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.324391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:198.12, Y:2.64, Z:0.99 [[ 9.99229200e-01 -3.89287078e-02 -5.05578496e-03 1.98123661e+02] [ 3.89294370e-02 9.99241961e-01 4.58710420e-05 2.64197563e+00] [ 5.05016678e-03 -2.42654547e-04 9.99987218e-01 9.90829977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.354391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:198.16, Y:2.64, Z:0.99 [[ 9.99310303e-01 -3.67880277e-02 -5.05553131e-03 1.98155638e+02] [ 3.67888284e-02 9.99323060e-01 6.54608445e-05 2.64310216e+00] [ 5.04970084e-03 -2.51402770e-04 9.99987219e-01 9.90660925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.384391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:198.19, Y:2.65, Z:0.99 [[ 9.99443991e-01 -3.29568008e-02 -5.05552465e-03 1.98188246e+02] [ 3.29575553e-02 9.99456750e-01 6.59706989e-05 2.64608011e+00] [ 5.05060406e-03 -2.32551752e-04 9.99987219e-01 9.90566384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:198.22, Y:2.65, Z:0.99 [[ 9.99517017e-01 -3.06622519e-02 -5.05551938e-03 1.98220539e+02] [ 3.06629790e-02 9.99529778e-01 6.63722342e-05 2.64703854e+00] [ 5.05110704e-03 -2.21357462e-04 9.99987219e-01 9.90570307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:198.25, Y:2.65, Z:0.99 [[ 9.99625803e-01 -2.68830149e-02 -5.05551410e-03 1.98250505e+02] [ 2.68836958e-02 9.99638566e-01 6.67720871e-05 2.64797293e+00] [ 5.05189183e-03 -2.02658004e-04 9.99987219e-01 9.89854945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:198.28, Y:2.65, Z:0.99 [[ 9.99740959e-01 -2.21912750e-02 -5.05584771e-03 1.98283853e+02] [ 2.21917702e-02 9.99753731e-01 4.18588333e-05 2.65135151e+00] [ 5.05367371e-03 -1.54046201e-04 9.99987218e-01 9.91574035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:198.31, Y:2.65, Z:0.99 [[ 9.99814932e-01 -1.85618806e-02 -5.05547587e-03 1.98314690e+02] [ 1.85624669e-02 9.99827700e-01 6.90736410e-05 2.65286606e+00] [ 5.05332267e-03 -1.62902961e-04 9.99987219e-01 9.90180451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:198.35, Y:2.65, Z:0.99 [[ 9.99872629e-01 -1.51382780e-02 -5.05551403e-03 1.98346821e+02] [ 1.51388066e-02 9.99885400e-01 6.63011280e-05 2.65407580e+00] [ 5.05393098e-03 -1.42827132e-04 9.99987219e-01 9.92759561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:198.38, Y:2.66, Z:0.99 [[ 9.99913335e-01 -1.21558549e-02 -5.05550000e-03 1.98377730e+02] [ 1.21563505e-02 9.99926107e-01 6.73147408e-05 2.65556657e+00] [ 5.05430816e-03 -1.28765337e-04 9.99987219e-01 9.92561545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59439141800001 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:198.41, Y:2.66, Z:0.99 [[ 9.99976189e-01 -4.69726924e-03 -5.05546212e-03 1.98408014e+02] [ 4.69768339e-03 9.99988963e-01 7.00482630e-05 2.65850548e+00] [ 5.05507729e-03 -9.37955555e-05 9.99987219e-01 9.92176521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62439141800002 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:198.44, Y:2.66, Z:0.99 [[ 9.99979947e-01 -3.81357846e-03 -5.05591309e-03 1.98438619e+02] [ 3.81381419e-03 9.99992727e-01 3.69834367e-05 2.65984594e+00] [ 5.05573528e-03 -5.62650081e-05 9.99987218e-01 9.93543768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65439141800002 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:198.47, Y:2.66, Z:0.99 [[ 9.99985381e-01 -1.91822654e-03 -5.05547025e-03 1.98468420e+02] [ 1.91860136e-03 9.99998157e-01 6.92927369e-05 2.66063036e+00] [ 5.05532801e-03 -7.89911561e-05 9.99987219e-01 9.94453678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:198.50, Y:2.66, Z:1.00 [[ 9.99987149e-01 3.78482916e-04 -5.05547302e-03 1.98497247e+02] [-3.78138467e-04 9.99999926e-01 6.90895893e-05 2.66130659e+00] [ 5.05549880e-03 -6.71770326e-05 9.99987219e-01 9.95316553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:198.53, Y:2.66, Z:1.00 [[ 9.99986941e-01 7.48636600e-04 -5.05547713e-03 1.98525391e+02] [-7.48298407e-04 9.99999718e-01 6.87876196e-05 2.66117008e+00] [ 5.05552720e-03 -6.50037158e-05 9.99987219e-01 9.96344126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:198.55, Y:2.66, Z:1.00 [[ 9.99986142e-01 1.46900360e-03 -5.05549801e-03 1.98553303e+02] [-1.46868255e-03 9.99998919e-01 6.72170477e-05 2.66046778e+00] [ 5.05559129e-03 -5.97911944e-05 9.99987219e-01 9.96693381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:198.58, Y:2.66, Z:1.00 [[ 9.99987192e-01 -2.37444055e-04 -5.05559709e-03 1.98581431e+02] [ 2.37748605e-04 9.99999970e-01 5.96393080e-05 2.66027120e+00] [ 5.05558278e-03 -6.08405053e-05 9.99987219e-01 9.97006024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:198.61, Y:2.66, Z:1.00 [[ 9.99986694e-01 -1.02667445e-03 -5.05551293e-03 1.98610414e+02] [ 1.02702163e-03 9.99999470e-01 6.60781895e-05 2.65833345e+00] [ 5.05544241e-03 -7.12694314e-05 9.99987219e-01 9.95896767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834391418 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:198.64, Y:2.66, Z:1.00 [[ 9.99977506e-01 -4.40795984e-03 -5.05543240e-03 1.98638024e+02] [ 4.40838152e-03 9.99990280e-01 7.22705797e-05 2.65861956e+00] [ 5.05506470e-03 -9.45552288e-05 9.99987219e-01 9.96616213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:198.67, Y:2.66, Z:1.00 [[ 9.99964229e-01 -6.78102718e-03 -5.05552429e-03 1.98667719e+02] [ 6.78144314e-03 9.99977004e-01 6.51389668e-05 2.65733591e+00] [ 5.05496633e-03 -9.94203872e-05 9.99987219e-01 9.95965457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:198.70, Y:2.65, Z:1.00 [[ 9.99912924e-01 -1.21895708e-02 -5.05552688e-03 1.98697619e+02] [ 1.21900549e-02 9.99925696e-01 6.49374590e-05 2.65427215e+00] [ 5.05435968e-03 -1.26558955e-04 9.99987219e-01 9.95602684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924391418 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:198.73, Y:2.65, Z:1.00 [[ 9.99880554e-01 -1.46054541e-02 -5.05552544e-03 1.98729223e+02] [ 1.46059696e-02 9.99893325e-01 6.50492099e-05 2.65243183e+00] [ 5.05403607e-03 -1.38882291e-04 9.99987219e-01 9.96201977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954391418 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:198.76, Y:2.65, Z:1.00 [[ 9.99840087e-01 -1.71534951e-02 -5.05552288e-03 1.98760327e+02] [ 1.71540441e-02 9.99852856e-01 6.52480076e-05 2.65094460e+00] [ 5.05365976e-03 -1.51960236e-04 9.99987219e-01 9.96711949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984391418 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:198.79, Y:2.65, Z:1.00 [[ 9.99771752e-01 -2.07577651e-02 -5.05551902e-03 1.98792086e+02] [ 2.07583617e-02 9.99784520e-01 6.55458452e-05 2.64886535e+00] [ 5.05306907e-03 -1.70475177e-04 9.99987219e-01 9.97964646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:198.82, Y:2.65, Z:1.00 [[ 9.99753933e-01 -2.15989425e-02 -5.05551388e-03 1.98823287e+02] [ 2.15995518e-02 9.99766700e-01 6.59397477e-05 2.64779619e+00] [ 5.05291020e-03 -1.75120356e-04 9.99987219e-01 9.98687542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.044391418 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:198.86, Y:2.65, Z:1.00 [[ 9.99730922e-01 -2.26390089e-02 -5.05562877e-03 1.98855968e+02] [ 2.26395870e-02 9.99743690e-01 5.71493764e-05 2.64672965e+00] [ 5.05303915e-03 -1.71591346e-04 9.99987219e-01 9.98873631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.074391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:198.89, Y:2.65, Z:1.00 [[ 9.99723815e-01 -2.29507277e-02 -5.05549988e-03 1.98886997e+02] [ 2.29513590e-02 9.99736581e-01 6.68906878e-05 2.64532855e+00] [ 5.05263297e-03 -1.82902806e-04 9.99987219e-01 9.99249181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.104391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:198.92, Y:2.64, Z:1.00 [[ 9.99732607e-01 -2.25645082e-02 -5.05549603e-03 1.98918993e+02] [ 2.25651361e-02 9.99745373e-01 6.71803990e-05 2.64458625e+00] [ 5.05269287e-03 -1.81240391e-04 9.99987219e-01 9.99644029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.134391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:198.95, Y:2.64, Z:1.00 [[ 9.99744806e-01 -2.20173960e-02 -5.05549073e-03 1.98950715e+02] [ 2.20180189e-02 9.99757572e-01 6.75771175e-05 2.64410883e+00] [ 5.05277726e-03 -1.78871762e-04 9.99987219e-01 9.99658237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:198.98, Y:2.64, Z:1.00 [[ 9.99765138e-01 -2.10739529e-02 -5.05548540e-03 1.98981774e+02] [ 2.10745657e-02 9.99777904e-01 6.79730130e-05 2.64376315e+00] [ 5.05293014e-03 -1.74499208e-04 9.99987219e-01 9.99892719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:199.01, Y:2.64, Z:1.00 [[ 9.99806093e-01 -1.90320207e-02 -5.05548142e-03 1.99012599e+02] [ 1.90326090e-02 9.99818861e-01 6.82680212e-05 2.64372634e+00] [ 5.05326640e-03 -1.64473785e-04 9.99987219e-01 9.99958884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224391418 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:199.04, Y:2.64, Z:1.00 [[ 9.99823297e-01 -1.81056913e-02 -5.05547746e-03 1.99044656e+02] [ 1.81062692e-02 9.99836066e-01 6.85597295e-05 2.64346032e+00] [ 5.05340738e-03 -1.60083450e-04 9.99987219e-01 1.00032249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:199.08, Y:2.64, Z:1.00 [[ 9.99830540e-01 -1.77012033e-02 -5.05547221e-03 1.99076490e+02] [ 1.77017780e-02 9.99843309e-01 6.89449008e-05 2.64344548e+00] [ 5.05345965e-03 -1.58424064e-04 9.99987219e-01 1.00015705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:199.11, Y:2.64, Z:1.00 [[ 9.99837347e-01 -1.73124552e-02 -5.05546663e-03 1.99107258e+02] [ 1.73130269e-02 9.99850116e-01 6.93515562e-05 2.64331974e+00] [ 5.05350825e-03 -1.56865706e-04 9.99987219e-01 9.98942899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:199.14, Y:2.64, Z:1.00 [[ 9.99829919e-01 -1.77362957e-02 -5.05546246e-03 1.99139552e+02] [ 1.77368744e-02 9.99842687e-01 6.96543881e-05 2.64290231e+00] [ 5.05343176e-03 -1.59310644e-04 9.99987219e-01 9.98579404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34439141800001 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:199.17, Y:2.64, Z:1.00 [[ 9.99817767e-01 -1.84085448e-02 -5.05545707e-03 1.99171866e+02] [ 1.84091340e-02 9.99830535e-01 7.00434765e-05 2.64279313e+00] [ 5.05331095e-03 -1.63097299e-04 9.99987219e-01 9.98375552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37439141800002 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:199.20, Y:2.64, Z:1.00 [[ 9.99805055e-01 -1.90864752e-02 -5.05545152e-03 1.99202915e+02] [ 1.90870751e-02 9.99817823e-01 7.04415683e-05 2.64264194e+00] [ 5.05318605e-03 -1.66921619e-04 9.99987219e-01 9.98080976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:199.24, Y:2.64, Z:1.00 [[ 9.99767248e-01 -2.09735969e-02 -5.05544737e-03 1.99235426e+02] [ 2.09742224e-02 9.99780014e-01 7.07379317e-05 2.64340010e+00] [ 5.05285162e-03 -1.76755545e-04 9.99987219e-01 9.98472138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:199.27, Y:2.64, Z:1.00 [[ 9.99768975e-01 -2.08911093e-02 -5.05544151e-03 1.99268117e+02] [ 2.08917358e-02 9.99781741e-01 7.11547805e-05 2.64286431e+00] [ 5.05285161e-03 -1.76755290e-04 9.99987219e-01 9.98637319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:199.30, Y:2.64, Z:1.00 [[ 9.99748870e-01 -2.18320594e-02 -5.05543560e-03 1.99299325e+02] [ 2.18327001e-02 9.99761636e-01 7.15718829e-05 2.64290944e+00] [ 5.05266800e-03 -1.81927718e-04 9.99987219e-01 9.98753409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:199.33, Y:2.64, Z:1.00 [[ 9.99722655e-01 -2.30012058e-02 -5.05543119e-03 1.99331294e+02] [ 2.30018630e-02 9.99735420e-01 7.18822889e-05 2.64300974e+00] [ 5.05244024e-03 -1.88146688e-04 9.99987219e-01 9.99057958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:199.36, Y:2.64, Z:1.00 [[ 9.99656271e-01 -2.57251424e-02 -5.05542540e-03 1.99362203e+02] [ 2.57258364e-02 9.99669033e-01 7.22870259e-05 2.64366719e+00] [ 5.05189263e-03 -2.02317226e-04 9.99987219e-01 9.99295852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:199.39, Y:2.64, Z:1.00 [[ 9.99621420e-01 -2.70454915e-02 -5.05542107e-03 1.99393344e+02] [ 2.70462038e-02 9.99634182e-01 7.25884758e-05 2.64391600e+00] [ 5.05160852e-03 -2.09290944e-04 9.99987219e-01 9.99342276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:199.43, Y:2.64, Z:1.00 [[ 9.99595556e-01 -2.79851192e-02 -5.05541689e-03 1.99425975e+02] [ 2.79858450e-02 9.99608317e-01 7.28789003e-05 2.64410015e+00] [ 5.05139724e-03 -2.14329538e-04 9.99987219e-01 1.00005389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:199.46, Y:2.65, Z:1.00 [[ 9.99543110e-01 -2.97995731e-02 -5.05541104e-03 1.99457538e+02] [ 2.98003241e-02 9.99555869e-01 7.32820253e-05 2.64561132e+00] [ 5.05098200e-03 -2.23901431e-04 9.99987219e-01 1.00039508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:199.49, Y:2.65, Z:1.00 [[ 9.99551376e-01 -2.95210194e-02 -5.05540163e-03 1.99489855e+02] [ 2.95217701e-02 9.99564135e-01 7.39258055e-05 2.64583795e+00] [ 5.05101579e-03 -2.23137045e-04 9.99987219e-01 1.00186982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:199.52, Y:2.65, Z:1.00 [[ 9.99525372e-01 -3.03886964e-02 -5.05554167e-03 1.99522171e+02] [ 3.03894102e-02 9.99538133e-01 6.44030759e-05 2.64628111e+00] [ 5.05124956e-03 -2.18007438e-04 9.99987219e-01 1.00155050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:199.55, Y:2.65, Z:1.00 [[ 9.99523526e-01 -3.04493616e-02 -5.05537661e-03 1.99554966e+02] [ 3.04501319e-02 9.99536284e-01 7.54611879e-05 2.64677646e+00] [ 5.05073461e-03 -2.29362117e-04 9.99987219e-01 1.00177003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:199.59, Y:2.65, Z:1.00 [[ 9.99544894e-01 -2.97396780e-02 -5.05536719e-03 1.99587215e+02] [ 2.97404424e-02 9.99557652e-01 7.60869581e-05 2.64866366e+00] [ 5.05086816e-03 -2.26401187e-04 9.99987219e-01 1.00188074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764391418 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:199.62, Y:2.65, Z:1.00 [[ 9.99560509e-01 -2.92101478e-02 -5.05535935e-03 1.99618800e+02] [ 2.92109080e-02 9.99573267e-01 7.66044568e-05 2.64931896e+00] [ 5.05096444e-03 -2.24242427e-04 9.99987219e-01 1.00184143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.794391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:199.65, Y:2.65, Z:1.00 [[ 9.99594142e-01 -2.80355859e-02 -5.05535159e-03 1.99650721e+02] [ 2.80363338e-02 9.99606902e-01 7.71132714e-05 2.65090119e+00] [ 5.05120242e-03 -2.18815499e-04 9.99987219e-01 1.00130887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.824391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:199.68, Y:2.65, Z:1.00 [[ 9.99611854e-01 -2.73968038e-02 -5.05534405e-03 1.99682780e+02] [ 2.73975460e-02 9.99624614e-01 7.76046404e-05 2.65146402e+00] [ 5.05132022e-03 -2.16078539e-04 9.99987219e-01 1.00122497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.854391418 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:199.71, Y:2.65, Z:1.00 [[ 9.99635780e-01 -2.65094587e-02 -5.05533775e-03 1.99714968e+02] [ 2.65101916e-02 9.99648540e-01 7.80124885e-05 2.65192814e+00] [ 5.05149294e-03 -2.12002047e-04 9.99987219e-01 1.00111152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.884391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:199.75, Y:2.65, Z:1.00 [[ 9.99778324e-01 -2.04388443e-02 -5.05533128e-03 1.99749578e+02] [ 2.04395018e-02 9.99791088e-01 7.84295823e-05 2.64786913e+00] [ 5.05267215e-03 -1.81740649e-04 9.99987219e-01 9.96172502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914391418 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:199.78, Y:2.66, Z:1.00 [[ 9.99708973e-01 -2.35886202e-02 -5.05438837e-03 1.99777506e+02] [ 2.35896200e-02 9.99721717e-01 1.38281148e-04 2.65510681e+00] [ 5.04971995e-03 -2.57472006e-04 9.99987217e-01 1.00028717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:199.81, Y:2.66, Z:1.00 [[ 9.99744463e-01 -2.20329805e-02 -5.05531738e-03 1.99809023e+02] [ 2.20336578e-02 9.99757226e-01 7.83057856e-05 2.65578023e+00] [ 5.05236477e-03 -1.89672909e-04 9.99987219e-01 1.00042153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:199.84, Y:2.66, Z:1.00 [[ 9.99776246e-01 -2.05402474e-02 -5.05530737e-03 1.99840541e+02] [ 2.05409088e-02 9.99789010e-01 7.89468348e-05 2.65679121e+00] [ 5.05261916e-03 -1.82769778e-04 9.99987219e-01 1.00021749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:199.87, Y:2.66, Z:1.00 [[ 9.99841860e-01 -1.70498687e-02 -5.05530271e-03 1.99872316e+02] [ 1.70504870e-02 9.99854627e-01 7.92439048e-05 2.65954493e+00] [ 5.05321671e-03 -1.65426746e-04 9.99987219e-01 1.00209656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:199.90, Y:2.66, Z:1.00 [[ 9.99872742e-01 -1.51308590e-02 -5.05529634e-03 1.99903904e+02] [ 1.51314549e-02 9.99885510e-01 7.96482522e-05 2.66031745e+00] [ 5.05351241e-03 -1.56132105e-04 9.99987219e-01 1.00289234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:199.94, Y:2.66, Z:1.01 [[ 9.99898872e-01 -1.32924836e-02 -5.05529158e-03 1.99936336e+02] [ 1.32930575e-02 9.99911640e-01 7.99493770e-05 2.66102036e+00] [ 5.05378217e-03 -1.47141574e-04 9.99987219e-01 1.00526058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09439141800001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:199.97, Y:2.66, Z:1.01 [[ 9.99931125e-01 -1.05919372e-02 -5.05537459e-03 1.99968501e+02] [ 1.05924502e-02 9.99943896e-01 7.47039833e-05 2.66259509e+00] [ 5.05429971e-03 -1.28247642e-04 9.99987219e-01 1.00521208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12439141800002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:200.00, Y:2.66, Z:1.01 [[ 9.99944985e-01 -9.19081393e-03 -5.05529182e-03 2.00000127e+02] [ 9.19133544e-03 9.99957756e-01 7.99386658e-05 2.66311141e+00] [ 5.05434356e-03 -1.26399151e-04 9.99987219e-01 1.00565188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15439141800002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:200.03, Y:2.66, Z:1.01 [[ 9.99958714e-01 -7.55084854e-03 -5.05528695e-03 2.00030981e+02] [ 7.55135065e-03 9.99971485e-01 8.02455182e-05 2.66351510e+00] [ 5.05453687e-03 -1.18416450e-04 9.99987219e-01 1.00613426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18439141800002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:200.06, Y:2.66, Z:1.01 [[ 9.99969998e-01 -5.86911142e-03 -5.05528173e-03 2.00061434e+02] [ 5.86959371e-03 9.99982771e-01 8.05729532e-05 2.66431698e+00] [ 5.05472174e-03 -1.10242986e-04 9.99987219e-01 1.00665173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:200.09, Y:2.67, Z:1.01 [[ 9.99985709e-01 -1.73933681e-03 -5.05528173e-03 2.00091951e+02] [ 1.73976635e-03 9.99998483e-01 8.05729532e-05 2.66625284e+00] [ 5.05513392e-03 -8.93668108e-05 9.99987219e-01 1.00714357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:200.12, Y:2.67, Z:1.01 [[ 9.99987168e-01 3.27802521e-04 -5.05528173e-03 2.00120333e+02] [-3.27399384e-04 9.99999943e-01 8.05729532e-05 2.66678255e+00] [ 5.05530785e-03 -7.89168232e-05 9.99987219e-01 1.00760636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:200.15, Y:2.67, Z:1.01 [[ 9.99985009e-01 2.10385189e-03 -5.05528769e-03 2.00149133e+02] [-2.10347334e-03 9.99997784e-01 8.01973015e-05 2.66706895e+00] [ 5.05544521e-03 -6.95624363e-05 9.99987219e-01 1.00783864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:200.18, Y:2.67, Z:1.01 [[ 9.99963297e-01 6.91726042e-03 -5.05530968e-03 2.00176493e+02] [-6.91695051e-03 9.99976075e-01 7.87862965e-05 2.66775072e+00] [ 5.05573371e-03 -4.38160780e-05 9.99987219e-01 1.00850031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:200.20, Y:2.67, Z:1.01 [[ 9.99954898e-01 8.04006540e-03 -5.05554159e-03 2.00204605e+02] [-8.03984639e-03 9.99967678e-01 6.36418044e-05 2.66811957e+00] [ 5.05588987e-03 -2.29931562e-05 9.99987219e-01 1.00945776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:200.23, Y:2.67, Z:1.01 [[ 9.99940773e-01 9.63819992e-03 -5.05532504e-03 2.00231884e+02] [-9.63793014e-03 9.99953551e-01 7.77261115e-05 2.66801789e+00] [ 5.05583937e-03 -2.89986384e-05 9.99987219e-01 1.00978440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:200.26, Y:2.67, Z:1.01 [[ 9.99928215e-01 1.08632120e-02 -5.05533564e-03 2.00260125e+02] [-1.08629614e-02 9.99940993e-01 7.70305959e-05 2.66787780e+00] [ 5.05587414e-03 -2.21091504e-05 9.99987219e-01 1.01024654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:200.29, Y:2.67, Z:1.01 [[ 9.99915150e-01 1.20056613e-02 -5.05534465e-03 2.00287372e+02] [-1.20054283e-02 9.99927929e-01 7.64347627e-05 2.66741781e+00] [ 5.05589795e-03 -1.57366997e-05 9.99987219e-01 1.01066923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:200.31, Y:2.67, Z:1.01 [[ 9.99916624e-01 1.18822744e-02 -5.05535497e-03 2.00314893e+02] [-1.18820433e-02 9.99929403e-01 7.57455307e-05 2.66675027e+00] [ 5.05589811e-03 -1.56712684e-05 9.99987219e-01 1.01065644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:200.34, Y:2.67, Z:1.01 [[ 9.99919435e-01 1.16433431e-02 -5.05536401e-03 2.00343085e+02] [-1.16431121e-02 9.99932214e-01 7.51376209e-05 2.66555530e+00] [ 5.05589618e-03 -1.62713978e-05 9.99987219e-01 1.01052852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:200.37, Y:2.66, Z:1.01 [[ 9.99930994e-01 1.06042357e-02 -5.05537313e-03 2.00370459e+02] [-1.06039944e-02 9.99943773e-01 7.45189268e-05 2.66356205e+00] [ 5.05587910e-03 -2.09066360e-05 9.99987219e-01 1.01079968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.544391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:200.40, Y:2.66, Z:1.01 [[ 9.99940823e-01 9.63292871e-03 -5.05538060e-03 2.00397883e+02] [-9.63267765e-03 9.99953602e-01 7.40083473e-05 2.66253464e+00] [ 5.05585896e-03 -2.53071159e-05 9.99987219e-01 1.01119020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.574391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:200.43, Y:2.66, Z:1.01 [[ 9.99950268e-01 8.59678452e-03 -5.05538796e-03 2.00425539e+02] [-8.59652278e-03 9.99963047e-01 7.35024513e-05 2.66141607e+00] [ 5.05583303e-03 -3.00400381e-05 9.99987219e-01 1.01132600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.604391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:200.45, Y:2.66, Z:1.01 [[ 9.99959407e-01 7.45832231e-03 -5.05539498e-03 2.00454340e+02] [-7.45804848e-03 9.99972186e-01 7.30163920e-05 2.66007986e+00] [ 5.05579895e-03 -3.53100472e-05 9.99987219e-01 1.01217108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.634391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:200.48, Y:2.66, Z:1.01 [[ 9.99978460e-01 4.18604783e-03 -5.05540068e-03 2.00483066e+02] [-4.18573419e-03 9.99991237e-01 7.26192282e-05 2.65747140e+00] [ 5.05566037e-03 -5.14571005e-05 9.99987219e-01 1.01236127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:200.51, Y:2.66, Z:1.01 [[ 9.99985004e-01 2.10596731e-03 -5.05540657e-03 2.00511195e+02] [-2.10562918e-03 9.99997781e-01 7.22071793e-05 2.65580749e+00] [ 5.05554742e-03 -6.15612849e-05 9.99987219e-01 1.01188936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:200.54, Y:2.65, Z:1.01 [[ 9.99986729e-01 9.92218898e-04 -5.05541382e-03 2.00539394e+02] [-9.91869117e-04 9.99999506e-01 7.16961096e-05 2.65387160e+00] [ 5.05548246e-03 -6.66808493e-05 9.99987219e-01 1.01292444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:200.57, Y:2.65, Z:1.01 [[ 9.99985984e-01 -1.57262210e-03 -5.05559009e-03 2.00566613e+02] [ 1.57294137e-03 9.99998761e-01 5.91751123e-05 2.65005855e+00] [ 5.05549077e-03 -6.71264297e-05 9.99987219e-01 1.01268888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:200.60, Y:2.65, Z:1.01 [[ 9.99975114e-01 -4.92029200e-03 -5.05580876e-03 2.00597383e+02] [ 4.92057521e-03 9.99987893e-01 4.35792805e-05 2.64823067e+00] [ 5.05553312e-03 -6.84556833e-05 9.99987218e-01 1.01119277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:200.63, Y:2.65, Z:1.01 [[ 9.99964304e-01 -6.77008554e-03 -5.05541478e-03 2.00626754e+02] [ 6.77053326e-03 9.99977077e-01 7.14533713e-05 2.64618738e+00] [ 5.05481515e-03 -1.05678675e-04 9.99987219e-01 1.01129882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:200.66, Y:2.64, Z:1.01 [[ 9.99936473e-01 -1.00743680e-02 -5.05541760e-03 2.00656166e+02] [ 1.00748569e-02 9.99949245e-01 7.12535060e-05 2.64196575e+00] [ 5.05444318e-03 -1.22181589e-04 9.99987219e-01 1.01063845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84439141800001 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:200.69, Y:2.64, Z:1.01 [[ 9.99916342e-01 -1.19059788e-02 -5.05541900e-03 2.00687799e+02] [ 1.19064906e-02 9.99929113e-01 7.11542096e-05 2.63951869e+00] [ 5.05421347e-03 -1.31340556e-04 9.99987219e-01 1.01025032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87439141800002 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:200.72, Y:2.64, Z:1.01 [[ 9.99893814e-01 -1.36675750e-02 -5.05541622e-03 2.00719187e+02] [ 1.36681103e-02 9.99906584e-01 7.13509346e-05 2.63685043e+00] [ 5.05396877e-03 -1.40441345e-04 9.99987219e-01 1.00983036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90439141800002 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:200.75, Y:2.63, Z:1.01 [[ 9.99822093e-01 -1.81721170e-02 -5.05541344e-03 2.00750321e+02] [ 1.81727108e-02 9.99834860e-01 7.15477498e-05 2.63176644e+00] [ 5.05327841e-03 -1.63405587e-04 9.99987219e-01 1.00798807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93439141800002 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:200.78, Y:2.63, Z:1.01 [[ 9.99771058e-01 -2.07911914e-02 -5.05540926e-03 2.00782305e+02] [ 2.07918201e-02 9.99783824e-01 7.18418796e-05 2.62877583e+00] [ 5.05282272e-03 -1.76936592e-04 9.99987219e-01 1.00737822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:200.81, Y:2.63, Z:1.01 [[ 9.99723063e-01 -2.29834822e-02 -5.05540367e-03 2.00814425e+02] [ 2.29841410e-02 9.99735827e-01 7.22326873e-05 2.62564622e+00] [ 5.05240801e-03 -1.88406794e-04 9.99987219e-01 1.00672663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994391418 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:200.85, Y:2.62, Z:1.01 [[ 9.99614994e-01 -2.72819936e-02 -5.05539808e-03 2.00846574e+02] [ 2.72827092e-02 9.99627755e-01 7.26218167e-05 2.62048324e+00] [ 5.05153497e-03 -2.10518812e-04 9.99987219e-01 1.00572079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:200.88, Y:2.62, Z:1.00 [[ 9.99556055e-01 -2.93621487e-02 -5.05539215e-03 2.00877677e+02] [ 2.93628929e-02 9.99568815e-01 7.30324448e-05 2.61768849e+00] [ 5.05106795e-03 -2.21440961e-04 9.99987219e-01 1.00451690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:200.91, Y:2.61, Z:1.00 [[ 9.99496798e-01 -3.13144330e-02 -5.05538229e-03 2.00909964e+02] [ 3.13152055e-02 9.99509556e-01 7.37084888e-05 2.61474441e+00] [ 5.05059477e-03 -2.31981734e-04 9.99987219e-01 1.00358452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:200.94, Y:2.61, Z:1.00 [[ 9.99477362e-01 -3.19287539e-02 -5.05537670e-03 2.00941135e+02] [ 3.19295362e-02 9.99490120e-01 7.40898939e-05 2.61168365e+00] [ 5.05043347e-03 -2.35467005e-04 9.99987219e-01 1.00413840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:200.97, Y:2.61, Z:1.00 [[ 9.99313228e-01 -3.67084817e-02 -5.05573736e-03 2.00974459e+02] [ 3.67092000e-02 9.99325989e-01 4.93284349e-05 2.60656797e+00] [ 5.05051897e-03 -2.34886632e-04 9.99987218e-01 9.99177095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:201.01, Y:2.60, Z:1.00 [[ 9.99264323e-01 -3.80165217e-02 -5.05535390e-03 2.01005939e+02] [ 3.80173869e-02 9.99277075e-01 7.51305869e-05 2.60362712e+00] [ 5.04884306e-03 -2.67266660e-04 9.99987219e-01 9.97910725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:201.04, Y:2.60, Z:1.00 [[ 9.99219597e-01 -3.91744895e-02 -5.05534980e-03 2.01037782e+02] [ 3.91753709e-02 9.99232348e-01 7.54058296e-05 2.60102679e+00] [ 5.04851506e-03 -2.73392186e-04 9.99987219e-01 9.98378677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:201.07, Y:2.60, Z:1.00 [[ 9.99194350e-01 -3.98132417e-02 -5.05534390e-03 2.01069762e+02] [ 3.98141333e-02 9.99207100e-01 7.57991803e-05 2.59709937e+00] [ 5.04831771e-03 -2.77012248e-04 9.99987219e-01 9.97893548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:201.10, Y:2.60, Z:1.00 [[ 9.99218636e-01 -3.91989937e-02 -5.05533793e-03 2.01101084e+02] [ 3.91998794e-02 9.99231386e-01 7.61950642e-05 2.59514472e+00] [ 5.04846556e-03 -2.74304165e-04 9.99987219e-01 9.97911441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:201.14, Y:2.59, Z:1.00 [[ 9.99411958e-01 -3.39143238e-02 -5.05533347e-03 2.01139088e+02] [ 3.39151436e-02 9.99424713e-01 7.64897957e-05 2.58842275e+00] [ 5.04983111e-03 -2.47897177e-04 9.99987219e-01 9.96148391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.294391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:201.16, Y:2.59, Z:1.00 [[ 9.99407433e-01 -3.40477232e-02 -5.05328566e-03 2.01161618e+02] [ 3.40492061e-02 9.99420136e-01 2.07687638e-04 2.59067155e+00] [ 5.04328415e-03 -3.79624934e-04 9.99987211e-01 9.99427202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.324391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:201.19, Y:2.59, Z:1.00 [[ 9.99509777e-01 -3.08973972e-02 -5.05525547e-03 2.01192981e+02] [ 3.08981714e-02 9.99522535e-01 7.51054968e-05 2.58915427e+00] [ 5.05052120e-03 -2.31266828e-04 9.99987219e-01 9.99529495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.354391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:201.23, Y:2.59, Z:1.00 [[ 9.99512116e-01 -3.08216590e-02 -5.05524591e-03 2.01225666e+02] [ 3.08224355e-02 9.99524873e-01 7.57433959e-05 2.58858203e+00] [ 5.05050949e-03 -2.31521433e-04 9.99987219e-01 9.99694596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.384391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:201.26, Y:2.59, Z:1.00 [[ 9.99611638e-01 -2.74047065e-02 -5.05524014e-03 2.01259111e+02] [ 2.74054413e-02 9.99624397e-01 7.61264466e-05 2.58688482e+00] [ 5.05125516e-03 -2.14637969e-04 9.99987219e-01 9.99553099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:201.29, Y:2.59, Z:1.00 [[ 9.99726455e-01 -2.28355382e-02 -5.05512834e-03 2.01290612e+02] [ 2.28362517e-02 9.99739215e-01 8.34495340e-05 2.58525697e+00] [ 5.05190443e-03 -1.98866890e-04 9.99987219e-01 1.00056146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:201.32, Y:2.58, Z:1.00 [[ 9.99813783e-01 -1.86237174e-02 -5.05534854e-03 2.01322683e+02] [ 1.86243047e-02 9.99826550e-01 6.91171425e-05 2.58411976e+00] [ 5.05318447e-03 -1.63256623e-04 9.99987219e-01 1.00167104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:201.35, Y:2.58, Z:1.00 [[ 9.99937334e-01 -9.98861940e-03 -5.05520620e-03 2.01354608e+02] [ 9.98914284e-03 9.99950104e-01 7.83059338e-05 2.58271710e+00] [ 5.05417180e-03 -1.28798204e-04 9.99987219e-01 1.00147176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:201.38, Y:2.58, Z:1.00 [[ 9.99972136e-01 -5.49292118e-03 -5.05519996e-03 2.01384858e+02] [ 5.49338923e-03 9.99984908e-01 7.87069734e-05 2.58139613e+00] [ 5.05469133e-03 -1.06474961e-04 9.99987219e-01 1.00096654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:201.41, Y:2.58, Z:1.00 [[ 9.99986162e-01 -1.45653391e-03 -5.05519842e-03 2.01414497e+02] [ 1.45695090e-03 9.99998936e-01 7.88058012e-05 2.58030542e+00] [ 5.05507825e-03 -8.61698865e-05 9.99987219e-01 1.00101414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:201.44, Y:2.58, Z:1.00 [[ 9.99973101e-01 5.31435146e-03 -5.05520155e-03 2.01442135e+02] [-5.31402200e-03 9.99985877e-01 7.86039041e-05 2.57820545e+00] [ 5.05554789e-03 -5.17383375e-05 9.99987219e-01 9.99820930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59439141800001 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:201.47, Y:2.58, Z:1.00 [[ 9.99956201e-01 7.87663180e-03 -5.05520928e-03 2.01470047e+02] [-7.87633760e-03 9.99968978e-01 7.81039062e-05 2.57712136e+00] [ 5.05566765e-03 -3.82839504e-05 9.99987219e-01 9.99938380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62439141800002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:201.50, Y:2.58, Z:1.00 [[ 9.99934991e-01 1.02204442e-02 -5.05523366e-03 2.01497971e+02] [-1.02201881e-02 9.99947770e-01 7.64923384e-05 2.57582882e+00] [ 5.05575141e-03 -2.48219270e-05 9.99987219e-01 9.99905422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65439141800002 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:201.53, Y:2.57, Z:1.00 [[ 9.99892179e-01 1.37867785e-02 -5.05524114e-03 2.01525983e+02] [-1.37865705e-02 9.99904958e-01 7.59948251e-05 2.57321089e+00] [ 5.05580841e-03 -6.29219283e-06 9.99987219e-01 9.99719251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68439141800002 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:201.55, Y:2.57, Z:1.00 [[ 9.99873927e-01 1.50523767e-02 -5.05525000e-03 2.01554876e+02] [-1.50521878e-02 9.99886707e-01 7.54008517e-05 2.57159270e+00] [ 5.05581224e-03 7.01226932e-07 9.99987219e-01 1.00061485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:201.58, Y:2.57, Z:1.00 [[ 9.99865097e-01 1.56279196e-02 -5.05525605e-03 2.01583173e+02] [-1.56277402e-02 9.99877877e-01 7.49931095e-05 2.56982293e+00] [ 5.05581067e-03 4.01923536e-06 9.99987219e-01 1.00096593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:201.61, Y:2.57, Z:1.00 [[ 9.99867372e-01 1.54817089e-02 -5.05526203e-03 2.01611122e+02] [-1.54815296e-02 9.99880151e-01 7.45876263e-05 2.56670990e+00] [ 5.05581091e-03 3.68545517e-06 9.99987219e-01 1.00207441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:201.64, Y:2.56, Z:1.00 [[ 9.99869912e-01 1.53167462e-02 -5.05526940e-03 2.01638701e+02] [-1.53165674e-02 9.99882692e-01 7.40851097e-05 2.56495155e+00] [ 5.05581112e-03 3.35390241e-06 9.99987219e-01 1.00237525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:201.67, Y:2.56, Z:1.00 [[ 9.99895188e-01 1.35666472e-02 -5.05550345e-03 2.01668261e+02] [-1.35665276e-02 9.99907969e-01 5.79578787e-05 2.56339797e+00] [ 5.05582448e-03 1.06338230e-05 9.99987219e-01 1.00343624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:201.70, Y:2.56, Z:1.01 [[ 9.99936289e-01 1.00926971e-02 -5.05527162e-03 2.01696959e+02] [-1.00924528e-02 9.99949067e-01 7.38309780e-05 2.56049852e+00] [ 5.05575930e-03 -2.28061837e-05 9.99987219e-01 1.00511961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:201.73, Y:2.56, Z:1.01 [[ 9.99957118e-01 7.75924670e-03 -5.05527751e-03 2.01725085e+02] [-7.75897465e-03 9.99969896e-01 7.34258767e-05 2.55857172e+00] [ 5.05569505e-03 -3.41989581e-05 9.99987219e-01 1.00545149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:201.75, Y:2.56, Z:1.01 [[ 9.99974256e-01 5.09223064e-03 -5.05528474e-03 2.01754011e+02] [-5.09192704e-03 9.99987033e-01 7.29248806e-05 2.55676088e+00] [ 5.05559054e-03 -4.71818621e-05 9.99987219e-01 1.00645515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:201.78, Y:2.56, Z:1.00 [[ 9.99978263e-01 -4.23297718e-03 -5.05529047e-03 2.01777813e+02] [ 4.23339790e-03 9.99991037e-01 7.25255133e-05 2.55843612e+00] [ 5.05493815e-03 -9.39249929e-05 9.99987219e-01 1.00249723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:201.81, Y:2.55, Z:1.01 [[ 9.99981374e-01 -3.41818624e-03 -5.05647040e-03 2.01813110e+02] [ 3.41816714e-03 9.99994158e-01 -1.24200687e-05 2.55037906e+00] [ 5.05648332e-03 -4.86402365e-06 9.99987216e-01 1.00791326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:201.84, Y:2.55, Z:1.01 [[ 9.99962827e-01 -6.98496959e-03 -5.05523616e-03 2.01841443e+02] [ 6.98542798e-03 9.99975599e-01 7.30239318e-05 2.54825140e+00] [ 5.05460274e-03 -1.08334205e-04 9.99987220e-01 1.00824149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:201.87, Y:2.54, Z:1.01 [[ 9.99894770e-01 -1.35975688e-02 -5.05524177e-03 2.01871476e+02] [ 1.35981097e-02 9.99907539e-01 7.26338052e-05 2.54388620e+00] [ 5.05378671e-03 -1.41367894e-04 9.99987220e-01 1.00887850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.044391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:201.90, Y:2.54, Z:1.01 [[ 9.99845058e-01 -1.68613336e-02 -5.05524473e-03 2.01902149e+02] [ 1.68619151e-02 9.99857825e-01 7.24269545e-05 2.54183168e+00] [ 5.05330479e-03 -1.57656840e-04 9.99987220e-01 1.00797628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.074391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:201.93, Y:2.54, Z:1.01 [[ 9.99790485e-01 -1.98350651e-02 -5.05524327e-03 2.01932995e+02] [ 1.98356851e-02 9.99803251e-01 7.25292989e-05 2.53992390e+00] [ 5.05281003e-03 -1.72788317e-04 9.99987220e-01 1.00780514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.104391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:201.96, Y:2.54, Z:1.01 [[ 9.99737318e-01 -2.23548538e-02 -5.05524036e-03 2.01964506e+02] [ 2.23555070e-02 9.99750082e-01 7.27312121e-05 2.53814346e+00] [ 5.05235107e-03 -1.85724568e-04 9.99987220e-01 1.00767780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.134391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:202.00, Y:2.54, Z:1.01 [[ 9.99638781e-01 -2.63960608e-02 -5.05523600e-03 2.01995551e+02] [ 2.63967670e-02 9.99651542e-01 7.30331093e-05 2.53562974e+00] [ 5.05154667e-03 -2.06448615e-04 9.99987220e-01 1.00687146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:202.03, Y:2.53, Z:1.01 [[ 9.99594227e-01 -2.80326013e-02 -5.05523167e-03 2.02027854e+02] [ 2.80333300e-02 9.99606986e-01 7.33316888e-05 2.53439387e+00] [ 5.05118921e-03 -2.15016910e-04 9.99987220e-01 1.00784782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:202.05, Y:2.54, Z:1.01 [[ 9.99396206e-01 -3.43754009e-02 -5.05522581e-03 2.02053208e+02] [ 3.43762126e-02 9.99408961e-01 7.37333878e-05 2.53936908e+00] [ 5.04970336e-03 -2.47468385e-04 9.99987220e-01 1.00678288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:202.09, Y:2.53, Z:1.01 [[ 9.99494228e-01 -3.13961557e-02 -5.05656985e-03 2.02088669e+02] [ 3.13964491e-02 9.99507010e-01 -2.13548854e-05 2.53237226e+00] [ 5.05474747e-03 -1.37414253e-04 9.99987215e-01 1.00918009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:202.12, Y:2.53, Z:1.01 [[ 9.99473449e-01 -3.20510576e-02 -5.05515413e-03 2.02119545e+02] [ 3.20518439e-02 9.99486205e-01 7.45915135e-05 2.53192227e+00] [ 5.05016608e-03 -2.36579249e-04 9.99987220e-01 1.00927049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:202.14, Y:2.54, Z:1.01 [[ 9.99275909e-01 -3.77107844e-02 -5.05514974e-03 2.02144812e+02] [ 3.77116444e-02 9.99288660e-01 7.48882663e-05 2.53751067e+00] [ 5.04872971e-03 -2.65472050e-04 9.99987220e-01 1.00873793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:202.18, Y:2.53, Z:1.01 [[ 9.99451227e-01 -3.27364587e-02 -5.05651910e-03 2.02180692e+02] [ 3.27367740e-02 9.99464008e-01 -2.04252507e-05 2.53128889e+00] [ 5.05447750e-03 -1.45120081e-04 9.99987216e-01 1.01018629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34439141800001 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:202.21, Y:2.53, Z:1.01 [[ 9.99451560e-01 -3.27265112e-02 -5.05507398e-03 2.02211552e+02] [ 3.27273125e-02 9.99464315e-01 7.58664720e-05 2.53110532e+00] [ 5.04988321e-03 -2.41263850e-04 9.99987220e-01 1.00895183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37439141800002 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:202.24, Y:2.53, Z:1.01 [[ 9.99460183e-01 -3.24621058e-02 -5.05506368e-03 2.02243388e+02] [ 3.24629072e-02 9.99472938e-01 7.65468400e-05 2.53083934e+00] [ 5.04991448e-03 -2.40607582e-04 9.99987220e-01 1.00889718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40439141800002 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:202.28, Y:2.53, Z:1.01 [[ 9.99472230e-01 -3.20890759e-02 -5.05505796e-03 2.02275530e+02] [ 3.20898745e-02 9.99484984e-01 7.69230100e-05 2.53074911e+00] [ 5.04998614e-03 -2.39098588e-04 9.99987220e-01 1.00963433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:202.31, Y:2.53, Z:1.01 [[ 9.99484279e-01 -3.17115539e-02 -5.05505183e-03 2.02307477e+02] [ 3.17123497e-02 9.99497034e-01 7.73232937e-05 2.53133215e+00] [ 5.05005727e-03 -2.37590988e-04 9.99987220e-01 1.00958192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:202.34, Y:2.53, Z:1.01 [[ 9.99540615e-01 -2.98832120e-02 -5.05504573e-03 2.02339320e+02] [ 2.98839864e-02 9.99553371e-01 7.77205253e-05 2.53331627e+00] [ 5.05046546e-03 -2.28749739e-04 9.99987220e-01 1.00992804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:202.37, Y:2.53, Z:1.01 [[ 9.99575370e-01 -2.86971650e-02 -5.05503953e-03 2.02371449e+02] [ 2.86979263e-02 9.99588127e-01 7.81213659e-05 2.53423226e+00] [ 5.05071563e-03 -2.23157345e-04 9.99987220e-01 1.01052315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:202.40, Y:2.54, Z:1.01 [[ 9.99689815e-01 -2.43869111e-02 -5.05503334e-03 2.02402337e+02] [ 2.43876194e-02 9.99702575e-01 7.85199764e-05 2.53706410e+00] [ 5.05161499e-03 -2.01775850e-04 9.99987220e-01 1.01240749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:202.43, Y:2.54, Z:1.01 [[ 9.99744551e-01 -2.20290471e-02 -5.05513177e-03 2.02433533e+02] [ 2.20296933e-02 9.99757314e-01 7.21749663e-05 2.53860342e+00] [ 5.05231501e-03 -1.83519531e-04 9.99987220e-01 1.01298683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:202.47, Y:2.54, Z:1.01 [[ 9.99807726e-01 -1.89461777e-02 -5.05502295e-03 2.02465384e+02] [ 1.89468197e-02 9.99820490e-01 7.91264794e-05 2.53968152e+00] [ 5.05261638e-03 -1.74887874e-04 9.99987220e-01 1.01396984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:202.50, Y:2.54, Z:1.01 [[ 9.99859873e-01 -1.59587608e-02 -5.05501689e-03 2.02497165e+02] [ 1.59593666e-02 9.99872638e-01 7.95119602e-05 2.54100353e+00] [ 5.05310416e-03 -1.60175686e-04 9.99987220e-01 1.01462349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:202.53, Y:2.54, Z:1.02 [[ 9.99933743e-01 -1.03419834e-02 -5.05501387e-03 2.02527083e+02] [ 1.03425184e-02 9.99946512e-01 7.97034578e-05 2.54448137e+00] [ 5.05391919e-03 -1.31979751e-04 9.99987220e-01 1.01559806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:202.56, Y:2.55, Z:1.02 [[ 9.99955788e-01 -7.92905418e-03 -5.05501237e-03 2.02557327e+02] [ 7.92955884e-03 9.99968557e-01 7.97982211e-05 2.54592135e+00] [ 5.05422071e-03 -1.19878711e-04 9.99987220e-01 1.01570085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:202.59, Y:2.55, Z:1.02 [[ 9.99969830e-01 -5.89790590e-03 -5.05501237e-03 2.02586420e+02] [ 5.89838462e-03 9.99982601e-01 7.97982211e-05 2.54730030e+00] [ 5.05445378e-03 -1.09612221e-04 9.99987220e-01 1.01570632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:202.62, Y:2.55, Z:1.02 [[ 9.99981695e-01 -3.32517276e-03 -5.05501220e-03 2.02615667e+02] [ 3.32561868e-03 9.99994467e-01 7.98093643e-05 2.55003973e+00] [ 5.05471885e-03 -9.66189464e-05 9.99987220e-01 1.01530510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:202.64, Y:2.55, Z:1.02 [[ 9.99983182e-01 -2.84292136e-03 -5.05501365e-03 2.02644605e+02] [ 2.84336065e-03 9.99995954e-01 7.97174790e-05 2.55125860e+00] [ 5.05476657e-03 -9.40893653e-05 9.99987220e-01 1.01614076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.794391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:202.67, Y:2.55, Z:1.02 [[ 9.99982883e-01 -2.94640809e-03 -5.05503518e-03 2.02673094e+02] [ 2.94684168e-03 9.99995655e-01 7.83277186e-05 2.55230239e+00] [ 5.05478243e-03 -9.32227662e-05 9.99987220e-01 1.01555604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.824391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:202.70, Y:2.56, Z:1.01 [[ 9.99960227e-01 -7.34781529e-03 -5.05503974e-03 2.02699022e+02] [ 7.34830360e-03 9.99972998e-01 7.80326462e-05 2.55865771e+00] [ 5.05432987e-03 -1.15175509e-04 9.99987220e-01 1.01328573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.854391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:202.73, Y:2.56, Z:1.01 [[ 9.99953106e-01 -8.25953651e-03 -5.05617623e-03 2.02729369e+02] [ 8.25966500e-03 9.99965888e-01 4.53146868e-06 2.55845503e+00] [ 5.05596633e-03 -4.62935780e-05 9.99987217e-01 1.01361628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.884391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:202.76, Y:2.55, Z:1.02 [[ 9.99969284e-01 -5.98874839e-03 -5.05629069e-03 2.02763335e+02] [ 5.98881053e-03 9.99982067e-01 -2.84974405e-06 2.55327015e+00] [ 5.05621708e-03 -2.74315104e-05 9.99987217e-01 1.01646254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:202.79, Y:2.56, Z:1.01 [[ 9.99910554e-01 -1.23827373e-02 -5.05495916e-03 2.02790520e+02] [ 1.23833030e-02 9.99923321e-01 8.06296682e-05 2.55809256e+00] [ 5.05357313e-03 -1.43219547e-04 9.99987220e-01 1.01320877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:202.82, Y:2.56, Z:1.01 [[ 9.99901531e-01 -1.30906448e-02 -5.05598468e-03 2.02821050e+02] [ 1.30908714e-02 9.99914311e-01 1.17209597e-05 2.55699212e+00] [ 5.05539800e-03 -7.79070507e-05 9.99987218e-01 1.01297218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:202.85, Y:2.55, Z:1.02 [[ 9.99893448e-01 -1.36942745e-02 -5.05567103e-03 2.02852243e+02] [ 1.36946147e-02 9.99906224e-01 3.26758982e-05 2.55455457e+00] [ 5.05474946e-03 -1.01907884e-04 9.99987219e-01 1.01547960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:202.88, Y:2.56, Z:1.01 [[ 9.99813683e-01 -1.86291896e-02 -5.05498863e-03 2.02878413e+02] [ 1.86298182e-02 9.99826447e-01 7.73008525e-05 2.55911251e+00] [ 5.05267127e-03 -1.71459969e-04 9.99987220e-01 1.01279277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:202.91, Y:2.55, Z:1.02 [[ 9.99821182e-01 -1.82219482e-02 -5.05614476e-03 2.02911669e+02] [ 1.82221773e-02 9.99833962e-01 -7.62782964e-07 2.55385094e+00] [ 5.05531915e-03 -9.13713196e-05 9.99987218e-01 1.01616441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:202.94, Y:2.55, Z:1.02 [[ 9.99806250e-01 -1.90239489e-02 -5.05495484e-03 2.02942424e+02] [ 1.90245819e-02 9.99819013e-01 7.71761967e-05 2.55334028e+00] [ 5.05257177e-03 -1.73329646e-04 9.99987221e-01 1.01610317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09439141800001 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:202.97, Y:2.55, Z:1.02 [[ 9.99787570e-01 -1.99815374e-02 -5.05495013e-03 2.02973375e+02] [ 1.99821843e-02 9.99800333e-01 7.74839801e-05 2.55324225e+00] [ 5.05239257e-03 -1.78476465e-04 9.99987221e-01 1.01620615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12439141800002 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:203.01, Y:2.55, Z:1.02 [[ 9.99752805e-01 -2.16512443e-02 -5.05494554e-03 2.03005463e+02] [ 2.16519139e-02 9.99765567e-01 7.77822314e-05 2.55379791e+00] [ 5.05207641e-03 -1.87212250e-04 9.99987221e-01 1.01860272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15439141800002 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:203.04, Y:2.56, Z:1.02 [[ 9.99692779e-01 -2.42651066e-02 -5.05493913e-03 2.03035883e+02] [ 2.42658117e-02 9.99705539e-01 7.81960325e-05 2.55602619e+00] [ 5.05155322e-03 -2.00834210e-04 9.99987221e-01 1.01920558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:203.07, Y:2.55, Z:1.02 [[ 9.99716943e-01 -2.32481658e-02 -5.05538226e-03 2.03068368e+02] [ 2.32487119e-02 9.99729711e-01 4.92936983e-05 2.55405673e+00] [ 5.05286985e-03 -1.66810871e-04 9.99987220e-01 1.01954937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:203.10, Y:2.55, Z:1.02 [[ 9.99718832e-01 -2.31669021e-02 -5.05492239e-03 2.03101053e+02] [ 2.31675963e-02 9.99731592e-01 7.87954943e-05 2.55345634e+00] [ 5.05174016e-03 -1.95883741e-04 9.99987221e-01 1.01970669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:203.13, Y:2.55, Z:1.02 [[ 9.99696545e-01 -2.41094562e-02 -5.05491596e-03 2.03133554e+02] [ 2.41101644e-02 9.99709305e-01 7.92056426e-05 2.55306972e+00] [ 5.05153691e-03 -2.01056462e-04 9.99987221e-01 1.01964535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:203.16, Y:2.55, Z:1.02 [[ 9.99653430e-01 -2.58353894e-02 -5.05490953e-03 2.03164677e+02] [ 2.58361217e-02 9.99666189e-01 7.96136993e-05 2.55243288e+00] [ 5.05116530e-03 -2.10185365e-04 9.99987221e-01 1.01923339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:203.20, Y:2.55, Z:1.02 [[ 9.99641246e-01 -2.63026016e-02 -5.05490473e-03 2.03196084e+02] [ 2.63033414e-02 9.99654004e-01 7.99177090e-05 2.55215939e+00] [ 5.05105371e-03 -2.12849923e-04 9.99987221e-01 1.01918997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:203.23, Y:2.55, Z:1.02 [[ 9.99633563e-01 -2.65930167e-02 -5.05489996e-03 2.03228139e+02] [ 2.65937618e-02 9.99646320e-01 8.02180388e-05 2.55201981e+00] [ 5.05097891e-03 -2.14617449e-04 9.99987221e-01 1.01962942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:203.26, Y:2.55, Z:1.02 [[ 9.99628616e-01 -2.67783096e-02 -5.05489351e-03 2.03259801e+02] [ 2.67790591e-02 9.99641373e-01 8.06225436e-05 2.55258086e+00] [ 5.05092176e-03 -2.15957893e-04 9.99987221e-01 1.01886245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:203.29, Y:2.55, Z:1.02 [[ 9.99634224e-01 -2.65681418e-02 -5.05488869e-03 2.03291897e+02] [ 2.65688900e-02 9.99646981e-01 8.09237842e-05 2.55240591e+00] [ 5.05095422e-03 -2.15196966e-04 9.99987221e-01 1.01844605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:203.32, Y:2.56, Z:1.01 [[ 9.99512537e-01 -3.08080628e-02 -5.05488243e-03 2.03317608e+02] [ 3.08088671e-02 9.99525291e-01 8.13130038e-05 2.55744556e+00] [ 5.04997773e-03 -2.37008568e-04 9.99987221e-01 1.01494855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:203.35, Y:2.55, Z:1.02 [[ 9.99616631e-01 -2.72218030e-02 -5.05611864e-03 2.03352040e+02] [ 2.72221642e-02 9.99629408e-01 2.62835805e-06 2.55255266e+00] [ 5.05417334e-03 -1.40265842e-04 9.99987218e-01 1.01780676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:203.38, Y:2.55, Z:1.02 [[ 9.99608080e-01 -2.75342462e-02 -5.05483882e-03 2.03384200e+02] [ 2.75350110e-02 9.99620836e-01 8.17571694e-05 2.55243688e+00] [ 5.05067109e-03 -2.20910170e-04 9.99987221e-01 1.01843913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:203.42, Y:2.55, Z:1.02 [[ 9.99609274e-01 -2.74908676e-02 -5.05483234e-03 2.03416234e+02] [ 2.74916339e-02 9.99622030e-01 8.21558120e-05 2.55237438e+00] [ 5.05066324e-03 -2.21089312e-04 9.99987221e-01 1.01830169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.544391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:203.45, Y:2.55, Z:1.02 [[ 9.99637914e-01 -2.64289438e-02 -5.05482588e-03 2.03447668e+02] [ 2.64296985e-02 9.99650671e-01 8.25514743e-05 2.55216681e+00] [ 5.05087834e-03 -2.16119107e-04 9.99987221e-01 1.01926466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.574391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:203.48, Y:2.55, Z:1.02 [[ 9.99618707e-01 -2.71456454e-02 -5.05512959e-03 2.03481161e+02] [ 2.71463155e-02 9.99631469e-01 6.39905123e-05 2.55383820e+00] [ 5.05152955e-03 -2.01194256e-04 9.99987221e-01 1.01980098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.604391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:203.51, Y:2.55, Z:1.02 [[ 9.99625396e-01 -2.68982832e-02 -5.05480326e-03 2.03511889e+02] [ 2.68990497e-02 9.99638152e-01 8.36983977e-05 2.55440656e+00] [ 5.05072284e-03 -2.19636448e-04 9.99987221e-01 1.01885602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.634391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:203.54, Y:2.55, Z:1.02 [[ 9.99631604e-01 -2.66665709e-02 -5.05479825e-03 2.03544214e+02] [ 2.66673359e-02 9.99644360e-01 8.39996329e-05 2.55472656e+00] [ 5.05076058e-03 -2.18766691e-04 9.99987221e-01 1.01987108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:203.58, Y:2.56, Z:1.02 [[ 9.99638303e-01 -2.64142384e-02 -5.05479153e-03 2.03575076e+02] [ 2.64150023e-02 9.99651059e-01 8.44022833e-05 2.55565351e+00] [ 5.05079829e-03 -2.17894085e-04 9.99987221e-01 1.01834026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:203.61, Y:2.56, Z:1.02 [[ 9.99632004e-01 -2.66515649e-02 -5.05478651e-03 2.03607275e+02] [ 2.66523333e-02 9.99644760e-01 8.47018757e-05 2.55626447e+00] [ 5.05073341e-03 -2.19392561e-04 9.99987221e-01 1.01949530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:203.64, Y:2.56, Z:1.02 [[ 9.99632900e-01 -2.66179533e-02 -5.05477955e-03 2.03639385e+02] [ 2.66187233e-02 9.99645655e-01 8.51152672e-05 2.55654491e+00] [ 5.05072282e-03 -2.19635800e-04 9.99987221e-01 1.01943468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:203.67, Y:2.56, Z:1.02 [[ 9.99607726e-01 -2.75471064e-02 -5.05477258e-03 2.03670880e+02] [ 2.75478904e-02 9.99620481e-01 8.55273708e-05 2.55853295e+00] [ 5.05049816e-03 -2.24742142e-04 9.99987221e-01 1.01915386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:203.70, Y:2.56, Z:1.02 [[ 9.99594533e-01 -2.80217431e-02 -5.05476739e-03 2.03703019e+02] [ 2.80225347e-02 9.99607288e-01 8.58329579e-05 2.55900538e+00] [ 5.05037713e-03 -2.27445550e-04 9.99987221e-01 1.01973559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:203.73, Y:2.56, Z:1.02 [[ 9.99592605e-01 -2.80904580e-02 -5.05476054e-03 2.03733953e+02] [ 2.80912525e-02 9.99605359e-01 8.62341977e-05 2.55930609e+00] [ 5.05034337e-03 -2.28193621e-04 9.99987221e-01 1.02034458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84439141800001 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:203.76, Y:2.57, Z:1.02 [[ 9.99475657e-01 -3.19821789e-02 -5.05474907e-03 2.03759191e+02] [ 3.19830264e-02 9.99488408e-01 8.69015707e-05 2.56678394e+00] [ 5.04938380e-03 -2.48522177e-04 9.99987221e-01 1.02002152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87439141800002 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:203.79, Y:2.56, Z:1.02 [[ 9.99600531e-01 -2.78067149e-02 -5.05626608e-03 2.03794509e+02] [ 2.78070541e-02 9.99613309e-01 -3.21957644e-06 2.56165302e+00] [ 5.05440040e-03 -1.37381574e-04 9.99987217e-01 1.02306685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:203.83, Y:2.56, Z:1.02 [[ 9.99619627e-01 -2.71118518e-02 -5.05467348e-03 2.03825976e+02] [ 2.71126433e-02 9.99632381e-01 8.81275750e-05 2.56245894e+00] [ 5.05042598e-03 -2.25139613e-04 9.99987221e-01 1.02355127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:203.86, Y:2.56, Z:1.02 [[ 9.99688355e-01 -2.44467354e-02 -5.05466833e-03 2.03857227e+02] [ 2.44474944e-02 9.99701111e-01 8.84221338e-05 2.56486111e+00] [ 5.05099591e-03 -2.11968553e-04 9.99987221e-01 1.02470999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:203.89, Y:2.57, Z:1.03 [[ 9.99726094e-01 -2.28514271e-02 -5.05465715e-03 2.03889651e+02] [ 2.28521690e-02 9.99738851e-01 8.90567417e-05 2.56597309e+00] [ 5.05130205e-03 -2.04542228e-04 9.99987221e-01 1.02554599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:203.92, Y:2.57, Z:1.03 [[ 9.99766190e-01 -2.10241847e-02 -5.05465031e-03 2.03922247e+02] [ 2.10249052e-02 9.99778948e-01 8.94431475e-05 2.56692727e+00] [ 5.05165250e-03 -1.95695778e-04 9.99987221e-01 1.02673109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:203.95, Y:2.57, Z:1.03 [[ 9.99800076e-01 -1.93457589e-02 -5.05464316e-03 2.03953530e+02] [ 1.93464601e-02 9.99812836e-01 8.98454107e-05 2.56787671e+00] [ 5.05195898e-03 -1.87616900e-04 9.99987221e-01 1.02649784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:203.98, Y:2.57, Z:1.02 [[ 9.99848094e-01 -1.66805168e-02 -5.05463113e-03 2.03984398e+02] [ 1.66811873e-02 9.99860855e-01 9.05173720e-05 2.56996632e+00] [ 5.05241792e-03 -1.74820871e-04 9.99987221e-01 1.02473999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:204.01, Y:2.57, Z:1.03 [[ 9.99896067e-01 -1.35020758e-02 -5.05462581e-03 2.04014844e+02] [ 1.35027072e-02 9.99908830e-01 9.08132456e-05 2.57019202e+00] [ 5.05293881e-03 -1.59054939e-04 9.99987221e-01 1.02842198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:204.04, Y:2.58, Z:1.03 [[ 9.99818827e-01 -1.83509539e-02 -5.05519591e-03 2.04044574e+02] [ 1.83514909e-02 9.99831595e-01 5.98493244e-05 2.57639920e+00] [ 5.05324630e-03 -1.52608863e-04 9.99987221e-01 1.02607153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:204.08, Y:2.57, Z:1.03 [[ 9.99894234e-01 -1.36366365e-02 -5.05595477e-03 2.04077595e+02] [ 1.36369033e-02 9.99907013e-01 1.82880256e-05 2.57162580e+00] [ 5.05523524e-03 -8.72336574e-05 9.99987218e-01 1.02680213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174391418 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:204.11, Y:2.57, Z:1.02 [[ 9.99928965e-01 -1.07943255e-02 -5.05452227e-03 2.04106909e+02] [ 1.07949422e-02 9.99941728e-01 9.47258701e-05 2.57176594e+00] [ 5.05320524e-03 -1.49282417e-04 9.99987221e-01 1.02187479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:204.14, Y:2.57, Z:1.02 [[ 9.99921586e-01 -1.14572702e-02 -5.05503844e-03 2.04137206e+02] [ 1.14577551e-02 9.99934356e-01 6.69659246e-05 2.57290144e+00] [ 5.05393936e-03 -1.24880066e-04 9.99987221e-01 1.02473183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:204.17, Y:2.57, Z:1.02 [[ 9.99957112e-01 -7.76052437e-03 -5.05453301e-03 2.04168413e+02] [ 7.76109916e-03 9.99969878e-01 9.41117712e-05 2.57405460e+00] [ 5.05365040e-03 -1.33336467e-04 9.99987221e-01 1.02388497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:204.20, Y:2.57, Z:1.02 [[ 9.99970386e-01 -5.80328022e-03 -5.05452931e-03 2.04198960e+02] [ 5.80383102e-03 9.99983153e-01 9.43100261e-05 2.57471021e+00] [ 5.05389685e-03 -1.23642867e-04 9.99987221e-01 1.02375169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.294391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:204.23, Y:2.58, Z:1.02 [[ 9.99964795e-01 -6.69780307e-03 -5.05452931e-03 2.04226684e+02] [ 6.69836529e-03 9.99977561e-01 9.43100261e-05 2.58003138e+00] [ 5.05378422e-03 -1.28163790e-04 9.99987221e-01 1.02489441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.324391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:204.26, Y:2.58, Z:1.03 [[ 9.99987217e-01 -5.60288196e-05 -5.05590012e-03 2.04259468e+02] [ 5.61248703e-05 9.99999998e-01 1.88558548e-05 2.57570285e+00] [ 5.05589906e-03 -1.91393755e-05 9.99987219e-01 1.02543269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.354391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:204.29, Y:2.58, Z:1.03 [[ 9.99970384e-01 5.80379227e-03 -5.05449857e-03 2.04287628e+02] [-5.80339065e-03 9.99983156e-01 9.41219994e-05 2.57726284e+00] [ 5.05495970e-03 -6.47859821e-05 9.99987222e-01 1.02691211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.384391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:204.32, Y:2.58, Z:1.03 [[ 9.99952711e-01 8.30835161e-03 -5.05450794e-03 2.04315648e+02] [-8.30798454e-03 9.99965484e-01 9.36159526e-05 2.57760613e+00] [ 5.05511128e-03 -5.16187517e-05 9.99987222e-01 1.02768075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:204.34, Y:2.58, Z:1.03 [[ 9.99925009e-01 1.11547729e-02 -5.05451911e-03 2.04342105e+02] [-1.11544452e-02 9.99937783e-01 9.30090736e-05 2.57768111e+00] [ 5.05524213e-03 -3.66217421e-05 9.99987222e-01 1.02783112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:204.37, Y:2.58, Z:1.03 [[ 9.99908216e-01 1.25701727e-02 -5.05472187e-03 2.04370640e+02] [-1.25699195e-02 9.99920992e-01 8.18698386e-05 2.57758712e+00] [ 5.05535163e-03 -1.83248773e-05 9.99987221e-01 1.02754924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:204.39, Y:2.59, Z:1.03 [[ 9.99947736e-01 8.88693135e-03 -5.05454369e-03 2.04392178e+02] [-8.88658139e-03 9.99960509e-01 9.16921941e-05 2.58530628e+00] [ 5.05515895e-03 -4.67697880e-05 9.99987222e-01 1.02593758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:204.43, Y:2.58, Z:1.03 [[ 9.99885158e-01 1.42862225e-02 -5.05719002e-03 2.04428872e+02] [-1.42867217e-02 9.99897938e-01 -6.25970986e-05 2.57706145e+00] [ 5.05577959e-03 1.34840576e-04 9.99987210e-01 1.02966232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:204.46, Y:2.57, Z:1.03 [[ 9.99880485e-01 1.46104254e-02 -5.05483941e-03 2.04457922e+02] [-1.46102660e-02 9.99893262e-01 6.84531091e-05 2.57480585e+00] [ 5.05530000e-03 5.40762047e-06 9.99987222e-01 1.02671967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:204.49, Y:2.57, Z:1.03 [[ 9.99907303e-01 1.26426831e-02 -5.05444482e-03 2.04485293e+02] [-1.26423871e-02 9.99920078e-01 9.04929696e-05 2.57282573e+00] [ 5.05518493e-03 -2.65843329e-05 9.99987222e-01 1.02666241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59439141800001 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:204.51, Y:2.57, Z:1.03 [[ 9.99922686e-01 1.13610526e-02 -5.05445596e-03 2.04513527e+02] [-1.13607435e-02 9.99935461e-01 8.98662637e-05 2.57152549e+00] [ 5.05515073e-03 -3.24369383e-05 9.99987222e-01 1.02673984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62439141800002 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:204.54, Y:2.57, Z:1.03 [[ 9.99940176e-01 9.70038177e-03 -5.05446619e-03 2.04541039e+02] [-9.70005436e-03 9.99952949e-01 8.92870500e-05 2.57045143e+00] [ 5.05509450e-03 -4.02531116e-05 9.99987222e-01 1.02800562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65439141800002 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:204.57, Y:2.57, Z:1.03 [[ 9.99955242e-01 7.99791309e-03 -5.05447679e-03 2.04569190e+02] [-7.99756699e-03 9.99968015e-01 8.86829468e-05 2.56912411e+00] [ 5.05502441e-03 -4.82554608e-05 9.99987222e-01 1.02778734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:204.60, Y:2.57, Z:1.03 [[ 9.99976989e-01 4.52486887e-03 -5.05448549e-03 2.04598157e+02] [-4.52448093e-03 9.99989761e-01 8.81842951e-05 2.56666962e+00] [ 5.05483276e-03 -6.53133427e-05 9.99987222e-01 1.02785268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:204.63, Y:2.57, Z:1.03 [[ 9.99983529e-01 2.71921136e-03 -5.05449236e-03 2.04626932e+02] [-2.71880235e-03 9.99996300e-01 8.77888000e-05 2.56516167e+00] [ 5.05471238e-03 -7.40451882e-05 9.99987222e-01 1.02775841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:204.66, Y:2.56, Z:1.03 [[ 9.99987128e-01 -4.43565427e-04 -5.05449917e-03 2.04656135e+02] [ 4.44012834e-04 9.99999898e-01 8.73948451e-05 2.56235873e+00] [ 5.05445989e-03 -8.96379827e-05 9.99987222e-01 1.02811645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:204.68, Y:2.56, Z:1.03 [[ 9.99985617e-01 -1.79389527e-03 -5.05450600e-03 2.04684947e+02] [ 1.79435792e-03 9.99998386e-01 8.69983027e-05 2.56064292e+00] [ 5.05434178e-03 -9.60666442e-05 9.99987222e-01 1.02862701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:204.71, Y:2.56, Z:1.03 [[ 9.99983679e-01 -2.66335141e-03 -5.05451288e-03 2.04713423e+02] [ 2.66382313e-03 9.99996448e-01 8.65965723e-05 2.55868331e+00] [ 5.05426429e-03 -1.00059487e-04 9.99987222e-01 1.02913164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:204.74, Y:2.56, Z:1.03 [[ 9.99980289e-01 -3.72478477e-03 -5.05451983e-03 2.04741899e+02] [ 3.72526798e-03 9.99993057e-01 8.61890367e-05 2.55706198e+00] [ 5.05416371e-03 -1.05016779e-04 9.99987222e-01 1.02931146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:204.77, Y:2.55, Z:1.03 [[ 9.99978324e-01 -4.21936623e-03 -5.05454362e-03 2.04771273e+02] [ 4.21984859e-03 9.99991093e-01 8.47706774e-05 2.55411664e+00] [ 5.05414092e-03 -1.06098249e-04 9.99987222e-01 1.03067799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:204.80, Y:2.55, Z:1.03 [[ 9.99978569e-01 -4.16089696e-03 -5.05454710e-03 2.04799667e+02] [ 4.16137752e-03 9.99991338e-01 8.45628810e-05 2.55261550e+00] [ 5.05415146e-03 -1.05594947e-04 9.99987222e-01 1.03073378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:204.83, Y:2.55, Z:1.03 [[ 9.99979616e-01 -3.90104918e-03 -5.05455224e-03 2.04828942e+02] [ 3.90152487e-03 9.99992385e-01 8.42545450e-05 2.55094023e+00] [ 5.05418507e-03 -1.03973289e-04 9.99987222e-01 1.03112242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:204.86, Y:2.55, Z:1.03 [[ 9.99982427e-01 -3.09806530e-03 -5.05455564e-03 2.04858492e+02] [ 3.09852970e-03 9.99995196e-01 8.40497420e-05 2.54890390e+00] [ 5.05427097e-03 -9.97099558e-05 9.99987222e-01 1.03090216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:204.89, Y:2.55, Z:1.03 [[ 9.99984188e-01 -2.46468678e-03 -5.05455901e-03 2.04888213e+02] [ 2.46514207e-03 9.99996958e-01 8.38466081e-05 2.54728567e+00] [ 5.05433698e-03 -9.63054884e-05 9.99987222e-01 1.03071806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:204.91, Y:2.55, Z:1.03 [[ 9.99974235e-01 -5.09720088e-03 -5.05456235e-03 2.04913767e+02] [ 5.09768877e-03 9.99987003e-01 8.36450213e-05 2.55145240e+00] [ 5.05407030e-03 -1.09409452e-04 9.99987222e-01 1.02996977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.044391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:204.95, Y:2.54, Z:1.03 [[ 9.99984981e-01 -2.11451512e-03 -5.05638664e-03 2.04948771e+02] [ 2.11438379e-03 9.99997764e-01 -3.13176723e-05 2.54321715e+00] [ 5.05644156e-03 2.06260600e-05 9.99987216e-01 1.03061060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.074391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:204.98, Y:2.54, Z:1.03 [[ 9.99983377e-01 -2.77442588e-03 -5.05448705e-03 2.04977802e+02] [ 2.77488373e-03 9.99996147e-01 8.35722675e-05 2.54167091e+00] [ 5.05423571e-03 -9.75964921e-05 9.99987223e-01 1.03103957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.104391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:205.00, Y:2.55, Z:1.03 [[ 9.99967914e-01 -6.21465753e-03 -5.05451036e-03 2.05002251e+02] [ 6.21515206e-03 9.99980682e-01 8.21378140e-05 2.54585997e+00] [ 5.05390226e-03 -1.13549729e-04 9.99987223e-01 1.03073698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.134391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:205.04, Y:2.54, Z:1.03 [[ 9.99975663e-01 -4.80693835e-03 -5.05644749e-03 2.05037886e+02] [ 4.80678301e-03 9.99988446e-01 -4.28730631e-05 2.53742079e+00] [ 5.05659516e-03 1.85667738e-05 9.99987215e-01 1.03113406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:205.07, Y:2.54, Z:1.03 [[ 9.99975482e-01 -4.84637089e-03 -5.05442179e-03 2.05068034e+02] [ 4.84684723e-03 9.99988251e-01 8.19969038e-05 2.53691115e+00] [ 5.05396501e-03 -1.06492904e-04 9.99987223e-01 1.03125055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194391418 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:205.10, Y:2.54, Z:1.03 [[ 9.99971742e-01 -5.56488988e-03 -5.05442507e-03 2.05097063e+02] [ 5.56537437e-03 9.99984510e-01 8.17943970e-05 2.53539621e+00] [ 5.05389159e-03 -1.09921853e-04 9.99987223e-01 1.03102252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:205.13, Y:2.53, Z:1.03 [[ 9.99966805e-01 -6.39075340e-03 -5.05443119e-03 2.05126171e+02] [ 6.39124651e-03 9.99979572e-01 8.14143251e-05 2.53382065e+00] [ 5.05380764e-03 -1.13715738e-04 9.99987223e-01 1.03067564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254391418 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:205.16, Y:2.53, Z:1.03 [[ 9.99960132e-01 -7.36119333e-03 -5.05443278e-03 2.05155755e+02] [ 7.36169833e-03 9.99972899e-01 8.13154474e-05 2.53239453e+00] [ 5.05369722e-03 -1.18521415e-04 9.99987223e-01 1.03040642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:205.19, Y:2.53, Z:1.03 [[ 9.99944459e-01 -9.24828034e-03 -5.05443597e-03 2.05186291e+02] [ 9.24880843e-03 9.99957226e-01 8.11168208e-05 2.53061677e+00] [ 5.05346957e-03 -1.27859825e-04 9.99987223e-01 1.03033368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:205.22, Y:2.53, Z:1.03 [[ 9.99937101e-01 -1.00123047e-02 -5.05443597e-03 2.05217236e+02] [ 1.00128425e-02 9.99949867e-01 8.11168208e-05 2.52935027e+00] [ 5.05337041e-03 -1.31720990e-04 9.99987223e-01 1.03033830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34439141800001 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:205.25, Y:2.53, Z:1.03 [[ 9.99925629e-01 -1.10990408e-02 -5.05443597e-03 2.05247207e+02] [ 1.10995925e-02 9.99938394e-01 8.11168208e-05 2.52838341e+00] [ 5.05322427e-03 -1.37212968e-04 9.99987223e-01 1.03043594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37439141800002 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:205.28, Y:2.53, Z:1.03 [[ 9.99910814e-01 -1.23618768e-02 -5.05443027e-03 2.05278138e+02] [ 1.23624465e-02 9.99923579e-01 8.14704275e-05 2.52726981e+00] [ 5.05303687e-03 -1.43948285e-04 9.99987223e-01 1.03117475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40439141800002 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:205.31, Y:2.53, Z:1.03 [[ 9.99867306e-01 -1.54862493e-02 -5.05442704e-03 2.05309251e+02] [ 1.54868598e-02 9.99880068e-01 8.16700818e-05 2.52531744e+00] [ 5.05255609e-03 -1.59936448e-04 9.99987223e-01 1.03270417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:205.34, Y:2.52, Z:1.03 [[ 9.99839828e-01 -1.71688904e-02 -5.05442372e-03 2.05341917e+02] [ 1.71695234e-02 9.99852590e-01 8.18747731e-05 2.52387154e+00] [ 5.05227295e-03 -1.68643706e-04 9.99987223e-01 1.03338660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:205.37, Y:2.52, Z:1.03 [[ 9.99805496e-01 -1.90636576e-02 -5.05441708e-03 2.05373595e+02] [ 1.90643169e-02 9.99818256e-01 8.22831762e-05 2.52243898e+00] [ 5.05192985e-03 -1.78626181e-04 9.99987223e-01 1.03417953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:205.40, Y:2.52, Z:1.03 [[ 9.99719397e-01 -2.31426086e-02 -5.05441031e-03 2.05404689e+02] [ 2.31433220e-02 9.99732154e-01 8.26964860e-05 2.51995347e+00] [ 5.05114270e-03 -1.99649127e-04 9.99987223e-01 1.03481985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:205.44, Y:2.52, Z:1.03 [[ 9.99690866e-01 -2.43438794e-02 -5.05440526e-03 2.05435347e+02] [ 2.43446097e-02 9.99703623e-01 8.30042754e-05 2.51854491e+00] [ 5.05088660e-03 -2.06026139e-04 9.99987223e-01 1.03355022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:205.47, Y:2.52, Z:1.03 [[ 9.99594729e-01 -2.80147717e-02 -5.05478604e-03 2.05465598e+02] [ 2.80154287e-02 9.99607489e-01 5.92004735e-05 2.51781676e+00] [ 5.05114350e-03 -2.00788479e-04 9.99987223e-01 1.03292652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:205.50, Y:2.52, Z:1.03 [[ 9.99497187e-01 -3.13020690e-02 -5.05502450e-03 2.05498752e+02] [ 3.13026924e-02 9.99509950e-01 4.42284101e-05 2.51539831e+00] [ 5.05116284e-03 -2.02442049e-04 9.99987222e-01 1.03434087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:205.53, Y:2.51, Z:1.03 [[ 9.99319200e-01 -3.65457305e-02 -5.05439613e-03 2.05530951e+02] [ 3.65466147e-02 9.99331946e-01 8.26543379e-05 2.51239788e+00] [ 5.04799885e-03 -2.67319135e-04 9.99987223e-01 1.03453072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:205.56, Y:2.51, Z:1.03 [[ 9.99220873e-01 -3.91420606e-02 -5.05438942e-03 2.05562459e+02] [ 3.91429800e-02 9.99233616e-01 8.30625457e-05 2.51082197e+00] [ 5.04726458e-03 -2.80841693e-04 9.99987223e-01 1.03396454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674391418 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:205.60, Y:2.51, Z:1.03 [[ 9.99132651e-01 -4.13327869e-02 -5.05438440e-03 2.05595049e+02] [ 4.13337357e-02 9.99145393e-01 8.33667049e-05 2.50942334e+00] [ 5.04661911e-03 -2.92210986e-04 9.99987223e-01 1.03448192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704391418 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:205.63, Y:2.51, Z:1.03 [[ 9.99060668e-01 -4.30375949e-02 -5.05437435e-03 2.05626938e+02] [ 4.30385685e-02 9.99073408e-01 8.39716671e-05 2.50826628e+00] [ 5.04607707e-03 -3.01425827e-04 9.99987223e-01 1.03460798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734391418 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:205.66, Y:2.51, Z:1.03 [[ 9.98974478e-01 -4.49938470e-02 -5.05436768e-03 2.05659356e+02] [ 4.49948476e-02 9.98987215e-01 8.43712923e-05 2.50744348e+00] [ 5.04545251e-03 -3.11705271e-04 9.99987223e-01 1.03438662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:205.69, Y:2.51, Z:1.03 [[ 9.98854001e-01 -4.75934723e-02 -5.05436103e-03 2.05689293e+02] [ 4.75945081e-02 9.98866736e-01 8.47680571e-05 2.50937507e+00] [ 5.04459869e-03 -3.25230740e-04 9.99987223e-01 1.03305130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.794391418 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:205.72, Y:2.51, Z:1.03 [[ 9.99003062e-01 -4.43546017e-02 -5.05477656e-03 2.05722014e+02] [ 4.43554702e-02 9.99015810e-01 5.97970684e-05 2.50638104e+00] [ 5.04714942e-03 -2.83944446e-04 9.99987223e-01 1.03449666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.824391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:205.75, Y:2.51, Z:1.03 [[ 9.99052551e-01 -4.32256287e-02 -5.05433984e-03 2.05754416e+02] [ 4.32266129e-02 9.99065289e-01 8.55874017e-05 2.50607221e+00] [ 5.04591593e-03 -3.03988304e-04 9.99987223e-01 1.03423752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.854391418 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:205.79, Y:2.51, Z:1.03 [[ 9.99149685e-01 -4.09189616e-02 -5.05433303e-03 2.05785836e+02] [ 4.09199184e-02 9.99162426e-01 8.59875803e-05 2.50588433e+00] [ 5.04658113e-03 -2.92737359e-04 9.99987223e-01 1.03386169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.884391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:205.82, Y:2.51, Z:1.03 [[ 9.99217575e-01 -3.92261182e-02 -5.05469957e-03 2.05820288e+02] [ 3.92269452e-02 9.99230325e-01 6.45460404e-05 2.50674028e+00] [ 5.04827720e-03 -2.62775961e-04 9.99987223e-01 1.03432681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914391418 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:205.85, Y:2.51, Z:1.04 [[ 9.99296117e-01 -3.71715527e-02 -5.05430837e-03 2.05852921e+02] [ 3.71724679e-02 9.99308861e-01 8.72164993e-05 2.50716150e+00] [ 5.04757317e-03 -2.75036225e-04 9.99987223e-01 1.03590850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:205.88, Y:2.51, Z:1.04 [[ 9.99377192e-01 -3.49239477e-02 -5.05430124e-03 2.05884519e+02] [ 3.49248363e-02 9.99389938e-01 8.76279238e-05 2.50773736e+00] [ 5.04815749e-03 -2.64093992e-04 9.99987223e-01 1.03594083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:205.92, Y:2.51, Z:1.04 [[ 9.99548304e-01 -2.96250376e-02 -5.05429591e-03 2.05916991e+02] [ 2.96258601e-02 9.99561054e-01 8.79342814e-05 2.50929606e+00] [ 5.04947229e-03 -2.37632425e-04 9.99987223e-01 1.03946486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:205.95, Y:2.51, Z:1.04 [[ 9.99611400e-01 -2.74135653e-02 -5.05425605e-03 2.05948270e+02] [ 2.74143711e-02 9.99624151e-01 9.02159219e-05 2.51071188e+00] [ 5.04988328e-03 -2.28740115e-04 9.99987223e-01 1.03880024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:205.98, Y:2.51, Z:1.04 [[ 9.99689728e-01 -2.43906024e-02 -5.05428125e-03 2.05980241e+02] [ 2.43913624e-02 9.99702483e-01 8.87813359e-05 2.51144946e+00] [ 5.05061209e-03 -2.12034595e-04 9.99987223e-01 1.04069114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064391418 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:206.01, Y:2.51, Z:1.04 [[ 9.99870522e-01 -1.52772095e-02 -5.05423560e-03 2.06006053e+02] [ 1.52778663e-02 9.99883282e-01 9.13635395e-05 2.51257049e+00] [ 5.05224990e-03 -1.68569646e-04 9.99987223e-01 1.03535615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09439141800001 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:206.04, Y:2.52, Z:1.04 [[ 9.99864655e-01 -1.56559753e-02 -5.05589420e-03 2.06040277e+02] [ 1.56561444e-02 9.99877435e-01 -6.12361872e-06 2.51538988e+00] [ 5.05537039e-03 -7.30330198e-05 9.99987219e-01 1.04041771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12439141800002 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:206.07, Y:2.52, Z:1.04 [[ 9.99911219e-01 -1.23291773e-02 -5.05424821e-03 2.06071992e+02] [ 1.23297805e-02 9.99923981e-01 8.82000708e-05 2.51621714e+00] [ 5.05277656e-03 -1.50510011e-04 9.99987223e-01 1.04053325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15439141800002 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:206.10, Y:2.52, Z:1.04 [[ 9.99944235e-01 -9.27258219e-03 -5.05424467e-03 2.06103612e+02] [ 9.27314739e-03 9.99957000e-01 8.84024894e-05 2.51736130e+00] [ 5.05320761e-03 -1.35266315e-04 9.99987223e-01 1.04092136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:206.13, Y:2.52, Z:1.04 [[ 9.99978382e-01 -4.20606446e-03 -5.05424112e-03 2.06133611e+02] [ 4.20656600e-03 9.99991148e-01 8.86050036e-05 2.51988325e+00] [ 5.05382370e-03 -1.09864087e-04 9.99987223e-01 1.04060105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:206.16, Y:2.52, Z:1.04 [[ 9.99985383e-01 -1.92044143e-03 -5.05423936e-03 2.06163229e+02] [ 1.92091429e-03 9.99998151e-01 8.87052057e-05 2.52108723e+00] [ 5.05405966e-03 -9.84126697e-05 9.99987223e-01 1.04067844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:206.19, Y:2.52, Z:1.04 [[ 9.99987224e-01 8.12206563e-05 -5.05424284e-03 2.06192337e+02] [-8.07743556e-05 9.99999993e-01 8.85062658e-05 2.52221308e+00] [ 5.05424999e-03 -8.80968819e-05 9.99987223e-01 1.04069353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:206.22, Y:2.52, Z:1.04 [[ 9.99981490e-01 3.38725745e-03 -5.05426730e-03 2.06220874e+02] [-3.38686054e-03 9.99994261e-01 8.70869043e-05 2.52425379e+00] [ 5.05453328e-03 -6.99671939e-05 9.99987223e-01 1.04018845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:206.25, Y:2.53, Z:1.04 [[ 9.99976916e-01 4.54108375e-03 -5.05429132e-03 2.06247430e+02] [-4.54070874e-03 9.99989687e-01 8.56697079e-05 2.52511759e+00] [ 5.05462823e-03 -6.27176656e-05 9.99987223e-01 1.03977515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:206.28, Y:2.53, Z:1.04 [[ 9.99970194e-01 5.83647612e-03 -5.05430310e-03 2.06275538e+02] [-5.83612119e-03 9.99982966e-01 8.49687467e-05 2.52572322e+00] [ 5.05471293e-03 -5.54686887e-05 9.99987223e-01 1.03952902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:206.30, Y:2.53, Z:1.04 [[ 9.99964657e-01 6.71855275e-03 -5.05431308e-03 2.06304337e+02] [-6.71821212e-03 9.99977429e-01 8.43709639e-05 2.52627156e+00] [ 5.05476585e-03 -5.04120346e-05 9.99987223e-01 1.03958104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394391418 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:206.33, Y:2.53, Z:1.04 [[ 9.99961500e-01 7.17303440e-03 -5.05431967e-03 2.06332606e+02] [-7.17270157e-03 9.99974272e-01 8.39742966e-05 2.52742571e+00] [ 5.05479199e-03 -4.77179369e-05 9.99987223e-01 1.03950928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:206.36, Y:2.53, Z:1.04 [[ 9.99962671e-01 7.00782718e-03 -5.05432779e-03 2.06361482e+02] [-7.00749472e-03 9.99975444e-01 8.34830654e-05 2.52729873e+00] [ 5.05478871e-03 -4.80617738e-05 9.99987223e-01 1.03981115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:206.39, Y:2.53, Z:1.04 [[ 9.99968272e-01 6.15704359e-03 -5.05433414e-03 2.06388792e+02] [-6.15670222e-03 9.99981044e-01 8.30962539e-05 2.52697464e+00] [ 5.05474996e-03 -5.19755871e-05 9.99987223e-01 1.04013163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:206.42, Y:2.53, Z:1.04 [[ 9.99973853e-01 5.17178556e-03 -5.05434267e-03 2.06417331e+02] [-5.17143424e-03 9.99986625e-01 8.25746424e-05 2.52635228e+00] [ 5.05470212e-03 -5.64342826e-05 9.99987223e-01 1.04068128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:206.45, Y:2.53, Z:1.04 [[ 9.99984419e-01 2.36983715e-03 -5.05434911e-03 2.06446249e+02] [-2.36945205e-03 9.99997189e-01 8.21785226e-05 2.52549382e+00] [ 5.05452965e-03 -7.02012042e-05 9.99987223e-01 1.04123269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.544391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:206.48, Y:2.52, Z:1.04 [[ 9.99987052e-01 5.91651151e-04 -5.05435565e-03 2.06475355e+02] [-5.91245385e-04 9.99999822e-01 8.17741598e-05 2.52479753e+00] [ 5.05440313e-03 -7.87847365e-05 9.99987223e-01 1.04139387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.574391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:206.50, Y:2.52, Z:1.04 [[ 9.99980344e-01 -3.71021674e-03 -5.05436211e-03 2.06503469e+02] [ 3.71067541e-03 9.99993112e-01 8.13726296e-05 2.52356981e+00] [ 5.05402539e-03 -1.00126127e-04 9.99987223e-01 1.04063904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.604391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:206.53, Y:2.52, Z:1.04 [[ 9.99970233e-01 -5.82987157e-03 -5.05437007e-03 2.06532063e+02] [ 5.83035479e-03 9.99983000e-01 8.08752020e-05 2.52239968e+00] [ 5.05381266e-03 -1.10341565e-04 9.99987223e-01 1.04075023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.634391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:206.56, Y:2.52, Z:1.04 [[ 9.99956894e-01 -7.78872572e-03 -5.05437478e-03 2.06561363e+02] [ 7.78923246e-03 9.99969660e-01 8.05800330e-05 2.52097545e+00] [ 5.05359381e-03 -1.19946260e-04 9.99987223e-01 1.04053120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:206.59, Y:2.52, Z:1.04 [[ 9.99942372e-01 -9.47129283e-03 -5.05437789e-03 2.06592279e+02] [ 9.47182006e-03 9.99955138e-01 8.03845246e-05 2.51936000e+00] [ 5.05338979e-03 -1.28254050e-04 9.99987223e-01 1.04046209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:206.62, Y:2.52, Z:1.04 [[ 9.99914110e-01 -1.20923520e-02 -5.05437789e-03 2.06622101e+02] [ 1.20929127e-02 9.99926875e-01 8.03845246e-05 2.51666089e+00] [ 5.05303625e-03 -1.41499771e-04 9.99987223e-01 1.04005551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:206.65, Y:2.52, Z:1.04 [[ 9.99912368e-01 -1.22355507e-02 -5.05437635e-03 2.06652939e+02] [ 1.22361137e-02 9.99925133e-01 8.04809433e-05 2.51537802e+00] [ 5.05301322e-03 -1.42319814e-04 9.99987223e-01 1.03991425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:206.68, Y:2.51, Z:1.04 [[ 9.99907915e-01 -1.25942094e-02 -5.05437332e-03 2.06683812e+02] [ 1.25947779e-02 9.99920679e-01 8.06706844e-05 2.51468273e+00] [ 5.05295643e-03 -1.44321965e-04 9.99987223e-01 1.04031155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:206.71, Y:2.51, Z:1.04 [[ 9.99912340e-01 -1.22378663e-02 -5.05437031e-03 2.06714858e+02] [ 1.22384312e-02 9.99925104e-01 8.08589919e-05 2.51379855e+00] [ 5.05300222e-03 -1.42709467e-04 9.99987223e-01 1.04074794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:206.75, Y:2.51, Z:1.04 [[ 9.99921435e-01 -1.14706718e-02 -5.05436706e-03 2.06746541e+02] [ 1.14712280e-02 9.99934200e-01 8.10618215e-05 2.51316186e+00] [ 5.05310465e-03 -1.39035250e-04 9.99987223e-01 1.04106650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84439141800001 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:206.78, Y:2.51, Z:1.04 [[ 9.99945386e-01 -9.14757130e-03 -5.05446175e-03 2.06776465e+02] [ 9.14806795e-03 9.99958153e-01 7.51503589e-05 2.51219138e+00] [ 5.05356279e-03 -1.21384814e-04 9.99987223e-01 1.04096901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87439141800002 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:206.81, Y:2.51, Z:1.04 [[ 9.99957751e-01 -7.67748557e-03 -5.05502316e-03 2.06806227e+02] [ 7.67777877e-03 9.99970525e-01 3.85978056e-05 2.51063896e+00] [ 5.05457783e-03 -7.74075244e-05 9.99987223e-01 1.03990935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90439141800002 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:206.84, Y:2.51, Z:1.04 [[ 9.99966970e-01 -6.36489897e-03 -5.05441706e-03 2.06836813e+02] [ 6.36537508e-03 9.99979738e-01 7.81154577e-05 2.50977555e+00] [ 5.05381744e-03 -1.10286138e-04 9.99987223e-01 1.04048161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:206.87, Y:2.51, Z:1.04 [[ 9.99974146e-01 -5.11478617e-03 -5.05442535e-03 2.06866514e+02] [ 5.11524359e-03 9.99986914e-01 7.75749545e-05 2.50904058e+00] [ 5.05396243e-03 -1.03427566e-04 9.99987223e-01 1.04079795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:206.90, Y:2.51, Z:1.04 [[ 9.99982399e-01 -3.10719275e-03 -5.05442841e-03 2.06896199e+02] [ 3.10762352e-03 9.99995168e-01 7.73749194e-05 2.50827912e+00] [ 5.05416357e-03 -9.30808181e-05 9.99987223e-01 1.04044992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:206.93, Y:2.51, Z:1.04 [[ 9.99983932e-01 -2.56688663e-03 -5.05442993e-03 2.06926196e+02] [ 2.56731000e-03 9.99996701e-01 7.72759395e-05 2.50740431e+00] [ 5.05421490e-03 -9.02509863e-05 9.99987223e-01 1.04033476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:206.96, Y:2.51, Z:1.04 [[ 9.99983190e-01 -2.84105104e-03 -5.05443294e-03 2.06955433e+02] [ 2.84147691e-03 9.99995960e-01 7.70782946e-05 2.50706713e+00] [ 5.05419354e-03 -9.14390534e-05 9.99987223e-01 1.04048262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:206.98, Y:2.51, Z:1.04 [[ 9.99978693e-01 -4.13113638e-03 -5.05445369e-03 2.06982320e+02] [ 4.13157172e-03 9.99991462e-01 7.56925078e-05 2.50870896e+00] [ 5.05409784e-03 -9.65737330e-05 9.99987223e-01 1.04053479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:207.01, Y:2.50, Z:1.04 [[ 9.99977926e-01 -4.31213228e-03 -5.05509865e-03 2.07013046e+02] [ 4.31234792e-03 9.99990701e-01 3.17582724e-05 2.50478370e+00] [ 5.05491469e-03 -5.35569155e-05 9.99987222e-01 1.03865017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:207.04, Y:2.50, Z:1.04 [[ 9.99973499e-01 -5.23960601e-03 -5.05446579e-03 2.07042627e+02] [ 5.24005011e-03 9.99986268e-01 7.46237031e-05 2.50407350e+00] [ 5.05400538e-03 -1.01107379e-04 9.99987223e-01 1.03786678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:207.07, Y:2.50, Z:1.04 [[ 9.99967650e-01 -6.25707684e-03 -5.05446866e-03 2.07072756e+02] [ 6.25753294e-03 9.99980419e-01 7.44285899e-05 2.50337944e+00] [ 5.05390398e-03 -1.06054686e-04 9.99987223e-01 1.03738400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:207.10, Y:2.51, Z:1.04 [[ 9.99933499e-01 -1.03657743e-02 -5.05447151e-03 2.07098572e+02] [ 1.03662819e-02 9.99946266e-01 7.42346873e-05 2.50763854e+00] [ 5.05343041e-03 -1.26625827e-04 9.99987223e-01 1.03839177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:207.13, Y:2.50, Z:1.04 [[ 9.99933718e-01 -1.03439425e-02 -5.05592823e-03 2.07132542e+02] [ 1.03439335e-02 9.99946500e-01 -2.79219246e-05 2.50274626e+00] [ 5.05594656e-03 -2.43781116e-05 9.99987218e-01 1.03656480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:207.16, Y:2.51, Z:1.04 [[ 9.99882292e-01 -1.44864161e-02 -5.05438711e-03 2.07159142e+02] [ 1.44869822e-02 9.99895055e-01 7.53950582e-05 2.50693413e+00] [ 5.05276447e-03 -1.48608999e-04 9.99987224e-01 1.03833843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:207.19, Y:2.50, Z:1.04 [[ 9.99901343e-01 -1.31050624e-02 -5.05580731e-03 2.07193186e+02] [ 1.31051124e-02 9.99914124e-01 -2.32582085e-05 2.50218410e+00] [ 5.05567794e-03 -4.30010089e-05 9.99987219e-01 1.03709924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.294391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:207.22, Y:2.50, Z:1.04 [[ 9.99861664e-01 -1.58463724e-02 -5.05433578e-03 2.07224891e+02] [ 1.58469558e-02 9.99874426e-01 7.53939043e-05 2.50205137e+00] [ 5.05250637e-03 -1.55479310e-04 9.99987224e-01 1.03874301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.324391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:207.26, Y:2.50, Z:1.04 [[ 9.99839711e-01 -1.71757543e-02 -5.05433283e-03 2.07256657e+02] [ 1.71763557e-02 9.99852473e-01 7.55907894e-05 2.50195862e+00] [ 5.05228885e-03 -1.62393691e-04 9.99987224e-01 1.03950646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.354391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:207.29, Y:2.50, Z:1.04 [[ 9.99812239e-01 -1.87066942e-02 -5.05432674e-03 2.07288595e+02] [ 1.87073171e-02 9.99825000e-01 7.59958679e-05 2.50215910e+00] [ 5.05202060e-03 -1.70534492e-04 9.99987224e-01 1.04025992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.384391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:207.32, Y:2.50, Z:1.04 [[ 9.99790561e-01 -1.98315022e-02 -5.05432050e-03 2.07319410e+02] [ 1.98321416e-02 9.99803321e-01 7.64087232e-05 2.50225764e+00] [ 5.05181112e-03 -1.76630720e-04 9.99987224e-01 1.04091003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:207.35, Y:2.50, Z:1.04 [[ 9.99725693e-01 -2.28690426e-02 -5.05431584e-03 2.07350320e+02] [ 2.28697223e-02 9.99738451e-01 7.67155556e-05 2.50290494e+00] [ 5.05123948e-03 -1.92285312e-04 9.99987224e-01 1.04096425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:207.38, Y:2.50, Z:1.04 [[ 9.99715060e-01 -2.33292417e-02 -5.05431128e-03 2.07381182e+02] [ 2.33299288e-02 9.99727817e-01 7.70149814e-05 2.50297104e+00] [ 5.05113888e-03 -1.94909759e-04 9.99987224e-01 1.04164436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:207.41, Y:2.50, Z:1.04 [[ 9.99654462e-01 -2.57954755e-02 -5.05467443e-03 2.07414585e+02] [ 2.57960728e-02 9.99667225e-01 5.29856675e-05 2.50308306e+00] [ 5.05162557e-03 -1.83358108e-04 9.99987224e-01 1.04048659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:207.45, Y:2.50, Z:1.04 [[ 9.99577461e-01 -2.86243415e-02 -5.05428652e-03 2.07447153e+02] [ 2.86251016e-02 9.99590215e-01 7.80922847e-05 2.50422222e+00] [ 5.04998001e-03 -2.22738753e-04 9.99987224e-01 1.04054453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:207.48, Y:2.50, Z:1.04 [[ 9.99551697e-01 -2.95103124e-02 -5.05428028e-03 2.07479196e+02] [ 2.95110858e-02 9.99564450e-01 7.84943315e-05 2.50458454e+00] [ 5.04976249e-03 -2.27616441e-04 9.99987224e-01 1.04040104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564391418 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:207.51, Y:2.51, Z:1.04 [[ 9.99579415e-01 -2.85560500e-02 -5.05427404e-03 2.07509227e+02] [ 2.85568132e-02 9.99592168e-01 7.88941345e-05 2.50516100e+00] [ 5.04995984e-03 -2.23194912e-04 9.99987224e-01 1.04009182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59439141800001 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:207.54, Y:2.51, Z:1.04 [[ 9.99523309e-01 -3.04565557e-02 -5.05490987e-03 2.07543169e+02] [ 3.04571380e-02 9.99536073e-01 3.82275151e-05 2.50659845e+00] [ 5.05140049e-03 -1.92167380e-04 9.99987223e-01 1.04064103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62439141800002 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:207.57, Y:2.51, Z:1.04 [[ 9.99541908e-01 -2.98400453e-02 -5.05423671e-03 2.07574453e+02] [ 2.98408330e-02 9.99554660e-01 8.04953065e-05 2.51026803e+00] [ 5.04958387e-03 -2.31281066e-04 9.99987224e-01 1.03990282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65439141800002 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:207.61, Y:2.51, Z:1.04 [[ 9.99573721e-01 -2.87546730e-02 -5.05423185e-03 2.07607154e+02] [ 2.87554484e-02 9.99586473e-01 8.07989911e-05 2.51185039e+00] [ 5.04981845e-03 -2.26101252e-04 9.99987224e-01 1.04076154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:207.64, Y:2.51, Z:1.04 [[ 9.99616420e-01 -2.72298916e-02 -5.05422519e-03 2.07639871e+02] [ 2.72306496e-02 9.99629174e-01 8.12135807e-05 2.51373540e+00] [ 5.05013952e-03 -2.18812264e-04 9.99987224e-01 1.04021090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:207.67, Y:2.52, Z:1.04 [[ 9.99684212e-01 -2.46156501e-02 -5.05421855e-03 2.07671402e+02] [ 2.46163769e-02 9.99696968e-01 8.16249474e-05 2.51558710e+00] [ 5.05067771e-03 -2.06015720e-04 9.99987224e-01 1.03864488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:207.70, Y:2.52, Z:1.04 [[ 9.99754823e-01 -2.15579618e-02 -5.05452599e-03 2.07702188e+02] [ 2.15585532e-02 9.99767585e-01 6.25462095e-05 2.51997837e+00] [ 5.05200288e-03 -1.71499142e-04 9.99987224e-01 1.03855704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:207.74, Y:2.52, Z:1.04 [[ 9.99768636e-01 -2.09075577e-02 -5.05446913e-03 2.07735624e+02] [ 2.09081586e-02 9.99781398e-01 6.60675251e-05 2.52223581e+00] [ 5.05198291e-03 -1.71731882e-04 9.99987224e-01 1.04035206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:207.77, Y:2.52, Z:1.04 [[ 9.99800742e-01 -1.93114093e-02 -5.05421175e-03 2.07767987e+02] [ 1.93120700e-02 9.99813501e-01 8.19426766e-05 2.52421430e+00] [ 5.05168672e-03 -1.79533640e-04 9.99987224e-01 1.04073231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:207.80, Y:2.53, Z:1.04 [[ 9.99846196e-01 -1.67940519e-02 -5.05420513e-03 2.07800142e+02] [ 1.67946825e-02 9.99858956e-01 8.23489892e-05 2.52843118e+00] [ 5.05210930e-03 -1.67220094e-04 9.99987224e-01 1.04024615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:207.83, Y:2.53, Z:1.04 [[ 9.99847797e-01 -1.66985061e-02 -5.05402469e-03 2.07830309e+02] [ 1.66991910e-02 9.99860554e-01 9.33349479e-05 2.53068396e+00] [ 5.05176138e-03 -1.77718866e-04 9.99987224e-01 1.04103752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:207.86, Y:2.53, Z:1.04 [[ 9.99857654e-01 -1.60974306e-02 -5.05419441e-03 2.07862100e+02] [ 1.60980556e-02 9.99870414e-01 8.30000866e-05 2.53224516e+00] [ 5.05220337e-03 -1.64350974e-04 9.99987224e-01 1.04145172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:207.89, Y:2.53, Z:1.04 [[ 9.99859925e-01 -1.59557462e-02 -5.05418788e-03 2.07894768e+02] [ 1.59563714e-02 9.99872686e-01 8.33960621e-05 2.53397274e+00] [ 5.05221376e-03 -1.64030879e-04 9.99987224e-01 1.04183782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:207.93, Y:2.54, Z:1.04 [[ 9.99867852e-01 -1.54510148e-02 -5.05418135e-03 2.07925679e+02] [ 1.54516356e-02 9.99880613e-01 8.37897278e-05 2.53764409e+00] [ 5.05228331e-03 -1.61874024e-04 9.99987224e-01 1.04225598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.96, Y:2.54, Z:1.04 [[ 9.99867491e-01 -1.54743578e-02 -5.05417082e-03 2.07958108e+02] [ 1.54749820e-02 9.99880252e-01 8.44202962e-05 2.53927803e+00] [ 5.05225924e-03 -1.62622312e-04 9.99987224e-01 1.04293134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:2.54, Z:1.04 [[ 9.99864811e-01 -1.56465543e-02 -5.05416437e-03 2.07990504e+02] [ 1.56471826e-02 9.99877572e-01 8.48049353e-05 2.54072065e+00] [ 5.05221869e-03 -1.63876903e-04 9.99987224e-01 1.04322903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.044391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.02, Y:2.54, Z:1.04 [[ 9.99861688e-01 -1.58448614e-02 -5.05415791e-03 2.08021620e+02] [ 1.58454942e-02 9.99874449e-01 8.51879040e-05 2.54400752e+00] [ 5.05217356e-03 -1.65261751e-04 9.99987224e-01 1.04296910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.074391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.05, Y:2.55, Z:1.04 [[ 9.99862244e-01 -1.58097863e-02 -5.05415309e-03 2.08054158e+02] [ 1.58104201e-02 9.99875004e-01 8.54729623e-05 2.54533649e+00] [ 5.05217003e-03 -1.65369471e-04 9.99987224e-01 1.04301325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.104391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.09, Y:2.55, Z:1.04 [[ 9.99868193e-01 -1.54289271e-02 -5.05414674e-03 2.08086734e+02] [ 1.54295580e-02 9.99880954e-01 8.58467343e-05 2.54626601e+00] [ 5.05222054e-03 -1.63818669e-04 9.99987224e-01 1.04294729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.134391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.12, Y:2.55, Z:1.04 [[ 9.99877865e-01 -1.47888974e-02 -5.05414039e-03 2.08119422e+02] [ 1.47895219e-02 9.99890625e-01 8.62191311e-05 2.54933916e+00] [ 5.05231251e-03 -1.60956921e-04 9.99987224e-01 1.04379301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.15, Y:2.55, Z:1.04 [[ 9.99880501e-01 -1.46095832e-02 -5.05413371e-03 2.08151157e+02] [ 1.46102074e-02 9.99893261e-01 8.66087359e-05 2.55110602e+00] [ 5.05232892e-03 -1.60440328e-04 9.99987224e-01 1.04464352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.18, Y:2.55, Z:1.05 [[ 9.99889547e-01 -1.39767217e-02 -5.05412681e-03 2.08183502e+02] [ 1.39773398e-02 9.99902308e-01 8.70096904e-05 2.55263844e+00] [ 5.05241695e-03 -1.57643328e-04 9.99987224e-01 1.04536846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:208.21, Y:2.55, Z:1.05 [[ 9.99897521e-01 -1.33941767e-02 -5.05411979e-03 2.08214600e+02] [ 1.33947895e-02 9.99910282e-01 8.74156139e-05 2.55428374e+00] [ 5.05249548e-03 -1.55105526e-04 9.99987224e-01 1.04522839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:2.56, Z:1.05 [[ 9.99914616e-01 -1.20505763e-02 -5.05411455e-03 2.08247333e+02] [ 1.20511734e-02 9.99927378e-01 8.77177630e-05 2.55724033e+00] [ 5.05269046e-03 -1.48618284e-04 9.99987224e-01 1.04610807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:2.56, Z:1.05 [[ 9.99924553e-01 -1.11957346e-02 -5.05410752e-03 2.08279514e+02] [ 1.11963229e-02 9.99937315e-01 8.81209724e-05 2.55813056e+00] [ 5.05280412e-03 -1.44701744e-04 9.99987224e-01 1.04657156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.31, Y:2.56, Z:1.05 [[ 9.99931490e-01 -1.05580086e-02 -5.05410049e-03 2.08311795e+02] [ 1.05585908e-02 9.99944253e-01 8.85223465e-05 2.55909094e+00] [ 5.05288411e-03 -1.41880461e-04 9.99987224e-01 1.04714343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34439141800001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.34, Y:2.56, Z:1.05 [[ 9.99941579e-01 -9.55486686e-03 -5.05409334e-03 2.08343106e+02] [ 9.55543830e-03 9.99954342e-01 8.89284589e-05 2.56156790e+00] [ 5.05301288e-03 -1.37217341e-04 9.99987224e-01 1.04710265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37439141800002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:208.37, Y:2.56, Z:1.05 [[ 9.99940423e-01 -9.67506423e-03 -5.05408800e-03 2.08374053e+02] [ 9.67563872e-03 9.99953186e-01 8.92307473e-05 2.56269103e+00] [ 5.05298809e-03 -1.38126961e-04 9.99987224e-01 1.04741504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40439141800002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.40, Y:2.56, Z:1.05 [[ 9.99937847e-01 -9.93771987e-03 -5.05408449e-03 2.08404987e+02] [ 9.93829873e-03 9.99950610e-01 8.94294885e-05 2.56344723e+00] [ 5.05294614e-03 -1.39652932e-04 9.99987224e-01 1.04743230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:208.44, Y:2.57, Z:1.05 [[ 9.99928859e-01 -1.08043545e-02 -5.05407921e-03 2.08436683e+02] [ 1.08049459e-02 9.99941621e-01 8.97266226e-05 2.56501079e+00] [ 5.05281472e-03 -1.44329292e-04 9.99987224e-01 1.04822371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:208.47, Y:2.57, Z:1.05 [[ 9.99914544e-01 -1.20565937e-02 -5.05407577e-03 2.08468988e+02] [ 1.20572021e-02 9.99927305e-01 8.99197616e-05 2.56503605e+00] [ 5.05262424e-03 -1.50850090e-04 9.99987224e-01 1.04844239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:208.50, Y:2.56, Z:1.05 [[ 9.99899281e-01 -1.32621018e-02 -5.05406891e-03 2.08500175e+02] [ 1.32627275e-02 9.99912042e-01 9.03042220e-05 2.56438399e+00] [ 5.05242674e-03 -1.57325865e-04 9.99987224e-01 1.04855969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:208.53, Y:2.56, Z:1.05 [[ 9.99859914e-01 -1.59564891e-02 -5.05405734e-03 2.08532821e+02] [ 1.59571524e-02 9.99872672e-01 9.09467481e-05 2.56322343e+00] [ 5.05196263e-03 -1.71582371e-04 9.99987224e-01 1.04844278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:208.56, Y:2.56, Z:1.05 [[ 9.99827449e-01 -1.78753924e-02 -5.05405043e-03 2.08564379e+02] [ 1.78760821e-02 9.99840206e-01 9.13295826e-05 2.56448592e+00] [ 5.05161027e-03 -1.81660444e-04 9.99987224e-01 1.05146714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:208.60, Y:2.56, Z:1.05 [[ 9.99837279e-01 -1.73166974e-02 -5.05448749e-03 2.08596979e+02] [ 1.73172574e-02 9.99850043e-01 6.70443302e-05 2.56202987e+00] [ 5.05256855e-03 -1.54563282e-04 9.99987224e-01 1.04732107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:208.63, Y:2.56, Z:1.05 [[ 9.99847148e-01 -1.67372881e-02 -5.05404445e-03 2.08628923e+02] [ 1.67379642e-02 9.99859906e-01 9.15123816e-05 2.56202241e+00] [ 5.05180474e-03 -1.76092809e-04 9.99987224e-01 1.04848908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:208.66, Y:2.56, Z:1.05 [[ 9.99862501e-01 -1.57935175e-02 -5.05403725e-03 2.08661417e+02] [ 1.57941836e-02 9.99875260e-01 9.19083453e-05 2.56197422e+00] [ 5.05195525e-03 -1.71720100e-04 9.99987224e-01 1.04891872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:208.69, Y:2.56, Z:1.05 [[ 9.99888604e-01 -1.40440570e-02 -5.05403007e-03 2.08694663e+02] [ 1.40447028e-02 9.99901364e-01 9.23015937e-05 2.56211162e+00] [ 5.05223527e-03 -1.63273662e-04 9.99987224e-01 1.04801470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:208.72, Y:2.56, Z:1.05 [[ 9.99908382e-01 -1.25573336e-02 -5.05380459e-03 2.08724604e+02] [ 1.25580225e-02 9.99921139e-01 1.04588912e-04 2.56170346e+00] [ 5.05209268e-03 -1.68045121e-04 9.99987224e-01 1.04964327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:208.76, Y:2.56, Z:1.05 [[ 9.99957377e-01 -7.72666778e-03 -5.05401992e-03 2.08755752e+02] [ 7.72723579e-03 9.99970140e-01 9.28705317e-05 2.56183178e+00] [ 5.05315143e-03 -1.31920177e-04 9.99987224e-01 1.05106638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764391418 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:208.79, Y:2.56, Z:1.05 [[ 9.99969868e-01 -5.89242055e-03 -5.05401630e-03 2.08787797e+02] [ 5.89296614e-03 9.99982632e-01 9.30669103e-05 2.56218580e+00] [ 5.05338014e-03 -1.22847253e-04 9.99987224e-01 1.05177969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.794391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:208.82, Y:2.56, Z:1.05 [[ 9.99984439e-01 2.36321072e-03 -5.05342622e-03 2.08817494e+02] [-2.36260872e-03 9.99997201e-01 1.25092802e-04 2.56348622e+00] [ 5.05370770e-03 -1.13151586e-04 9.99987224e-01 1.05312417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.824391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:208.84, Y:2.56, Z:1.05 [[ 9.99970288e-01 5.82080723e-03 -5.05379696e-03 2.08844844e+02] [-5.82035186e-03 9.99983056e-01 1.04807308e-04 2.56436644e+00] [ 5.05432139e-03 -7.53893172e-05 9.99987224e-01 1.05303264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.854391418 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:208.87, Y:2.56, Z:1.05 [[ 9.99948681e-01 8.78024319e-03 -5.05404703e-03 2.08872491e+02] [-8.77989587e-03 9.99961452e-01 9.09042199e-05 2.56490370e+00] [ 5.05465036e-03 -4.65255481e-05 9.99987224e-01 1.05317338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.884391418 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:208.90, Y:2.57, Z:1.05 [[ 9.99920920e-01 1.15156193e-02 -5.05407466e-03 2.08901183e+02] [-1.15153148e-02 9.99933693e-01 8.93406234e-05 2.56518589e+00] [ 5.05476835e-03 -3.11342975e-05 9.99987224e-01 1.05354396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:208.93, Y:2.56, Z:1.05 [[ 9.99887993e-01 1.40875225e-02 -5.05408150e-03 2.08928541e+02] [-1.40872528e-02 9.99900766e-01 8.89521276e-05 2.56479965e+00] [ 5.05483308e-03 -1.77440404e-05 9.99987224e-01 1.05341736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:208.96, Y:2.56, Z:1.05 [[ 9.99829876e-01 1.77391113e-02 -5.05409327e-03 2.08956937e+02] [-1.77388917e-02 9.99842650e-01 8.82784143e-05 2.56396296e+00] [ 5.05486399e-03 1.39061707e-06 9.99987224e-01 1.05359297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:208.99, Y:2.56, Z:1.05 [[ 9.99831937e-01 1.76225590e-02 -5.05410350e-03 2.08985383e+02] [-1.76223409e-02 9.99844711e-01 8.76889202e-05 2.56358602e+00] [ 5.05486395e-03 1.39095181e-06 9.99987224e-01 1.05373700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:209.01, Y:2.56, Z:1.05 [[ 9.99807509e-01 1.89578741e-02 -5.05411365e-03 2.09012400e+02] [-1.89576761e-02 9.99820283e-01 8.70997596e-05 2.56288270e+00] [ 5.05485657e-03 8.73125570e-06 9.99987224e-01 1.05273872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:209.04, Y:2.56, Z:1.05 [[ 9.99782517e-01 2.02329816e-02 -5.05412530e-03 2.09041583e+02] [-2.02328033e-02 9.99795292e-01 8.64184179e-05 2.56193905e+00] [ 5.05483918e-03 1.58594995e-05 9.99987224e-01 1.05406050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:209.07, Y:2.56, Z:1.05 [[ 9.99765095e-01 2.10763152e-02 -5.05414890e-03 2.09069732e+02] [-2.10761546e-02 9.99777870e-01 8.50335430e-05 2.56141360e+00] [ 5.05481841e-03 2.15084555e-05 9.99987224e-01 1.05228195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09439141800001 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:209.10, Y:2.56, Z:1.05 [[ 9.99770028e-01 2.08409950e-02 -5.05414120e-03 2.09097589e+02] [-2.08408291e-02 9.99782803e-01 8.54890726e-05 2.56112754e+00] [ 5.05482513e-03 1.98630804e-05 9.99987224e-01 1.05343149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:209.13, Y:2.56, Z:1.05 [[ 9.99774905e-01 2.06056996e-02 -5.05415101e-03 2.09126032e+02] [-2.06055337e-02 9.99787680e-01 8.49047796e-05 2.56010989e+00] [ 5.05482744e-03 1.92578111e-05 9.99987224e-01 1.05427655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15439141800002 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:209.15, Y:2.56, Z:1.05 [[ 9.99811582e-01 1.87418118e-02 -5.05415938e-03 2.09152473e+02] [-1.87416245e-02 9.99824357e-01 8.44034469e-05 2.55770115e+00] [ 5.05485353e-03 1.03356138e-05 9.99987224e-01 1.05328959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:209.18, Y:2.56, Z:1.05 [[ 9.99835707e-01 1.74073364e-02 -5.05417091e-03 2.09181455e+02] [-1.74071356e-02 9.99848481e-01 8.37077691e-05 2.55611024e+00] [ 5.05486223e-03 4.28462210e-06 9.99987224e-01 1.05345362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:209.21, Y:2.55, Z:1.05 [[ 9.99860417e-01 1.59248606e-02 -5.05417736e-03 2.09209721e+02] [-1.59246429e-02 9.99873191e-01 8.33161712e-05 2.55427223e+00] [ 5.05486325e-03 -2.81857207e-06 9.99987224e-01 1.05400867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:209.24, Y:2.55, Z:1.05 [[ 9.99888754e-01 1.40333595e-02 -5.05418715e-03 2.09236158e+02] [-1.40331207e-02 9.99901528e-01 8.27181251e-05 2.55249407e+00] [ 5.05485026e-03 -1.17829048e-05 9.99987224e-01 1.05381981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:209.26, Y:2.55, Z:1.05 [[ 9.99921024e-01 1.15065436e-02 -5.05419837e-03 2.09262847e+02] [-1.15062760e-02 9.99933797e-01 8.20265990e-05 2.55093555e+00] [ 5.05480761e-03 -2.38651196e-05 9.99987224e-01 1.05221733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304391418 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:209.29, Y:2.55, Z:1.05 [[ 9.99968756e-01 6.07796486e-03 -5.05420933e-03 2.09291542e+02] [-6.07763134e-03 9.99981528e-01 8.13455553e-05 2.54798365e+00] [ 5.05461039e-03 -5.06253927e-05 9.99987224e-01 1.05473103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:209.32, Y:2.55, Z:1.05 [[ 9.99987049e-01 5.96696592e-04 -5.05421568e-03 2.09316861e+02] [-5.96295071e-04 9.99999819e-01 8.09494899e-05 2.55098970e+00] [ 5.05426306e-03 -7.79346376e-05 9.99987224e-01 1.05239450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:209.35, Y:2.54, Z:1.05 [[ 9.99987215e-01 1.00968341e-04 -5.05560953e-03 2.09350872e+02] [-1.01010993e-04 9.99999995e-01 -8.18118350e-06 2.54356581e+00] [ 5.05560868e-03 8.69175104e-06 9.99987220e-01 1.05455574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:209.38, Y:2.54, Z:1.05 [[ 9.99965791e-01 -6.54766901e-03 -5.05417370e-03 2.09380114e+02] [ 6.54816299e-03 9.99978557e-01 8.11958201e-05 2.53902235e+00] [ 5.05353368e-03 -1.14288596e-04 9.99987224e-01 1.05386824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:209.41, Y:2.54, Z:1.05 [[ 9.99938460e-01 -9.87582241e-03 -5.05417855e-03 2.09409246e+02] [ 9.87635735e-03 9.99951224e-01 8.08930658e-05 2.53650241e+00] [ 5.05313314e-03 -1.30804961e-04 9.99987224e-01 1.05326181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:209.44, Y:2.53, Z:1.05 [[ 9.99916790e-01 -1.18688164e-02 -5.05417669e-03 2.09439487e+02] [ 1.18693773e-02 9.99929553e-01 8.10090525e-05 2.53406390e+00] [ 5.05285916e-03 -1.40992242e-04 9.99987224e-01 1.05425666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:209.47, Y:2.53, Z:1.06 [[ 9.99792218e-01 -1.97477011e-02 -5.05461533e-03 2.09472007e+02] [ 1.97482258e-02 9.99804983e-01 5.39121927e-05 2.53061017e+00] [ 5.05256495e-03 -1.53720675e-04 9.99987224e-01 1.05502243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:209.50, Y:2.53, Z:1.06 [[ 9.99729374e-01 -2.27076055e-02 -5.05414296e-03 2.09503527e+02] [ 2.27083136e-02 9.99742130e-01 8.27598640e-05 2.52869891e+00] [ 5.05096037e-03 -1.97508530e-04 9.99987224e-01 1.05545503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.544391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:209.54, Y:2.53, Z:1.06 [[ 9.99669001e-01 -2.52258740e-02 -5.05413177e-03 2.09535798e+02] [ 2.52266177e-02 9.99681755e-01 8.34377345e-05 2.52683838e+00] [ 5.05041853e-03 -2.10908767e-04 9.99987224e-01 1.05589406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.574391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:209.57, Y:2.53, Z:1.06 [[ 9.99536872e-01 -3.00083044e-02 -5.05412527e-03 2.09566048e+02] [ 3.00091111e-02 9.99549622e-01 8.38296467e-05 2.52812246e+00] [ 5.04933342e-03 -2.35460629e-04 9.99987224e-01 1.05668382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.604391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:209.60, Y:2.52, Z:1.06 [[ 9.99502322e-01 -3.11377462e-02 -5.05469095e-03 2.09599102e+02] [ 3.11383958e-02 9.99515081e-01 4.98480934e-05 2.52223910e+00] [ 5.05068767e-03 -2.07218252e-04 9.99987224e-01 1.05692137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.634391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:209.63, Y:2.52, Z:1.06 [[ 9.99458644e-01 -3.25096231e-02 -5.05407616e-03 2.09631661e+02] [ 3.25104725e-02 9.99471391e-01 8.59845328e-05 2.52057151e+00] [ 5.04860921e-03 -2.50248389e-04 9.99987224e-01 1.05644221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:209.66, Y:2.52, Z:1.06 [[ 9.99415728e-01 -3.38032358e-02 -5.05406929e-03 2.09663663e+02] [ 3.38041037e-02 9.99428474e-01 8.63865628e-05 2.51896233e+00] [ 5.04826061e-03 -2.57184372e-04 9.99987224e-01 1.05587346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:209.70, Y:2.52, Z:1.06 [[ 9.99374921e-01 -3.49889197e-02 -5.05406243e-03 2.09696087e+02] [ 3.49898048e-02 9.99387666e-01 8.67863008e-05 2.51660648e+00] [ 5.04793109e-03 -2.63572710e-04 9.99987224e-01 1.05573278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:209.73, Y:2.52, Z:1.05 [[ 9.99379823e-01 -3.48486162e-02 -5.05405536e-03 2.09727173e+02] [ 3.48495016e-02 9.99392568e-01 8.71959391e-05 2.51574405e+00] [ 5.04794671e-03 -2.63273172e-04 9.99987224e-01 1.05471943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:209.76, Y:2.52, Z:1.06 [[ 9.99394711e-01 -3.44190085e-02 -5.05405008e-03 2.09758870e+02] [ 3.44198899e-02 9.99407456e-01 8.75006881e-05 2.51503573e+00] [ 5.04804365e-03 -2.61407572e-04 9.99987224e-01 1.05512014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:209.79, Y:2.51, Z:1.06 [[ 9.99433498e-01 -3.32736971e-02 -5.05404316e-03 2.09791688e+02] [ 3.32745660e-02 9.99446244e-01 8.78988527e-05 2.51451678e+00] [ 5.04831973e-03 -2.56020150e-04 9.99987224e-01 1.05587168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:209.82, Y:2.52, Z:1.06 [[ 9.99559718e-01 -2.92374206e-02 -5.05403241e-03 2.09822720e+02] [ 2.92382411e-02 9.99572467e-01 8.85125562e-05 2.51509419e+00] [ 5.04928377e-03 -2.36244604e-04 9.99987224e-01 1.05609030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84439141800001 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:209.86, Y:2.52, Z:1.06 [[ 9.99643127e-01 -2.62311935e-02 -5.05402708e-03 2.09855423e+02] [ 2.62319772e-02 9.99655879e-01 8.88160483e-05 2.51527666e+00] [ 5.04995813e-03 -2.21361475e-04 9.99987224e-01 1.05636400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87439141800002 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:209.89, Y:2.52, Z:1.06 [[ 9.99724138e-01 -2.29369560e-02 -5.05401643e-03 2.09887469e+02] [ 2.29377006e-02 9.99736892e-01 8.94178583e-05 2.51558730e+00] [ 5.05063571e-03 -2.05320707e-04 9.99987224e-01 1.05691277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90439141800002 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:209.92, Y:2.52, Z:1.06 [[ 9.99871026e-01 -1.52443186e-02 -5.05400938e-03 2.09919901e+02] [ 1.52449671e-02 9.99883785e-01 8.98146431e-05 2.51719359e+00] [ 5.05205286e-03 -1.66851266e-04 9.99987224e-01 1.05790829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:209.95, Y:2.52, Z:1.06 [[ 9.99924697e-01 -1.11828980e-02 -5.05400235e-03 2.09951231e+02] [ 1.11834966e-02 9.99937459e-01 9.02084278e-05 2.51812664e+00] [ 5.05267747e-03 -1.46723053e-04 9.99987224e-01 1.05833220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:209.98, Y:2.52, Z:1.06 [[ 9.99981560e-01 -3.36691363e-03 -5.05399072e-03 2.09981374e+02] [ 3.36741580e-03 9.99994326e-01 9.08553374e-05 2.52077769e+00] [ 5.05365614e-03 -1.07872550e-04 9.99987224e-01 1.05912889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:210.01, Y:2.52, Z:1.06 [[ 9.99987094e-01 5.18520522e-04 -5.05398899e-03 2.10010655e+02] [-5.18067469e-04 9.99999862e-01 9.09512757e-05 2.52162351e+00] [ 5.05403545e-03 -8.83317946e-05 9.99987224e-01 1.05972410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:210.04, Y:2.52, Z:1.06 [[ 9.99979851e-01 3.84130622e-03 -5.05399249e-03 2.10038675e+02] [-3.84089658e-03 9.99992620e-01 9.07567545e-05 2.52262007e+00] [ 5.05430381e-03 -7.13430633e-05 9.99987224e-01 1.05904857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:210.07, Y:2.52, Z:1.06 [[ 9.99938549e-01 9.86692215e-03 -5.05400110e-03 2.10066656e+02] [-9.86659189e-03 9.99951320e-01 9.02746417e-05 2.52403839e+00] [ 5.05464580e-03 -4.04033279e-05 9.99987224e-01 1.05921744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:210.09, Y:2.52, Z:1.06 [[ 9.99907192e-01 1.26516399e-02 -5.05402790e-03 2.10094760e+02] [-1.26513529e-02 9.99919965e-01 8.87483733e-05 2.52430463e+00] [ 5.05474621e-03 -2.47998461e-05 9.99987224e-01 1.05978948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:210.12, Y:2.52, Z:1.06 [[ 9.99872544e-01 1.51443751e-02 -5.05403810e-03 2.10122510e+02] [-1.51441229e-02 9.99885317e-01 8.81635618e-05 2.52449747e+00] [ 5.05479367e-03 -1.16133508e-05 9.99987224e-01 1.05922467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:210.15, Y:2.52, Z:1.06 [[ 9.99835124e-01 1.74407709e-02 -5.05404649e-03 2.10149439e+02] [-1.74405505e-02 9.99847898e-01 8.76802531e-05 2.52460400e+00] [ 5.05480697e-03 4.79556403e-07 9.99987224e-01 1.05902721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:210.18, Y:2.52, Z:1.06 [[ 9.99740727e-01 2.22021364e-02 -5.05405778e-03 2.10177872e+02] [-2.22019801e-02 9.99753502e-01 8.70243800e-05 2.52491918e+00] [ 5.05474409e-03 2.52082734e-05 9.99987224e-01 1.06018491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:210.21, Y:2.52, Z:1.06 [[ 9.99683235e-01 2.46553369e-02 -5.05406782e-03 2.10205257e+02] [-2.46552150e-02 9.99696010e-01 8.64372368e-05 2.52474986e+00] [ 5.05466258e-03 3.81992723e-05 9.99987224e-01 1.05964612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:210.23, Y:2.52, Z:1.06 [[ 9.99617937e-01 2.71742010e-02 -5.05407933e-03 2.10232383e+02] [-2.71741146e-02 9.99630712e-01 8.57588955e-05 2.52439686e+00] [ 5.05454335e-03 5.16140011e-05 9.99987224e-01 1.05916530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:210.26, Y:2.52, Z:1.06 [[ 9.99554926e-01 2.94007914e-02 -5.05409038e-03 2.10261605e+02] [-2.94007369e-02 9.99567701e-01 8.51029493e-05 2.52366087e+00] [ 5.05440759e-03 6.35289092e-05 9.99987224e-01 1.06149900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.294391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:210.29, Y:2.52, Z:1.06 [[ 9.99424662e-01 3.35380444e-02 -5.05409699e-03 2.10289049e+02] [-3.35380447e-02 9.99437438e-01 8.47086200e-05 2.52173617e+00] [ 5.05409470e-03 8.48446468e-05 9.99987224e-01 1.06133555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.324391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:210.32, Y:2.52, Z:1.06 [[ 9.99371640e-01 3.50824876e-02 -5.05410512e-03 2.10318096e+02] [-3.50825102e-02 9.99384416e-01 8.42205335e-05 2.52066608e+00] [ 5.05394856e-03 9.31430815e-05 9.99987224e-01 1.06216856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.354391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:210.34, Y:2.52, Z:1.06 [[ 9.99279243e-01 3.76224630e-02 -5.05411169e-03 2.10342568e+02] [-3.76225200e-02 9.99292019e-01 8.38246153e-05 2.51833856e+00] [ 5.05368716e-03 1.06384220e-04 9.99987224e-01 1.06062254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.384391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:210.37, Y:2.52, Z:1.06 [[ 9.99381407e-01 3.48030467e-02 -5.05475092e-03 2.10373223e+02] [-3.48032678e-02 9.99394182e-01 4.42382537e-05 2.51715177e+00] [ 5.05322828e-03 1.31710962e-04 9.99987224e-01 1.06101896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:210.40, Y:2.51, Z:1.06 [[ 9.99390595e-01 3.45383144e-02 -5.05413124e-03 2.10399930e+02] [-3.45383398e-02 9.99403370e-01 8.22955367e-05 2.51470528e+00] [ 5.05395814e-03 9.23159167e-05 9.99987224e-01 1.05996905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:210.43, Y:2.51, Z:1.06 [[ 9.99503368e-01 3.11041546e-02 -5.05459959e-03 2.10429405e+02] [-3.11042852e-02 9.99516143e-01 5.27885651e-05 2.51263955e+00] [ 5.05379583e-03 1.04457359e-04 9.99987224e-01 1.06037071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:210.46, Y:2.51, Z:1.06 [[ 9.99662223e-01 2.54930606e-02 -5.05415692e-03 2.10458336e+02] [-2.54929791e-02 9.99674998e-01 8.05605359e-05 2.50764735e+00] [ 5.05456804e-03 4.83121923e-05 9.99987224e-01 1.06117935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:210.49, Y:2.50, Z:1.06 [[ 9.99738765e-01 2.22902808e-02 -5.05416317e-03 2.10485512e+02] [-2.22901603e-02 9.99751540e-01 8.01668316e-05 2.50492920e+00] [ 5.05469435e-03 3.25122181e-05 9.99987224e-01 1.06114653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:210.51, Y:2.50, Z:1.06 [[ 9.99804061e-01 1.91388238e-02 -5.05417789e-03 2.10513801e+02] [-1.91386678e-02 9.99816836e-01 7.92276465e-05 2.50208856e+00] [ 5.05476847e-03 1.75181088e-05 9.99987224e-01 1.06152444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:210.54, Y:2.50, Z:1.06 [[ 9.99834029e-01 1.75033944e-02 -5.05418392e-03 2.10539485e+02] [-1.75032195e-02 9.99846804e-01 7.88408045e-05 2.49899525e+00] [ 5.05478962e-03 9.63677135e-06 9.99987224e-01 1.06127066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59439141800001 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:210.57, Y:2.49, Z:1.06 [[ 9.99938149e-01 9.90698339e-03 -5.05470050e-03 2.10569382e+02] [-9.90688328e-03 9.99950925e-01 4.48432939e-05 2.49362165e+00] [ 5.05489670e-03 5.23580757e-06 9.99987224e-01 1.06170234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62439141800002 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:210.60, Y:2.49, Z:1.06 [[ 9.99963127e-01 6.94263690e-03 -5.05420146e-03 2.10598015e+02] [-6.94233426e-03 9.99975899e-01 7.74213270e-05 2.49045686e+00] [ 5.05461716e-03 -4.23305163e-05 9.99987224e-01 1.06212214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65439141800002 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:210.63, Y:2.49, Z:1.06 [[ 9.99977906e-01 4.31776676e-03 -5.05420750e-03 2.10627146e+02] [-4.31743259e-03 9.99990677e-01 7.70254450e-05 2.48711688e+00] [ 5.05449295e-03 -5.52025430e-05 9.99987224e-01 1.06196975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:210.66, Y:2.48, Z:1.06 [[ 9.99987181e-01 3.05579418e-04 -5.05421347e-03 2.10656208e+02] [-3.05196004e-04 9.99999950e-01 7.66313314e-05 2.48086891e+00] [ 5.05423664e-03 -7.50878233e-05 9.99987224e-01 1.06204758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:210.68, Y:2.48, Z:1.06 [[ 9.99986279e-01 -1.37745383e-03 -5.05421954e-03 2.10683717e+02] [ 1.37785671e-03 9.99999048e-01 7.62288247e-05 2.47816294e+00] [ 5.05410973e-03 -8.31917690e-05 9.99987224e-01 1.06096460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:210.71, Y:2.48, Z:1.06 [[ 9.99983362e-01 -2.78027357e-03 -5.05422702e-03 2.10712221e+02] [ 2.78069184e-03 9.99996131e-01 7.57296783e-05 2.47560222e+00] [ 5.05399692e-03 -8.97826662e-05 9.99987224e-01 1.06187369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:210.74, Y:2.48, Z:1.06 [[ 9.99966548e-01 -6.43093551e-03 -5.05423303e-03 2.10740731e+02] [ 6.43139835e-03 9.99979316e-01 7.53263222e-05 2.47636402e+00] [ 5.05364407e-03 -1.07829588e-04 9.99987224e-01 1.06122340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:210.77, Y:2.47, Z:1.06 [[ 9.99973953e-01 -5.15183254e-03 -5.05482367e-03 2.10771718e+02] [ 5.15207338e-03 9.99986727e-01 3.46246481e-05 2.46851093e+00] [ 5.05457820e-03 -6.06665687e-05 9.99987224e-01 1.06098532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:210.80, Y:2.47, Z:1.06 [[ 9.99973580e-01 -5.22443221e-03 -5.05413353e-03 2.10801856e+02] [ 5.22491302e-03 9.99986347e-01 8.19326896e-05 2.46811823e+00] [ 5.05363648e-03 -1.08337933e-04 9.99987224e-01 1.06112280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:210.83, Y:2.47, Z:1.06 [[ 9.99973414e-01 -5.25619296e-03 -5.05413977e-03 2.10831440e+02] [ 5.25667200e-03 9.99986180e-01 8.15030487e-05 2.46561607e+00] [ 5.05364153e-03 -1.08068837e-04 9.99987224e-01 1.06143451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:210.86, Y:2.47, Z:1.06 [[ 9.99961363e-01 -7.19220478e-03 -5.05426443e-03 2.10860409e+02] [ 7.19266485e-03 9.99974130e-01 7.28546647e-05 2.46580651e+00] [ 5.05360969e-03 -1.09205480e-04 9.99987224e-01 1.06119897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:210.89, Y:2.46, Z:1.06 [[ 9.99982495e-01 -3.07572382e-03 -5.05475441e-03 2.10889939e+02] [ 3.07595633e-03 9.99995269e-01 3.82236593e-05 2.45865470e+00] [ 5.05461293e-03 -5.37711940e-05 9.99987224e-01 1.06074080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:210.92, Y:2.46, Z:1.06 [[ 9.99976954e-01 -4.53276959e-03 -5.05428259e-03 2.10918734e+02] [ 4.53318912e-03 9.99989722e-01 7.15520221e-05 2.46030272e+00] [ 5.05390632e-03 -9.44623919e-05 9.99987224e-01 1.05868660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:210.95, Y:2.45, Z:1.06 [[ 9.99987148e-01 3.89629433e-04 -5.05491581e-03 2.10951122e+02] [-3.89497017e-04 9.99999924e-01 2.71799188e-05 2.45440643e+00] [ 5.05492601e-03 -2.52106948e-05 9.99987223e-01 1.06129399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:210.98, Y:2.45, Z:1.06 [[ 9.99980539e-01 3.65722044e-03 -5.05424538e-03 2.10979919e+02] [-3.65689633e-03 9.99993311e-01 7.33663763e-05 2.45080370e+00] [ 5.05447989e-03 -5.48820972e-05 9.99987225e-01 1.06153471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.044391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:211.01, Y:2.45, Z:1.06 [[ 9.99971925e-01 5.53201482e-03 -5.05426546e-03 2.11007265e+02] [-5.53172178e-03 9.99984697e-01 7.19556629e-05 2.44875077e+00] [ 5.05458618e-03 -4.39948524e-05 9.99987225e-01 1.06106218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.074391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:211.03, Y:2.45, Z:1.06 [[ 9.99969170e-01 6.00946399e-03 -5.05427531e-03 2.11033542e+02] [-6.00918058e-03 9.99981942e-01 7.12575495e-05 2.44994285e+00] [ 5.05461226e-03 -4.08832996e-05 9.99987225e-01 1.05982711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.104391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:211.06, Y:2.44, Z:1.06 [[ 9.99913609e-01 1.21334198e-02 -5.05516008e-03 2.11064553e+02] [-1.21335450e-02 9.99926386e-01 5.89651946e-06 2.44282767e+00] [ 5.05485950e-03 5.54410025e-05 9.99987223e-01 1.06184771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.134391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:211.09, Y:2.45, Z:1.06 [[ 9.99953766e-01 8.18027076e-03 -5.05455914e-03 2.11091554e+02] [-8.18013070e-03 9.99966541e-01 4.83831358e-05 2.44609103e+00] [ 5.05478581e-03 -7.03394444e-06 9.99987224e-01 1.05987950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:211.13, Y:2.44, Z:1.06 [[ 9.99882204e-01 1.44920996e-02 -5.05541442e-03 2.11125607e+02] [-1.44923408e-02 9.99894980e-01 -1.10686444e-05 2.43792687e+00] [ 5.05472309e-03 8.43321291e-05 9.99987221e-01 1.06209273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:211.15, Y:2.43, Z:1.06 [[ 9.99873475e-01 1.50827763e-02 -5.05412388e-03 2.11154116e+02] [-1.50825878e-02 9.99886248e-01 7.54177821e-05 2.43301512e+00] [ 5.05468648e-03 8.21027366e-07 9.99987225e-01 1.06286951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:211.18, Y:2.44, Z:1.06 [[ 9.99956873e-01 7.79152513e-03 -5.05412955e-03 2.11176730e+02] [-7.79124539e-03 9.99969645e-01 7.50361378e-05 2.43784105e+00] [ 5.05456078e-03 -3.56549382e-05 9.99987225e-01 1.06109441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:211.21, Y:2.43, Z:1.06 [[ 9.99953319e-01 8.23383575e-03 -5.05598937e-03 2.11207310e+02] [-8.23422733e-03 9.99966097e-01 -5.66380837e-05 2.43304700e+00] [ 5.05535161e-03 9.82676056e-05 9.99987217e-01 1.05961096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:211.24, Y:2.42, Z:1.06 [[ 9.99921409e-01 1.14724878e-02 -5.05543628e-03 2.11241391e+02] [-1.14727335e-02 9.99934186e-01 -1.96048838e-05 2.42279533e+00] [ 5.05487864e-03 7.76030163e-05 9.99987221e-01 1.06434684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:211.27, Y:2.42, Z:1.06 [[ 9.99924060e-01 1.12395039e-02 -5.05449674e-03 2.11271688e+02] [-1.12394361e-02 9.99936835e-01 4.18244357e-05 2.41766250e+00] [ 5.05464755e-03 1.49884335e-05 9.99987225e-01 1.06413237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34439141800001 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:211.29, Y:2.42, Z:1.06 [[ 9.99981404e-01 3.41299702e-03 -5.05393812e-03 2.11294351e+02] [-3.41264632e-03 9.99994174e-01 7.80135345e-05 2.42253614e+00] [ 5.05417493e-03 -6.07647805e-05 9.99987226e-01 1.06285501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37439141800002 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:211.33, Y:2.41, Z:1.06 [[ 9.99943026e-01 9.40117120e-03 -5.05587823e-03 2.11331192e+02] [-9.40156334e-03 9.99955803e-01 -5.37989585e-05 2.41179653e+00] [ 5.05514900e-03 1.01329053e-04 9.99987218e-01 1.06400948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40439141800002 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:211.36, Y:2.41, Z:1.07 [[ 9.99960414e-01 7.32327695e-03 -5.05381400e-03 2.11359475e+02] [-7.32297261e-03 9.99973184e-01 7.87226170e-05 2.40650464e+00] [ 5.05425499e-03 -4.17105591e-05 9.99987226e-01 1.06610312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:211.39, Y:2.40, Z:1.07 [[ 9.99967646e-01 6.25826098e-03 -5.05382025e-03 2.11388410e+02] [-6.25794507e-03 9.99980416e-01 7.83193394e-05 2.40361845e+00] [ 5.05421142e-03 -4.66902759e-05 9.99987226e-01 1.06635063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:211.42, Y:2.40, Z:1.07 [[ 9.99973917e-01 5.15991851e-03 -5.05382645e-03 2.11416711e+02] [-5.15959061e-03 9.99986686e-01 7.79174753e-05 2.40081123e+00] [ 5.05416121e-03 -5.18397674e-05 9.99987226e-01 1.06662861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:211.45, Y:2.40, Z:1.07 [[ 9.99977573e-01 4.39447601e-03 -5.05383259e-03 2.11445432e+02] [-4.39414036e-03 9.99990343e-01 7.75168276e-05 2.39816921e+00] [ 5.05412443e-03 -5.53078394e-05 9.99987226e-01 1.06701418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:211.47, Y:2.39, Z:1.07 [[ 9.99983151e-01 2.85592737e-03 -5.05383870e-03 2.11473571e+02] [-2.85557410e-03 9.99995920e-01 7.71165985e-05 2.39380779e+00] [ 5.05403832e-03 -6.26836883e-05 9.99987226e-01 1.06682658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:211.50, Y:2.39, Z:1.07 [[ 9.99984883e-01 2.16628888e-03 -5.05384621e-03 2.11500947e+02] [-2.16592930e-03 9.99997651e-01 7.66214562e-05 2.39141290e+00] [ 5.05400032e-03 -6.56740243e-05 9.99987226e-01 1.06686282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:211.53, Y:2.39, Z:1.07 [[ 9.99985894e-01 1.63405745e-03 -5.05385357e-03 2.11529297e+02] [-1.63369354e-03 9.99998663e-01 7.61329491e-05 2.38906442e+00] [ 5.05397121e-03 -6.78754273e-05 9.99987226e-01 1.06738773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:211.56, Y:2.38, Z:1.07 [[ 9.99986678e-01 1.05009835e-03 -5.05385964e-03 2.11556686e+02] [-1.04972904e-03 9.99999446e-01 7.57273867e-05 2.38489481e+00] [ 5.05393637e-03 -7.04211946e-05 9.99987226e-01 1.06677713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:211.59, Y:2.38, Z:1.07 [[ 9.99986991e-01 6.90807009e-04 -5.05386713e-03 2.11585848e+02] [-6.90435652e-04 9.99999759e-01 7.52242453e-05 2.38291469e+00] [ 5.05391788e-03 -7.17338966e-05 9.99987226e-01 1.06718866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:211.61, Y:2.38, Z:1.07 [[ 9.99986978e-01 7.08457813e-04 -5.05387318e-03 2.11613950e+02] [-7.08088746e-04 9.99999747e-01 7.48155497e-05 2.38103144e+00] [ 5.05392491e-03 -7.12359847e-05 9.99987226e-01 1.06684350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:211.64, Y:2.38, Z:1.07 [[ 9.99986949e-01 7.47997886e-04 -5.05388133e-03 2.11642610e+02] [-7.47632124e-04 9.99999718e-01 7.42612736e-05 2.37934982e+00] [ 5.05393545e-03 -7.04818604e-05 9.99987226e-01 1.06628346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:211.67, Y:2.38, Z:1.06 [[ 9.99986943e-01 7.55749229e-04 -5.05388723e-03 2.11669962e+02] [-7.55385607e-04 9.99999712e-01 7.38575197e-05 2.37644708e+00] [ 5.05394159e-03 -7.00389217e-05 9.99987226e-01 1.06413024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:211.70, Y:2.37, Z:1.06 [[ 9.99987011e-01 6.59911241e-04 -5.05389449e-03 2.11697923e+02] [-6.59548925e-04 9.99999780e-01 7.33568953e-05 2.37479394e+00] [ 5.05394179e-03 -7.00226518e-05 9.99987226e-01 1.06448954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.794391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:211.73, Y:2.37, Z:1.06 [[ 9.99987173e-01 3.35819479e-04 -5.05390328e-03 2.11725695e+02] [-3.35456108e-04 9.99999941e-01 7.27466462e-05 2.37325142e+00] [ 5.05392741e-03 -7.10503504e-05 9.99987226e-01 1.06398701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.824391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:211.75, Y:2.37, Z:1.06 [[ 9.99987125e-01 -4.56620452e-04 -5.05391048e-03 2.11754203e+02] [ 4.56991395e-04 9.99999893e-01 7.22427340e-05 2.37108369e+00] [ 5.05387695e-03 -7.45513975e-05 9.99987226e-01 1.06417460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.854391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:211.78, Y:2.37, Z:1.06 [[ 9.99986811e-01 -9.13877994e-04 -5.05391515e-03 2.11781903e+02] [ 9.14253117e-04 9.99999579e-01 7.19144557e-05 2.37013123e+00] [ 5.05384731e-03 -7.65340649e-05 9.99987226e-01 1.06368712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.884391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:211.81, Y:2.37, Z:1.06 [[ 9.99985820e-01 -1.67876817e-03 -5.05392289e-03 2.11809354e+02] [ 1.67915029e-03 9.99998588e-01 7.13669067e-05 2.36942711e+00] [ 5.05379594e-03 -7.98521908e-05 9.99987226e-01 1.06376408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:211.84, Y:2.37, Z:1.06 [[ 9.99982758e-01 -2.99033987e-03 -5.05393099e-03 2.11837208e+02] [ 2.99073581e-03 9.99995525e-01 7.07879195e-05 2.36791117e+00] [ 5.05369670e-03 -8.59016714e-05 9.99987226e-01 1.06305556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:211.87, Y:2.37, Z:1.06 [[ 9.99978674e-01 -4.13641453e-03 -5.05393822e-03 2.11865724e+02] [ 4.13682248e-03 9.99991441e-01 7.02684195e-05 2.36709333e+00] [ 5.05360430e-03 -9.11741662e-05 9.99987226e-01 1.06331445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:211.89, Y:2.37, Z:1.06 [[ 9.99975697e-01 -4.80245194e-03 -5.05395788e-03 2.11894969e+02] [ 4.80286110e-03 9.99988464e-01 6.88244370e-05 2.36556349e+00] [ 5.05356905e-03 -9.30962221e-05 9.99987226e-01 1.06471024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:211.92, Y:2.36, Z:1.07 [[ 9.99965990e-01 -6.51741834e-03 -5.05396086e-03 2.11923806e+02] [ 6.51784829e-03 9.99978756e-01 6.86048057e-05 2.36465567e+00] [ 5.05340637e-03 -1.01543423e-04 9.99987226e-01 1.06536339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:211.95, Y:2.36, Z:1.07 [[ 9.99953170e-01 -8.25321395e-03 -5.05396529e-03 2.11953209e+02] [ 8.25366440e-03 9.99965936e-01 6.82769970e-05 2.36336094e+00] [ 5.05322963e-03 -1.09987533e-04 9.99987226e-01 1.06603975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:211.98, Y:2.36, Z:1.07 [[ 9.99911685e-01 -1.22914778e-02 -5.05396802e-03 2.11982629e+02] [ 1.22919788e-02 9.99924448e-01 6.80742211e-05 2.36120437e+00] [ 5.05274946e-03 -1.30191477e-04 9.99987226e-01 1.06688659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09439141800001 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:212.01, Y:2.36, Z:1.07 [[ 9.99879801e-01 -1.46574311e-02 -5.05396938e-03 2.12013213e+02] [ 1.46579618e-02 9.99892564e-01 6.79735942e-05 2.36006109e+00] [ 5.05243008e-03 -1.42046314e-04 9.99987226e-01 1.06736240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12439141800002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:212.04, Y:2.36, Z:1.07 [[ 9.99848737e-01 -1.66421278e-02 -5.05396938e-03 2.12044015e+02] [ 1.66426838e-02 9.99861499e-01 6.79735942e-05 2.35886610e+00] [ 5.05213817e-03 -1.52074926e-04 9.99987226e-01 1.06707215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15439141800002 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:212.07, Y:2.36, Z:1.07 [[ 9.99757167e-01 -2.14491184e-02 -5.05396485e-03 2.12073767e+02] [ 2.14497374e-02 9.99769926e-01 6.83082033e-05 2.35834349e+00] [ 5.05133692e-03 -1.76697835e-04 9.99987226e-01 1.06611857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:212.10, Y:2.36, Z:1.07 [[ 9.99761229e-01 -2.12588913e-02 -5.05414998e-03 2.12104949e+02] [ 2.12594379e-02 9.99773991e-01 5.44470659e-05 2.35615472e+00] [ 5.05185022e-03 -1.61882453e-04 9.99987226e-01 1.06532869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:212.14, Y:2.36, Z:1.07 [[ 9.99746475e-01 -2.19418236e-02 -5.05396333e-03 2.12136671e+02] [ 2.19424487e-02 9.99759233e-01 6.82658284e-05 2.35561484e+00] [ 5.05124863e-03 -1.79144852e-04 9.99987226e-01 1.06548078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:212.17, Y:2.36, Z:1.07 [[ 9.99715129e-01 -2.33263550e-02 -5.05396051e-03 2.12167376e+02] [ 2.33269988e-02 9.99727886e-01 6.84740440e-05 2.35668777e+00] [ 5.05098801e-03 -1.86348269e-04 9.99987226e-01 1.06513112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:212.20, Y:2.36, Z:1.07 [[ 9.99688285e-01 -2.44497358e-02 -5.05405648e-03 2.12197974e+02] [ 2.44503583e-02 9.99701043e-01 6.14130648e-05 2.35836103e+00] [ 5.05104400e-03 -1.84967413e-04 9.99987226e-01 1.06585588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:212.23, Y:2.36, Z:1.07 [[ 9.99755522e-01 -2.15255320e-02 -5.05447125e-03 2.12230799e+02] [ 2.15259629e-02 9.99768289e-01 3.08585519e-05 2.35549077e+00] [ 5.05263582e-03 -1.39653368e-04 9.99987226e-01 1.06630642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:212.26, Y:2.36, Z:1.07 [[ 9.99783949e-01 -2.01621730e-02 -5.05392801e-03 2.12261052e+02] [ 2.01627844e-02 9.99796708e-01 7.00513277e-05 2.35732585e+00] [ 5.05148820e-03 -1.71937454e-04 9.99987226e-01 1.06582186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:212.29, Y:2.36, Z:1.07 [[ 9.99801749e-01 -1.92592053e-02 -5.05428069e-03 2.12293120e+02] [ 1.92596761e-02 9.99814514e-01 4.44828901e-05 2.35735492e+00] [ 5.05248649e-03 -1.41817880e-04 9.99987226e-01 1.06803473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:212.33, Y:2.36, Z:1.07 [[ 9.99813955e-01 -1.86148246e-02 -5.05409691e-03 2.12325884e+02] [ 1.86153532e-02 9.99826718e-01 5.75734124e-05 2.35838186e+00] [ 5.05214941e-03 -1.51646500e-04 9.99987226e-01 1.06756716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:212.36, Y:2.36, Z:1.07 [[ 9.99811640e-01 -1.87387896e-02 -5.05390243e-03 2.12356709e+02] [ 1.87393894e-02 9.99824400e-01 7.13495375e-05 2.35898038e+00] [ 5.05167795e-03 -1.66043143e-04 9.99987226e-01 1.06638291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:212.39, Y:2.36, Z:1.07 [[ 9.99811332e-01 -1.87552081e-02 -5.05389261e-03 2.12388991e+02] [ 1.87558116e-02 9.99824092e-01 7.20381162e-05 2.35940722e+00] [ 5.05165250e-03 -1.66814382e-04 9.99987226e-01 1.06657147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:212.42, Y:2.36, Z:1.07 [[ 9.99788869e-01 -1.99167380e-02 -5.05388661e-03 2.12420526e+02] [ 1.99173584e-02 9.99801627e-01 7.24566119e-05 2.36067968e+00] [ 5.05144096e-03 -1.73101385e-04 9.99987226e-01 1.06591410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:212.45, Y:2.36, Z:1.07 [[ 9.99756268e-01 -2.14909921e-02 -5.05388213e-03 2.12452474e+02] [ 2.14916341e-02 9.99769026e-01 7.27678962e-05 2.36195837e+00] [ 5.05115096e-03 -1.81366346e-04 9.99987226e-01 1.06666405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.544391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:212.48, Y:2.36, Z:1.07 [[ 9.99731472e-01 -2.26150837e-02 -5.05387617e-03 2.12484800e+02] [ 2.26157422e-02 9.99744229e-01 7.31796789e-05 2.36342150e+00] [ 5.05092856e-03 -1.87457189e-04 9.99987226e-01 1.06670977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.574391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:212.52, Y:2.36, Z:1.07 [[ 9.99721327e-01 -2.30592211e-02 -5.05387016e-03 2.12516157e+02] [ 2.30598873e-02 9.99734083e-01 7.35923514e-05 2.36430710e+00] [ 5.05082926e-03 -1.90113520e-04 9.99987226e-01 1.06665317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.604391418 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:212.55, Y:2.37, Z:1.07 [[ 9.99711127e-01 -2.34972680e-02 -5.05386066e-03 2.12548221e+02] [ 2.34979431e-02 9.99723882e-01 7.42385284e-05 2.36532814e+00] [ 5.05072080e-03 -1.92972413e-04 9.99987226e-01 1.06731161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.634391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:212.58, Y:2.37, Z:1.07 [[ 9.99712800e-01 -2.34259500e-02 -5.05385453e-03 2.12579406e+02] [ 2.34266263e-02 9.99725556e-01 7.46537381e-05 2.36645320e+00] [ 5.05071870e-03 -1.93027059e-04 9.99987226e-01 1.06721524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:212.61, Y:2.37, Z:1.07 [[ 9.99714632e-01 -2.33476598e-02 -5.05384407e-03 2.12612090e+02] [ 2.33483387e-02 9.99727388e-01 7.53553566e-05 2.36588531e+00] [ 5.05070696e-03 -1.93332715e-04 9.99987226e-01 1.06738030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:212.64, Y:2.37, Z:1.07 [[ 9.99727151e-01 -2.28053238e-02 -5.05383814e-03 2.12644661e+02] [ 2.28059978e-02 9.99739907e-01 7.57511231e-05 2.36699675e+00] [ 5.05079614e-03 -1.90988276e-04 9.99987226e-01 1.06771649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:212.68, Y:2.37, Z:1.07 [[ 9.99771395e-01 -2.07753971e-02 -5.05383199e-03 2.12677261e+02] [ 2.07760472e-02 9.99784152e-01 7.61592859e-05 2.36917712e+00] [ 5.05115889e-03 -1.81140527e-04 9.99987226e-01 1.06775167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:212.71, Y:2.37, Z:1.07 [[ 9.99801742e-01 -1.92597130e-02 -5.05382579e-03 2.12709154e+02] [ 1.92603458e-02 9.99814499e-01 7.65683230e-05 2.37017258e+00] [ 5.05141362e-03 -1.73891575e-04 9.99987226e-01 1.06791526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:212.74, Y:2.37, Z:1.07 [[ 9.99802515e-01 -1.92195091e-02 -5.05381956e-03 2.12740994e+02] [ 1.92201435e-02 9.99815273e-01 7.69773596e-05 2.36964852e+00] [ 5.05140652e-03 -1.74097295e-04 9.99987226e-01 1.06807612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:212.77, Y:2.38, Z:1.07 [[ 9.99839897e-01 -1.71650740e-02 -5.05381646e-03 2.12770307e+02] [ 1.71656832e-02 9.99852656e-01 7.71805748e-05 2.37545911e+00] [ 5.05174700e-03 -1.63920430e-04 9.99987226e-01 1.06948098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84439141800001 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:212.80, Y:2.37, Z:1.07 [[ 9.99920077e-01 -1.15884670e-02 -5.05443422e-03 2.12802339e+02] [ 1.15887998e-02 9.99932847e-01 3.65589520e-05 2.37393457e+00] [ 5.05367114e-03 -9.51308564e-05 9.99987226e-01 1.06832692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87439141800002 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:212.83, Y:2.38, Z:1.07 [[ 9.99954468e-01 -8.09455618e-03 -5.05379742e-03 2.12832896e+02] [ 8.09505312e-03 9.99967231e-01 7.78818390e-05 2.37531269e+00] [ 5.05300139e-03 -1.18789051e-04 9.99987226e-01 1.06838833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90439141800002 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:212.86, Y:2.38, Z:1.07 [[ 9.99976239e-01 -4.68842017e-03 -5.05379584e-03 2.12861967e+02] [ 4.68887415e-03 9.99989004e-01 7.79838988e-05 2.37687167e+00] [ 5.05337465e-03 -1.01678658e-04 9.99987226e-01 1.06816634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:212.89, Y:2.38, Z:1.07 [[ 9.99985306e-01 1.96130400e-03 -5.05379738e-03 2.12891166e+02] [-1.96093543e-03 9.99998074e-01 7.78844390e-05 2.37929526e+00] [ 5.05394040e-03 -6.79731243e-05 9.99987226e-01 1.06854419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:212.92, Y:2.38, Z:1.07 [[ 9.99974763e-01 4.99322999e-03 -5.05380050e-03 2.12919072e+02] [-4.99290115e-03 9.99987532e-01 7.76813355e-05 2.37984302e+00] [ 5.05412537e-03 -5.24462487e-05 9.99987226e-01 1.06848693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:212.95, Y:2.38, Z:1.07 [[ 9.99962561e-01 7.02392721e-03 -5.05380818e-03 2.12946520e+02] [-7.02362685e-03 9.99975331e-01 7.71784361e-05 2.38026239e+00] [ 5.05422560e-03 -4.16794838e-05 9.99987226e-01 1.06880600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:212.97, Y:2.38, Z:1.07 [[ 9.99928354e-01 1.08510823e-02 -5.05383278e-03 2.12973877e+02] [-1.08508391e-02 9.99941125e-01 7.55322331e-05 2.38082969e+00] [ 5.05435484e-03 -2.06884950e-05 9.99987226e-01 1.06883545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:213.00, Y:2.38, Z:1.07 [[ 9.99930564e-01 1.06453380e-02 -5.05402018e-03 2.13004727e+02] [-1.06451553e-02 9.99943337e-01 6.30512421e-05 2.38047502e+00] [ 5.05440501e-03 -9.24603422e-06 9.99987226e-01 1.06959798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:213.03, Y:2.38, Z:1.07 [[ 9.99930357e-01 1.06651120e-02 -5.05336526e-03 2.13030321e+02] [-1.06647103e-02 9.99943125e-01 1.06436554e-04 2.38078086e+00] [ 5.05421300e-03 -5.25364653e-05 9.99987226e-01 1.06933692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:213.06, Y:2.38, Z:1.07 [[ 9.99943065e-01 9.39818467e-03 -5.05383706e-03 2.13059087e+02] [-9.39792878e-03 9.99955836e-01 7.43786726e-05 2.37961937e+00] [ 5.05431289e-03 -2.68788370e-05 9.99987227e-01 1.06851164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:213.09, Y:2.38, Z:1.07 [[ 9.99956375e-01 7.85541526e-03 -5.05384301e-03 2.13088314e+02] [-7.85514172e-03 9.99969145e-01 7.39722501e-05 2.37898153e+00] [ 5.05426816e-03 -3.42703699e-05 9.99987227e-01 1.06790225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174391418 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:213.12, Y:2.38, Z:1.07 [[ 9.99968113e-01 6.18312953e-03 -5.05384900e-03 2.13116900e+02] [-6.18283671e-03 9.99980883e-01 7.35605734e-05 2.37783421e+00] [ 5.05420723e-03 -4.23111046e-05 9.99987227e-01 1.06762036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:213.14, Y:2.38, Z:1.07 [[ 9.99979089e-01 4.03488115e-03 -5.05385491e-03 2.13144549e+02] [-4.03456297e-03 9.99991858e-01 7.31524630e-05 2.37674987e+00] [ 5.05410893e-03 -5.27608374e-05 9.99987227e-01 1.06729209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:213.17, Y:2.37, Z:1.07 [[ 9.99987120e-01 4.66871472e-04 -5.05386218e-03 2.13173822e+02] [-4.66510282e-04 9.99999889e-01 7.26467770e-05 2.37436522e+00] [ 5.05389553e-03 -7.02881627e-05 9.99987227e-01 1.06629483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:213.20, Y:2.37, Z:1.07 [[ 9.99986551e-01 -1.16488032e-03 -5.05386801e-03 2.13201767e+02] [ 1.16526028e-03 9.99999318e-01 7.22387121e-05 2.37316125e+00] [ 5.05378042e-03 -7.81268122e-05 9.99987227e-01 1.06616862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.294391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:213.23, Y:2.37, Z:1.07 [[ 9.99985083e-01 -2.07158799e-03 -5.05387576e-03 2.13230130e+02] [ 2.07197677e-03 9.99997851e-01 7.16923030e-05 2.37186647e+00] [ 5.05371638e-03 -8.21627468e-05 9.99987227e-01 1.06599561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.324391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:213.26, Y:2.37, Z:1.07 [[ 9.99983979e-01 -2.54968103e-03 -5.05388157e-03 2.13258281e+02] [ 2.55007383e-03 9.99996746e-01 7.12803785e-05 2.36967233e+00] [ 5.05368339e-03 -8.41670076e-05 9.99987227e-01 1.06605169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.354391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:213.29, Y:2.37, Z:1.07 [[ 9.99979734e-01 -3.87163326e-03 -5.05388588e-03 2.13287042e+02] [ 3.87204139e-03 9.99992501e-01 7.09739870e-05 2.37057206e+00] [ 5.05357319e-03 -9.05414040e-05 9.99987227e-01 1.06716078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.384391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:213.32, Y:2.37, Z:1.07 [[ 9.99985889e-01 -1.63544249e-03 -5.05434684e-03 2.13317237e+02] [ 1.63565465e-03 9.99998662e-01 3.78422918e-05 2.36721086e+00] [ 5.05427819e-03 -4.61089237e-05 9.99987226e-01 1.06568315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:213.35, Y:2.37, Z:1.07 [[ 9.99986809e-01 -9.16942760e-04 -5.05389101e-03 2.13345908e+02] [ 9.17310839e-04 9.99999577e-01 7.05134428e-05 2.36584343e+00] [ 5.05382421e-03 -7.51485016e-05 9.99987227e-01 1.06560850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:213.37, Y:2.36, Z:1.07 [[ 9.99986409e-01 1.28038690e-03 -5.05391059e-03 2.13373553e+02] [-1.28005412e-03 9.99999178e-01 6.90810105e-05 2.36356429e+00] [ 5.05399489e-03 -6.26107926e-05 9.99987227e-01 1.06532968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:213.40, Y:2.36, Z:1.06 [[ 9.99985335e-01 1.94626816e-03 -5.05391745e-03 2.13401311e+02] [-1.94594644e-03 9.99998104e-01 6.85752617e-05 2.36264485e+00] [ 5.05404134e-03 -5.87396033e-05 9.99987227e-01 1.06490954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:213.43, Y:2.36, Z:1.07 [[ 9.99982624e-01 3.03465693e-03 -5.05393915e-03 2.13429595e+02] [-3.03435738e-03 9.99995394e-01 6.69371343e-05 2.36159436e+00] [ 5.05411900e-03 -5.16005136e-05 9.99987227e-01 1.06519431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:213.46, Y:2.36, Z:1.07 [[ 9.99979109e-01 4.02976567e-03 -5.05386972e-03 2.13457538e+02] [-4.02945232e-03 9.99991879e-01 7.21840267e-05 2.36206548e+00] [ 5.05411956e-03 -5.18181916e-05 9.99987227e-01 1.06556570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:213.49, Y:2.36, Z:1.06 [[ 9.99969143e-01 6.01378889e-03 -5.05451946e-03 2.13487678e+02] [-6.01374948e-03 9.99981917e-01 2.29947846e-05 2.35934022e+00] [ 5.05456635e-03 7.40253874e-06 9.99987226e-01 1.06496044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59439141800001 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:213.52, Y:2.36, Z:1.06 [[ 9.99962966e-01 6.96593419e-03 -5.05392958e-03 2.13516760e+02] [-6.96568304e-03 9.99975737e-01 6.72957255e-05 2.35842598e+00] [ 5.05427573e-03 -3.20891617e-05 9.99987227e-01 1.06456072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62439141800002 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:213.55, Y:2.36, Z:1.06 [[ 9.99949867e-01 8.64411779e-03 -5.05393470e-03 2.13545631e+02] [-8.64389002e-03 9.99962639e-01 6.69085532e-05 2.35689753e+00] [ 5.05432425e-03 -2.32195431e-05 9.99987227e-01 1.06331519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65439141800002 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:213.57, Y:2.36, Z:1.06 [[ 9.99940711e-01 9.64526958e-03 -5.05394005e-03 2.13574042e+02] [-9.64505665e-03 9.99953483e-01 6.65023617e-05 2.35577096e+00] [ 5.05434639e-03 -1.77528808e-05 9.99987227e-01 1.06326626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:213.60, Y:2.36, Z:1.06 [[ 9.99940525e-01 9.66454659e-03 -5.05394815e-03 2.13600596e+02] [-9.66433705e-03 9.99953297e-01 6.58805644e-05 2.35630321e+00] [ 5.05434882e-03 -1.70335878e-05 9.99987227e-01 1.06399597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:213.63, Y:2.35, Z:1.06 [[ 9.99921602e-01 1.14561968e-02 -5.05426533e-03 2.13629283e+02] [-1.14561343e-02 9.99934375e-01 4.13137168e-05 2.35381176e+00] [ 5.05440694e-03 1.65918646e-05 9.99987226e-01 1.06291084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:213.66, Y:2.35, Z:1.06 [[ 9.99910964e-01 1.23499731e-02 -5.05394377e-03 2.13658199e+02] [-1.23497975e-02 9.99923736e-01 6.59538841e-05 2.35193796e+00] [ 5.05437287e-03 -3.53282980e-06 9.99987227e-01 1.06268068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:213.69, Y:2.35, Z:1.06 [[ 9.99907206e-01 1.26505987e-02 -5.05394904e-03 2.13687218e+02] [-1.26504290e-02 9.99919978e-01 6.55476919e-05 2.35063988e+00] [ 5.05437383e-03 -1.60698575e-06 9.99987227e-01 1.06233544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:213.72, Y:2.35, Z:1.06 [[ 9.99907033e-01 1.26642638e-02 -5.05395424e-03 2.13716209e+02] [-1.26640963e-02 9.99919805e-01 6.51444036e-05 2.34924183e+00] [ 5.05437394e-03 -1.13458424e-06 9.99987227e-01 1.06188615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:213.75, Y:2.35, Z:1.06 [[ 9.99907051e-01 1.26628112e-02 -5.05395952e-03 2.13745352e+02] [-1.26626458e-02 9.99919823e-01 6.47320764e-05 2.34771006e+00] [ 5.05437400e-03 -7.29560265e-07 9.99987227e-01 1.06112409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:213.77, Y:2.34, Z:1.06 [[ 9.99908921e-01 1.25142589e-02 -5.05396474e-03 2.13773402e+02] [-1.25140937e-02 9.99921694e-01 6.43223028e-05 2.34485151e+00] [ 5.05437392e-03 -1.07065625e-06 9.99987227e-01 1.06112117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:213.80, Y:2.34, Z:1.06 [[ 9.99912051e-01 1.22616626e-02 -5.05397114e-03 2.13801780e+02] [-1.22614967e-02 9.99924823e-01 6.38150549e-05 2.34346829e+00] [ 5.05437368e-03 -1.84019195e-06 9.99987227e-01 1.06167289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:213.83, Y:2.34, Z:1.06 [[ 9.99912032e-01 1.22631507e-02 -5.05397618e-03 2.13830713e+02] [-1.22629868e-02 9.99924805e-01 6.34135553e-05 2.34100079e+00] [ 5.05437379e-03 -1.43113375e-06 9.99987227e-01 1.06283280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:213.86, Y:2.34, Z:1.06 [[ 9.99910775e-01 1.23652215e-02 -5.05398123e-03 2.13858774e+02] [-1.23650610e-02 9.99923548e-01 6.30083665e-05 2.33968391e+00] [ 5.05437396e-03 -5.09958279e-07 9.99987227e-01 1.06338919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:213.89, Y:2.34, Z:1.06 [[ 9.99912474e-01 1.22270611e-02 -5.05398655e-03 2.13887861e+02] [-1.22269009e-02 9.99925247e-01 6.25786263e-05 2.33817386e+00] [ 5.05437390e-03 -7.78556142e-07 9.99987227e-01 1.06375740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:213.92, Y:2.34, Z:1.06 [[ 9.99921518e-01 1.14636243e-02 -5.05399188e-03 2.13915225e+02] [-1.14634566e-02 9.99934291e-01 6.21456389e-05 2.33517004e+00] [ 5.05437220e-03 -4.20454511e-06 9.99987227e-01 1.06392388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.044391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:213.94, Y:2.33, Z:1.06 [[ 9.99929799e-01 1.07170330e-02 -5.05399842e-03 2.13943715e+02] [-1.07168585e-02 9.99942571e-01 6.16087472e-05 2.33317876e+00] [ 5.05436844e-03 -7.44143636e-06 9.99987227e-01 1.06412967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.074391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:213.97, Y:2.33, Z:1.06 [[ 9.99940924e-01 9.62321830e-03 -5.05400355e-03 2.13972120e+02] [-9.62303197e-03 9.99953696e-01 6.11849368e-05 2.33115715e+00] [ 5.05435833e-03 -1.25464845e-05 9.99987227e-01 1.06454409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.104391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:214.00, Y:2.33, Z:1.07 [[ 9.99968840e-01 6.06436064e-03 -5.05400863e-03 2.13999622e+02] [-6.06413099e-03 9.99981611e-01 6.07624793e-05 2.32774361e+00] [ 5.05428418e-03 -3.01124156e-05 9.99987227e-01 1.06502737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.134391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:214.03, Y:2.33, Z:1.07 [[ 9.99979331e-01 3.97419555e-03 -5.05401488e-03 2.14028385e+02] [-3.97394185e-03 9.99992102e-01 6.02380291e-05 2.32562735e+00] [ 5.05421436e-03 -4.01524228e-05 9.99987227e-01 1.06537646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:214.06, Y:2.32, Z:1.07 [[ 9.99985928e-01 1.61245773e-03 -5.05401984e-03 2.14055947e+02] [-1.61217599e-03 9.99998699e-01 5.98187605e-05 2.32352366e+00] [ 5.05410972e-03 -5.16699493e-05 9.99987227e-01 1.06552989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:214.09, Y:2.32, Z:1.07 [[ 9.99987065e-01 -5.71984234e-04 -5.05402590e-03 2.14085012e+02] [ 5.72291260e-04 9.99999834e-01 5.93028033e-05 2.32130950e+00] [ 5.05399114e-03 -6.21944110e-05 9.99987227e-01 1.06582119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:214.11, Y:2.32, Z:1.07 [[ 9.99972960e-01 -5.34184897e-03 -5.05403066e-03 2.14113656e+02] [ 5.34221484e-03 9.99985729e-01 5.88939000e-05 2.31778310e+00] [ 5.05364393e-03 -8.58920252e-05 9.99987227e-01 1.06562182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:214.14, Y:2.32, Z:1.07 [[ 9.99960601e-01 -7.29747266e-03 -5.05403551e-03 2.14142830e+02] [ 7.29786138e-03 9.99973369e-01 5.84747859e-05 2.31566383e+00] [ 5.05347420e-03 -9.53561326e-05 9.99987227e-01 1.06533108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:214.17, Y:2.31, Z:1.07 [[ 9.99947885e-01 -8.87040679e-03 -5.05403808e-03 2.14172103e+02] [ 8.87081447e-03 9.99960652e-01 5.82521951e-05 2.31387132e+00] [ 5.05332249e-03 -1.03082593e-04 9.99987227e-01 1.06511575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:214.20, Y:2.31, Z:1.07 [[ 9.99935844e-01 -1.01373140e-02 -5.05403780e-03 2.14201694e+02] [ 1.01377379e-02 9.99948610e-01 5.82761930e-05 2.31220612e+00] [ 5.05318731e-03 -1.09508965e-04 9.99987227e-01 1.06521475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34439141800001 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:214.23, Y:2.31, Z:1.06 [[ 9.99915588e-01 -1.19696693e-02 -5.05404024e-03 2.14231698e+02] [ 1.19701156e-02 9.99928354e-01 5.80638518e-05 2.30940587e+00] [ 5.05298313e-03 -1.18556397e-04 9.99987227e-01 1.06486383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37439141800002 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:214.26, Y:2.31, Z:1.07 [[ 9.99912985e-01 -1.21851778e-02 -5.05404024e-03 2.14260891e+02] [ 1.21856268e-02 9.99925751e-01 5.80638518e-05 2.30793726e+00] [ 5.05295746e-03 -1.19645448e-04 9.99987227e-01 1.06511314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40439141800002 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:214.29, Y:2.31, Z:1.07 [[ 9.99911909e-01 -1.22731798e-02 -5.05404149e-03 2.14291277e+02] [ 1.22736294e-02 9.99924675e-01 5.79547048e-05 2.30678343e+00] [ 5.05294951e-03 -1.19981032e-04 9.99987227e-01 1.06551952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:214.32, Y:2.31, Z:1.07 [[ 9.99915838e-01 -1.19488150e-02 -5.05404149e-03 2.14320768e+02] [ 1.19492605e-02 9.99928603e-01 5.79547048e-05 2.30511338e+00] [ 5.05298816e-03 -1.18341886e-04 9.99987227e-01 1.06596030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:214.35, Y:2.30, Z:1.07 [[ 9.99917198e-01 -1.18344188e-02 -5.05404149e-03 2.14350568e+02] [ 1.18348628e-02 9.99929964e-01 5.79547048e-05 2.30438037e+00] [ 5.05300167e-03 -1.17763794e-04 9.99987227e-01 1.06598143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:214.38, Y:2.30, Z:1.07 [[ 9.99922127e-01 -1.14103946e-02 -5.05404136e-03 2.14380788e+02] [ 1.14108332e-02 9.99934893e-01 5.79658924e-05 2.30371450e+00] [ 5.05305089e-03 -1.15632202e-04 9.99987227e-01 1.06637680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:214.41, Y:2.30, Z:1.07 [[ 9.99925157e-01 -1.11417256e-02 -5.05404136e-03 2.14410821e+02] [ 1.11421608e-02 9.99937923e-01 5.79658924e-05 2.30246813e+00] [ 5.05308178e-03 -1.14274496e-04 9.99987227e-01 1.06634778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:214.44, Y:2.30, Z:1.07 [[ 9.99920733e-01 -1.15318782e-02 -5.05404136e-03 2.14441035e+02] [ 1.15323184e-02 9.99933499e-01 5.79658924e-05 2.30195202e+00] [ 5.05303681e-03 -1.16246112e-04 9.99987227e-01 1.06641532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:214.47, Y:2.30, Z:1.07 [[ 9.99914192e-01 -1.20857386e-02 -5.05404136e-03 2.14471723e+02] [ 1.20861858e-02 9.99926958e-01 5.79658924e-05 2.30132827e+00] [ 5.05297164e-03 -1.19045002e-04 9.99987227e-01 1.06633662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:214.50, Y:2.30, Z:1.07 [[ 9.99907706e-01 -1.26109771e-02 -5.05404136e-03 2.14501844e+02] [ 1.26114311e-02 9.99920471e-01 5.79658924e-05 2.30067956e+00] [ 5.05290841e-03 -1.21699237e-04 9.99987227e-01 1.06620701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:214.53, Y:2.30, Z:1.07 [[ 9.99907706e-01 -1.26109771e-02 -5.05404136e-03 2.14532841e+02] [ 1.26114311e-02 9.99920471e-01 5.79658924e-05 2.30032405e+00] [ 5.05290841e-03 -1.21699237e-04 9.99987227e-01 1.06636369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:214.56, Y:2.30, Z:1.07 [[ 9.99870809e-01 -1.52585379e-02 -5.05404136e-03 2.14562753e+02] [ 1.52590256e-02 9.99883573e-01 5.79658924e-05 2.30006524e+00] [ 5.05256846e-03 -1.35078151e-04 9.99987227e-01 1.06589512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:214.59, Y:2.30, Z:1.07 [[ 9.99842332e-01 -1.70225509e-02 -5.05404259e-03 2.14593336e+02] [ 1.70230607e-02 9.99855096e-01 5.78586245e-05 2.29977674e+00] [ 5.05232534e-03 -1.43884776e-04 9.99987227e-01 1.06599011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:214.62, Y:2.30, Z:1.07 [[ 9.99810043e-01 -1.88237877e-02 -5.05404259e-03 2.14624999e+02] [ 1.88243204e-02 9.99822805e-01 5.78586245e-05 2.29936011e+00] [ 5.05205792e-03 -1.52986551e-04 9.99987227e-01 1.06632879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:214.66, Y:2.30, Z:1.07 [[ 9.99739719e-01 -2.22474767e-02 -5.05404011e-03 2.14655926e+02] [ 2.22480542e-02 9.99752480e-01 5.80745806e-05 2.29925929e+00] [ 5.05149712e-03 -1.70502023e-04 9.99987227e-01 1.06696356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.794391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:214.69, Y:2.30, Z:1.07 [[ 9.99713209e-01 -2.34084510e-02 -5.05403762e-03 2.14686929e+02] [ 2.34090445e-02 9.99725969e-01 5.82902932e-05 2.29894358e+00] [ 5.05128817e-03 -1.76583768e-04 9.99987227e-01 1.06666828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.824391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:214.72, Y:2.30, Z:1.07 [[ 9.99697362e-01 -2.40757244e-02 -5.05403516e-03 2.14716851e+02] [ 2.40763274e-02 9.99710122e-01 5.85029917e-05 2.29879430e+00] [ 5.05116160e-03 -1.80167892e-04 9.99987227e-01 1.06636748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.854391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:214.75, Y:2.30, Z:1.07 [[ 9.99703027e-01 -2.38393557e-02 -5.05403393e-03 2.14748104e+02] [ 2.38399563e-02 9.99715786e-01 5.86089683e-05 2.29977964e+00] [ 5.05120030e-03 -1.79079511e-04 9.99987227e-01 1.06608579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.884391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:214.78, Y:2.30, Z:1.07 [[ 9.99717488e-01 -2.32250173e-02 -5.05403024e-03 2.14779048e+02] [ 2.32256116e-02 9.99730247e-01 5.89253764e-05 2.30066619e+00] [ 5.05129836e-03 -1.76291673e-04 9.99987227e-01 1.06634968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:214.81, Y:2.30, Z:1.07 [[ 9.99753365e-01 -2.16255652e-02 -5.05402792e-03 2.14809883e+02] [ 2.16261401e-02 9.99766126e-01 5.91241374e-05 2.30130725e+00] [ 5.05156732e-03 -1.68408671e-04 9.99987227e-01 1.06651357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:214.84, Y:2.30, Z:1.07 [[ 9.99818362e-01 -1.83766033e-02 -5.05402441e-03 2.14841639e+02] [ 1.83771383e-02 9.99831124e-01 5.94226088e-05 2.30429121e+00] [ 5.05207892e-03 -1.52290321e-04 9.99987227e-01 1.06728708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:214.87, Y:2.31, Z:1.07 [[ 9.99856496e-01 -1.61692418e-02 -5.05402197e-03 2.14871696e+02] [ 1.61697497e-02 9.99869259e-01 5.96294247e-05 2.30557659e+00] [ 5.05239704e-03 -1.41343138e-04 9.99987227e-01 1.06748112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:214.90, Y:2.31, Z:1.07 [[ 9.99891818e-01 -1.38133662e-02 -5.05402076e-03 2.14902041e+02] [ 1.38138445e-02 9.99904583e-01 5.97318049e-05 2.30659985e+00] [ 5.05271342e-03 -1.29540800e-04 9.99987227e-01 1.06786236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:214.93, Y:2.31, Z:1.07 [[ 9.99946414e-01 -9.03473890e-03 -5.05401948e-03 2.14932168e+02] [ 9.03515670e-03 9.99959180e-01 5.98397710e-05 2.30903195e+00] [ 5.05327254e-03 -1.05500422e-04 9.99987227e-01 1.06824352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:214.96, Y:2.31, Z:1.07 [[ 9.99966213e-01 -6.48297830e-03 -5.05401948e-03 2.14962305e+02] [ 6.48336352e-03 9.99978981e-01 5.98397710e-05 2.31036451e+00] [ 5.05352531e-03 -9.26047947e-05 9.99987227e-01 1.06826487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09439141800001 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:214.99, Y:2.31, Z:1.07 [[ 9.99978487e-01 -4.18119521e-03 -5.05402187e-03 2.14991865e+02] [ 4.18155001e-03 9.99991256e-01 5.96373033e-05 2.31187594e+00] [ 5.05372832e-03 -8.07696655e-05 9.99987227e-01 1.06786896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12439141800002 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:215.02, Y:2.32, Z:1.07 [[ 9.99986619e-01 1.10354337e-03 -5.05402427e-03 2.15021005e+02] [-1.10325708e-03 9.99999390e-01 5.94332743e-05 2.31504246e+00] [ 5.05408677e-03 -5.38565910e-05 9.99987227e-01 1.06718325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15439141800002 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:215.05, Y:2.32, Z:1.07 [[ 9.99981424e-01 3.40707338e-03 -5.05402782e-03 2.15049292e+02] [-3.40681804e-03 9.99994195e-01 5.91300072e-05 2.31665321e+00] [ 5.05419994e-03 -4.19107557e-05 9.99987227e-01 1.06716944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:215.08, Y:2.32, Z:1.07 [[ 9.99972289e-01 5.46616045e-03 -5.05403356e-03 2.15077654e+02] [-5.46593391e-03 9.99985060e-01 5.86351301e-05 2.31799337e+00] [ 5.05427856e-03 -3.10084919e-05 9.99987227e-01 1.06753179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:215.11, Y:2.32, Z:1.07 [[ 9.99962170e-01 7.07918378e-03 -5.05405138e-03 2.15105434e+02] [-7.07898583e-03 9.99974942e-01 5.70560673e-05 2.31933280e+00] [ 5.05432865e-03 -2.12763508e-05 9.99987227e-01 1.06778668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:215.13, Y:2.32, Z:1.07 [[ 9.99950403e-01 8.58180488e-03 -5.05405819e-03 2.15134039e+02] [-8.58162919e-03 9.99963176e-01 5.64463783e-05 2.32030115e+00] [ 5.05435649e-03 -1.30715254e-05 9.99987227e-01 1.06808327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:215.16, Y:2.32, Z:1.07 [[ 9.99941866e-01 9.52479973e-03 -5.05406265e-03 2.15163019e+02] [-9.52463813e-03 9.99954638e-01 5.60443069e-05 2.32223705e+00] [ 5.05436720e-03 -7.90293100e-06 9.99987227e-01 1.06737667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:215.19, Y:2.32, Z:1.07 [[ 9.99944630e-01 9.23003467e-03 -5.05406616e-03 2.15191105e+02] [-9.22987091e-03 9.99957402e-01 5.57261797e-05 2.32242271e+00] [ 5.05436522e-03 -9.07471591e-06 9.99987227e-01 1.06743769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:215.22, Y:2.32, Z:1.07 [[ 9.99966514e-01 6.43636341e-03 -5.05407195e-03 2.15218857e+02] [-6.43616665e-03 9.99979286e-01 5.51955748e-05 2.32362775e+00] [ 5.05432252e-03 -2.26648772e-05 9.99987227e-01 1.06778109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:215.25, Y:2.32, Z:1.07 [[ 9.99976601e-01 4.61009395e-03 -5.05407765e-03 2.15248023e+02] [-4.60987652e-03 9.99989373e-01 5.46688705e-05 2.32388330e+00] [ 5.05427597e-03 -3.13689174e-05 9.99987227e-01 1.06886894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:215.28, Y:2.32, Z:1.07 [[ 9.99985139e-01 2.04397588e-03 -5.05408218e-03 2.15275488e+02] [-2.04372781e-03 9.99997910e-01 5.42468725e-05 2.32387355e+00] [ 5.05418250e-03 -4.39168981e-05 9.99987227e-01 1.06911335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:215.30, Y:2.32, Z:1.07 [[ 9.99986869e-01 -8.47490425e-04 -5.05408736e-03 2.15304276e+02] [ 8.47772960e-04 9.99999639e-01 5.37602240e-05 2.32356681e+00] [ 5.05403997e-03 -5.80442367e-05 9.99987227e-01 1.06967102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:215.33, Y:2.32, Z:1.07 [[ 9.99959052e-01 -7.50664939e-03 -5.05409145e-03 2.15331695e+02] [ 7.50701500e-03 9.99971821e-01 5.33726476e-05 2.32324863e+00] [ 5.05354838e-03 -9.13116025e-05 9.99987227e-01 1.07062446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:215.36, Y:2.32, Z:1.07 [[ 9.99926205e-01 -1.10472145e-02 -5.05409718e-03 2.15361691e+02] [ 1.10476226e-02 9.99938972e-01 5.28244358e-05 2.32271375e+00] [ 5.05320517e-03 -1.08656296e-04 9.99987227e-01 1.07085371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:215.39, Y:2.32, Z:1.07 [[ 9.99881793e-01 -1.45208630e-02 -5.05409918e-03 2.15391133e+02] [ 1.45213144e-02 9.99894559e-01 5.26325368e-05 2.32210199e+00] [ 5.05280200e-03 -1.26018478e-04 9.99987227e-01 1.07098545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.544391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:215.42, Y:2.32, Z:1.07 [[ 9.99822218e-01 -1.81655867e-02 -5.05410017e-03 2.15422285e+02] [ 1.81660842e-02 9.99834982e-01 5.25372692e-05 2.32161096e+00] [ 5.05231178e-03 -1.44341138e-04 9.99987227e-01 1.07125585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.574391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:215.45, Y:2.32, Z:1.07 [[ 9.99732294e-01 -2.25786877e-02 -5.05409820e-03 2.15454367e+02] [ 2.25792424e-02 9.99745055e-01 5.27258980e-05 2.31745423e+00] [ 5.05161920e-03 -1.66829492e-04 9.99987227e-01 1.06811097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.604391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:215.48, Y:2.32, Z:1.07 [[ 9.99581177e-01 -2.84944109e-02 -5.05359515e-03 2.15483972e+02] [ 2.84952806e-02 9.99593922e-01 1.00160740e-04 2.32016607e+00] [ 5.04868897e-03 -2.44122402e-04 9.99987225e-01 1.07128351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.634391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:215.52, Y:2.32, Z:1.07 [[ 9.99487324e-01 -3.16155731e-02 -5.05409067e-03 2.15516624e+02] [ 3.16162395e-02 9.99500080e-01 5.19903012e-05 2.31946627e+00] [ 5.04992033e-03 -2.11754988e-04 9.99987227e-01 1.07150746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:215.55, Y:2.32, Z:1.07 [[ 9.99321541e-01 -3.64816856e-02 -5.05408682e-03 2.15549174e+02] [ 3.64824160e-02 9.99334294e-01 5.23616489e-05 2.31867651e+00] [ 5.04881205e-03 -2.36711422e-04 9.99987227e-01 1.07199323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:215.58, Y:2.32, Z:1.07 [[ 9.99245474e-01 -3.85089486e-02 -5.05408298e-03 2.15581711e+02] [ 3.85097067e-02 9.99258225e-01 5.27302512e-05 2.31819571e+00] [ 5.04830340e-03 -2.47321718e-04 9.99987227e-01 1.07232996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:215.61, Y:2.32, Z:1.07 [[ 9.99192458e-01 -3.98608571e-02 -5.05407912e-03 2.15613061e+02] [ 3.98616343e-02 9.99205208e-01 5.30972789e-05 2.31776578e+00] [ 5.04794568e-03 -2.54518255e-04 9.99987227e-01 1.07222016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:215.64, Y:2.32, Z:1.07 [[ 9.99118362e-01 -4.16767863e-02 -5.05407624e-03 2.15643995e+02] [ 4.16775881e-02 9.99131110e-01 5.33707036e-05 2.31807664e+00] [ 5.04746048e-03 -2.63965357e-04 9.99987227e-01 1.07235992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:215.68, Y:2.32, Z:1.07 [[ 9.99111620e-01 -4.18381029e-02 -5.05407008e-03 2.15675994e+02] [ 4.18389096e-02 9.99124368e-01 5.39472424e-05 2.31867685e+00] [ 5.04738753e-03 -2.65356098e-04 9.99987227e-01 1.07222866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:215.71, Y:2.32, Z:1.07 [[ 9.99116532e-01 -4.17206317e-02 -5.05406621e-03 2.15708490e+02] [ 4.17214387e-02 9.99129280e-01 5.43072780e-05 2.31917381e+00] [ 5.04739980e-03 -2.65122213e-04 9.99987227e-01 1.07207573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84439141800001 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:215.74, Y:2.32, Z:1.07 [[ 9.99150515e-01 -4.08987107e-02 -5.05406235e-03 2.15739659e+02] [ 4.08995091e-02 9.99163264e-01 5.46647324e-05 2.32097073e+00] [ 5.04759771e-03 -2.61326964e-04 9.99987227e-01 1.07102619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87439141800002 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:215.77, Y:2.32, Z:1.07 [[ 9.99169543e-01 -4.04311935e-02 -5.05405946e-03 2.15771524e+02] [ 4.04319872e-02 9.99182291e-01 5.49308244e-05 2.32206799e+00] [ 5.04770579e-03 -2.59230874e-04 9.99987227e-01 1.07109406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90439141800002 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:215.80, Y:2.32, Z:1.07 [[ 9.99208090e-01 -3.94670687e-02 -5.05405563e-03 2.15803872e+02] [ 3.94678519e-02 9.99220839e-01 5.52807525e-05 2.32317661e+00] [ 5.04793594e-03 -2.54709694e-04 9.99987227e-01 1.07119124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:215.83, Y:2.33, Z:1.07 [[ 9.99269744e-01 -3.78739412e-02 -5.05405180e-03 2.15834979e+02] [ 3.78747058e-02 9.99282494e-01 5.56283819e-05 2.32655031e+00] [ 5.04831862e-03 -2.47008484e-04 9.99987227e-01 1.07185061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:215.87, Y:2.33, Z:1.07 [[ 9.99358329e-01 -3.54596651e-02 -5.05404894e-03 2.15869596e+02] [ 3.54604002e-02 9.99371081e-01 5.58873935e-05 2.32618181e+00] [ 5.04888860e-03 -2.35070130e-04 9.99987227e-01 1.06924702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:215.90, Y:2.33, Z:1.07 [[ 9.99351852e-01 -3.56417575e-02 -5.05373741e-03 2.15899629e+02] [ 3.56426353e-02 9.99364596e-01 8.36997252e-05 2.33001226e+00] [ 5.04754304e-03 -2.63773995e-04 9.99987226e-01 1.07237032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:215.93, Y:2.33, Z:1.07 [[ 9.99436027e-01 -3.31976652e-02 -5.05404643e-03 2.15931621e+02] [ 3.31983701e-02 9.99448781e-01 5.56212701e-05 2.33379837e+00] [ 5.04941404e-03 -2.23376005e-04 9.99987227e-01 1.07229872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:215.96, Y:2.34, Z:1.07 [[ 9.99474665e-01 -3.20132781e-02 -5.05404267e-03 2.15963679e+02] [ 3.20139697e-02 9.99487420e-01 5.59601322e-05 2.33538937e+00] [ 5.04966061e-03 -2.17730703e-04 9.99987227e-01 1.07256948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:215.99, Y:2.34, Z:1.07 [[ 9.99511833e-01 -3.08310381e-02 -5.05403892e-03 2.15994551e+02] [ 3.08317162e-02 9.99524588e-01 5.62975311e-05 2.33688148e+00] [ 5.04990045e-03 -2.12094742e-04 9.99987227e-01 1.07343384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:216.03, Y:2.34, Z:1.07 [[ 9.99565505e-01 -2.90389024e-02 -5.05403610e-03 2.16025618e+02] [ 2.90395589e-02 9.99578261e-01 5.65489941e-05 2.34014494e+00] [ 5.05026250e-03 -2.03291403e-04 9.99987227e-01 1.07456635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:216.06, Y:2.34, Z:1.08 [[ 9.99589043e-01 -2.82170459e-02 -5.05403331e-03 2.16057863e+02] [ 2.82176932e-02 9.99601800e-01 5.67977423e-05 2.34141060e+00] [ 5.05041813e-03 -1.99387562e-04 9.99987227e-01 1.07547357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:216.09, Y:2.34, Z:1.08 [[ 9.99605349e-01 -2.76333567e-02 -5.05402958e-03 2.16089352e+02] [ 2.76339982e-02 9.99618107e-01 5.71271602e-05 2.34288669e+00] [ 5.05052087e-03 -1.96767660e-04 9.99987227e-01 1.07564360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:216.12, Y:2.34, Z:1.08 [[ 9.99616773e-01 -2.72169937e-02 -5.05402365e-03 2.16121909e+02] [ 2.72176325e-02 9.99629530e-01 5.76477620e-05 2.34409864e+00] [ 5.05058228e-03 -1.95184228e-04 9.99987227e-01 1.07541601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:216.15, Y:2.35, Z:1.08 [[ 9.99624350e-01 -2.69372502e-02 -5.05401994e-03 2.16154152e+02] [ 2.69378871e-02 9.99637108e-01 5.79708981e-05 2.34645952e+00] [ 5.05062430e-03 -1.94093740e-04 9.99987227e-01 1.07804533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264391418 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:216.19, Y:2.34, Z:1.07 [[ 9.99728524e-01 -2.27449924e-02 -5.05401520e-03 2.16188437e+02] [ 2.27455778e-02 9.99741284e-01 5.83809733e-05 2.34159863e+00] [ 5.05137977e-03 -1.73321620e-04 9.99987227e-01 1.07479152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.294391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:216.21, Y:2.35, Z:1.08 [[ 9.99600437e-01 -2.78107289e-02 -5.05278905e-03 2.16212794e+02] [ 2.78118971e-02 9.99613161e-01 1.61068298e-04 2.34845856e+00] [ 5.04635501e-03 -3.01531590e-04 9.99987222e-01 1.07760576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.324391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:216.24, Y:2.35, Z:1.07 [[ 9.99577471e-01 -2.86240612e-02 -5.05396823e-03 2.16243953e+02] [ 2.86247177e-02 9.99590227e-01 5.75913771e-05 2.35082606e+00] [ 5.05024875e-03 -2.02235457e-04 9.99987227e-01 1.07450280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.354391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:216.28, Y:2.35, Z:1.08 [[ 9.99568485e-01 -2.89361616e-02 -5.05396477e-03 2.16276122e+02] [ 2.89368236e-02 9.99581241e-01 5.78934796e-05 2.35200378e+00] [ 5.05017316e-03 -2.04114185e-04 9.99987227e-01 1.07710634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.384391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:216.31, Y:2.35, Z:1.08 [[ 9.99573543e-01 -2.87608978e-02 -5.05396019e-03 2.16308050e+02] [ 2.87615596e-02 9.99586299e-01 5.82902130e-05 2.35301859e+00] [ 5.05019289e-03 -2.03625132e-04 9.99987227e-01 1.07749694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:216.34, Y:2.35, Z:1.08 [[ 9.99581332e-01 -2.84889217e-02 -5.05395556e-03 2.16339695e+02] [ 2.84895820e-02 9.99594088e-01 5.86887865e-05 2.35436923e+00] [ 5.05023212e-03 -2.02649297e-04 9.99987227e-01 1.07716497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:216.37, Y:2.36, Z:1.08 [[ 9.99640677e-01 -2.63244241e-02 -5.05395210e-03 2.16371746e+02] [ 2.63250583e-02 9.99653434e-01 5.89857770e-05 2.35724629e+00] [ 5.05064780e-03 -1.92010166e-04 9.99987227e-01 1.07826236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:216.40, Y:2.36, Z:1.08 [[ 9.99688002e-01 -2.44613253e-02 -5.05394725e-03 2.16403017e+02] [ 2.44619378e-02 9.99700760e-01 5.93986018e-05 2.35872146e+00] [ 5.05098194e-03 -1.83009413e-04 9.99987227e-01 1.07873901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:216.44, Y:2.36, Z:1.08 [[ 9.99741092e-01 -2.21857276e-02 -5.05394362e-03 2.16435352e+02] [ 2.21863126e-02 9.99753852e-01 5.97057021e-05 2.36031863e+00] [ 5.05137498e-03 -1.71818617e-04 9.99987227e-01 1.07946279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:216.47, Y:2.36, Z:1.08 [[ 9.99844623e-01 -1.68874899e-02 -5.05393884e-03 2.16467969e+02] [ 1.68880093e-02 9.99857386e-01 6.01074859e-05 2.36367719e+00] [ 5.05220301e-03 -1.45449113e-04 9.99987227e-01 1.08088299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:216.50, Y:2.36, Z:1.08 [[ 9.99882923e-01 -1.44429320e-02 -5.05393404e-03 2.16499294e+02] [ 1.44434222e-02 9.99895687e-01 6.05082389e-05 2.36494925e+00] [ 5.05253293e-03 -1.33497258e-04 9.99987227e-01 1.08159062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59439141800001 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:216.53, Y:2.36, Z:1.08 [[ 9.99884055e-01 -1.43643506e-02 -5.05393166e-03 2.16531984e+02] [ 1.43648408e-02 9.99896819e-01 6.07061043e-05 2.36447796e+00] [ 5.05253819e-03 -1.33297989e-04 9.99987227e-01 1.08175581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62439141800002 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:216.56, Y:2.37, Z:1.08 [[ 9.99913685e-01 -1.21276425e-02 -5.05392686e-03 2.16562626e+02] [ 1.21281061e-02 9.99926450e-01 6.11032954e-05 2.36538674e+00] [ 5.05281411e-03 -1.22392583e-04 9.99987227e-01 1.08202553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65439141800002 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:216.59, Y:2.37, Z:1.08 [[ 9.99940567e-01 -9.66023240e-03 -5.05392278e-03 2.16593729e+02] [ 9.66066625e-03 9.99953333e-01 6.14388835e-05 2.36655771e+00] [ 5.05309342e-03 -1.10259493e-04 9.99987227e-01 1.08210903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:216.62, Y:2.37, Z:1.08 [[ 9.99946014e-01 -9.07896804e-03 -5.05392036e-03 2.16624164e+02] [ 9.07939547e-03 9.99958780e-01 6.16379393e-05 2.36675424e+00] [ 5.05315242e-03 -1.07521153e-04 9.99987227e-01 1.08180933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:216.65, Y:2.37, Z:1.08 [[ 9.99951589e-01 -8.44255887e-03 -5.05392036e-03 2.16654241e+02] [ 8.44297819e-03 9.99964356e-01 6.16379393e-05 2.36631999e+00] [ 5.05321983e-03 -1.04305095e-04 9.99987227e-01 1.07952550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:216.68, Y:2.37, Z:1.08 [[ 9.99933006e-01 -1.04134872e-02 -5.05392036e-03 2.16684177e+02] [ 1.04139317e-02 9.99945772e-01 6.16379393e-05 2.36756671e+00] [ 5.05300442e-03 -1.14264991e-04 9.99987227e-01 1.07953082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:216.72, Y:2.37, Z:1.08 [[ 9.99918318e-01 -1.17394660e-02 -5.05392158e-03 2.16715132e+02] [ 1.17399269e-02 9.99931083e-01 6.15375603e-05 2.36767003e+00] [ 5.05285086e-03 -1.20865204e-04 9.99987227e-01 1.07906246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:216.75, Y:2.37, Z:1.08 [[ 9.99901241e-01 -1.31135762e-02 -5.05391909e-03 2.16745537e+02] [ 1.31140557e-02 9.99914005e-01 6.17407796e-05 2.36746917e+00] [ 5.05267484e-03 -1.28012059e-04 9.99987227e-01 1.07815483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:216.78, Y:2.37, Z:1.08 [[ 9.99859709e-01 -1.59693582e-02 -5.05391786e-03 2.16776472e+02] [ 1.59698746e-02 9.99872472e-01 6.18416924e-05 2.36731268e+00] [ 5.05228577e-03 -1.42543451e-04 9.99987227e-01 1.07706314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:216.81, Y:2.37, Z:1.08 [[ 9.99837697e-01 -1.72926984e-02 -5.05391425e-03 2.16808752e+02] [ 1.72932332e-02 9.99850459e-01 6.21354689e-05 2.36710869e+00] [ 5.05208399e-03 -1.49523902e-04 9.99987227e-01 1.07812618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:216.84, Y:2.37, Z:1.08 [[ 9.99824174e-01 -1.80576584e-02 -5.05390926e-03 2.16839809e+02] [ 1.80582050e-02 9.99836935e-01 6.25389000e-05 2.36689443e+00] [ 5.05195584e-03 -1.53792434e-04 9.99987227e-01 1.07784125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:216.87, Y:2.37, Z:1.08 [[ 9.99837263e-01 -1.73177998e-02 -5.05390552e-03 2.16869628e+02] [ 1.73183384e-02 9.99850024e-01 6.28391707e-05 2.36698387e+00] [ 5.05205932e-03 -1.50354191e-04 9.99987227e-01 1.07867613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:216.90, Y:2.37, Z:1.08 [[ 9.99811108e-01 -1.87670874e-02 -5.05425963e-03 2.16901709e+02] [ 1.87675000e-02 9.99823874e-01 3.42127091e-05 2.36811538e+00] [ 5.05272737e-03 -1.29062064e-04 9.99987227e-01 1.07958071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:216.93, Y:2.37, Z:1.08 [[ 9.99823132e-01 -1.81152838e-02 -5.05389228e-03 2.16933335e+02] [ 1.81158359e-02 9.99835893e-01 6.34657655e-05 2.36846939e+00] [ 5.05191320e-03 -1.55010023e-04 9.99987227e-01 1.07981465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:216.96, Y:2.37, Z:1.08 [[ 9.99853637e-01 -1.63451302e-02 -5.05388454e-03 2.16964802e+02] [ 1.63456627e-02 9.99866399e-01 6.40755425e-05 2.36864833e+00] [ 5.05216202e-03 -1.46675257e-04 9.99987227e-01 1.07935437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.044391418 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:217.00, Y:2.36, Z:1.08 [[ 9.99968134e-01 -6.17962705e-03 -5.05397090e-03 2.17004932e+02] [ 6.17999594e-03 9.99980902e-01 5.73753189e-05 2.36124743e+00] [ 5.05351982e-03 -8.86070102e-05 9.99987227e-01 1.07963429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.074391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:217.02, Y:2.37, Z:1.08 [[ 9.99922612e-01 -1.13689861e-02 -5.05131931e-03 2.17024446e+02] [ 1.13703877e-02 9.99935324e-01 2.48828705e-04 2.37045483e+00] [ 5.04816368e-03 -3.06244908e-04 9.99987211e-01 1.08124984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.104391418 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:217.06, Y:2.37, Z:1.08 [[ 9.99949152e-01 -8.72666113e-03 -5.05366467e-03 2.17055096e+02] [ 8.72709695e-03 9.99961916e-01 6.41921328e-05 2.37079507e+00] [ 5.05291202e-03 -1.08292690e-04 9.99987228e-01 1.08201028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.134391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:217.09, Y:2.37, Z:1.08 [[ 9.99969433e-01 -5.96611077e-03 -5.05366062e-03 2.17085802e+02] [ 5.96651295e-03 9.99982198e-01 6.45090658e-05 2.37118277e+00] [ 5.05318579e-03 -9.46598255e-05 9.99987228e-01 1.08271897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:217.12, Y:2.37, Z:1.08 [[ 9.99987216e-01 1.66524777e-04 -5.05366062e-03 2.17115119e+02] [-1.66200892e-04 9.99999984e-01 6.45090658e-05 2.37240867e+00] [ 5.05367128e-03 -6.36683182e-05 9.99987228e-01 1.08367116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:217.14, Y:2.37, Z:1.08 [[ 9.99982289e-01 3.14362172e-03 -5.05366040e-03 2.17143552e+02] [-3.14333577e-03 9.99995058e-01 6.45263415e-05 2.37277255e+00] [ 5.05383827e-03 -4.86398472e-05 9.99987228e-01 1.08467498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:217.17, Y:2.37, Z:1.08 [[ 9.99969369e-01 5.97669071e-03 -5.05367339e-03 2.17171610e+02] [-5.97644615e-03 9.99982139e-01 6.34922057e-05 2.37276571e+00] [ 5.05396260e-03 -3.32872540e-05 9.99987228e-01 1.08363087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:217.20, Y:2.37, Z:1.08 [[ 9.99921157e-01 1.14952495e-02 -5.05369369e-03 2.17198584e+02] [-1.14950838e-02 9.99933927e-01 6.18331460e-05 2.37356026e+00] [ 5.05407057e-03 -3.73563833e-06 9.99987228e-01 1.08393645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:217.23, Y:2.37, Z:1.08 [[ 9.99889450e-01 1.39838773e-02 -5.05370237e-03 2.17226829e+02] [-1.39837470e-02 9.99902221e-01 6.11156424e-05 2.37347143e+00] [ 5.05406286e-03 9.56080917e-06 9.99987228e-01 1.08352359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:217.26, Y:2.37, Z:1.08 [[ 9.99860471e-01 1.59216071e-02 -5.05370945e-03 2.17255053e+02] [-1.59215045e-02 9.99873243e-01 6.05247519e-05 2.37366890e+00] [ 5.05403250e-03 1.99463509e-05 9.99987228e-01 1.08396798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34439141800001 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:217.28, Y:2.37, Z:1.08 [[ 9.99809767e-01 1.88385427e-02 -5.05371661e-03 2.17282646e+02] [-1.88384804e-02 9.99822538e-01 5.99203875e-05 2.37349410e+00] [ 5.05394858e-03 3.52953529e-05 9.99987228e-01 1.08377271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37439141800002 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:217.31, Y:2.37, Z:1.08 [[ 9.99801030e-01 1.92966318e-02 -5.05372372e-03 2.17310924e+02] [-1.92965785e-02 9.99813802e-01 5.93148155e-05 2.37317127e+00] [ 5.05392730e-03 3.82165626e-05 9.99987228e-01 1.08381448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40439141800002 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:217.34, Y:2.37, Z:1.08 [[ 9.99800846e-01 1.93061755e-02 -5.05373078e-03 2.17338960e+02] [-1.93061254e-02 9.99813618e-01 5.87067457e-05 2.37267622e+00] [ 5.05392226e-03 3.88729062e-05 9.99987228e-01 1.08349394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:217.37, Y:2.37, Z:1.08 [[ 9.99834746e-01 1.74625334e-02 -5.05373772e-03 2.17366987e+02] [-1.74624628e-02 9.99847518e-01 5.81036486e-05 2.37118801e+00] [ 5.05398175e-03 3.01566601e-05 9.99987228e-01 1.08334156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:217.40, Y:2.37, Z:1.08 [[ 9.99868254e-01 1.54251394e-02 -5.05374459e-03 2.17395547e+02] [-1.54250458e-02 9.99881025e-01 5.74999165e-05 2.37001265e+00] [ 5.05403026e-03 2.04619005e-05 9.99987228e-01 1.08345468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:217.42, Y:2.37, Z:1.08 [[ 9.99912689e-01 1.22095934e-02 -5.05375402e-03 2.17423548e+02] [-1.22094629e-02 9.99925460e-01 5.66665777e-05 2.36870759e+00] [ 5.05406919e-03 5.04199229e-06 9.99987228e-01 1.08315333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:217.45, Y:2.37, Z:1.08 [[ 9.99976125e-01 4.71272399e-03 -5.05375464e-03 2.17452670e+02] [-4.71249806e-03 9.99988895e-01 5.66114537e-05 2.36536623e+00] [ 5.05396531e-03 -3.27942932e-05 9.99987228e-01 1.08410449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:217.48, Y:2.36, Z:1.08 [[ 9.99987229e-01 3.61370095e-05 -5.05375924e-03 2.17481740e+02] [-3.58534557e-05 9.99999998e-01 5.61981012e-05 2.36340572e+00] [ 5.05376126e-03 -5.60161888e-05 9.99987228e-01 1.08406176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:217.51, Y:2.36, Z:1.08 [[ 9.99974198e-01 -5.10521050e-03 -5.05376382e-03 2.17509856e+02] [ 5.10555760e-03 9.99986965e-01 5.57830030e-05 2.36130535e+00] [ 5.05341316e-03 -8.15838460e-05 9.99987228e-01 1.08444994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:217.54, Y:2.36, Z:1.08 [[ 9.99937683e-01 -9.95438633e-03 -5.05376944e-03 2.17539688e+02] [ 9.95479275e-03 9.99950448e-01 5.52686765e-05 2.35877598e+00] [ 5.05296885e-03 -1.05574460e-04 9.99987228e-01 1.08480351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:217.57, Y:2.35, Z:1.09 [[ 9.99788381e-01 -1.99412181e-02 -5.05377055e-03 2.17570028e+02] [ 1.99417515e-02 9.99801142e-01 5.51675446e-05 2.35464694e+00] [ 5.05166546e-03 -1.55936906e-04 9.99987228e-01 1.08581582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:217.60, Y:2.35, Z:1.09 [[ 9.99692230e-01 -2.42879647e-02 -5.05377055e-03 2.17601724e+02] [ 2.42885536e-02 9.99704988e-01 5.51675446e-05 2.35219376e+00] [ 5.05093972e-03 -1.77899342e-04 9.99987228e-01 1.08637775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:217.63, Y:2.35, Z:1.09 [[ 9.99464276e-01 -3.23360437e-02 -5.05376607e-03 2.17633286e+02] [ 3.23367374e-02 9.99477029e-01 5.55746888e-05 2.34804790e+00] [ 5.04932603e-03 -2.18967222e-04 9.99987228e-01 1.08605140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:217.67, Y:2.35, Z:1.09 [[ 9.99354438e-01 -3.55691702e-02 -5.05376043e-03 2.17665113e+02] [ 3.55699076e-02 9.99367189e-01 5.60825623e-05 2.34636561e+00] [ 5.04856755e-03 -2.35808149e-04 9.99987228e-01 1.08613450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:217.70, Y:2.34, Z:1.09 [[ 9.99251505e-01 -3.83521746e-02 -5.05375603e-03 2.17698585e+02] [ 3.83529495e-02 9.99264253e-01 5.64767813e-05 2.34483952e+00] [ 5.04787174e-03 -2.50260958e-04 9.99987228e-01 1.08646042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.794391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:217.73, Y:2.34, Z:1.09 [[ 9.99172798e-01 -4.03506996e-02 -5.05374896e-03 2.17730752e+02] [ 4.03515032e-02 9.99185545e-01 5.71019664e-05 2.34348097e+00] [ 5.04732881e-03 -2.60981099e-04 9.99987228e-01 1.08644542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.824391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:217.76, Y:2.34, Z:1.09 [[ 9.99054594e-01 -4.31784342e-02 -5.05374306e-03 2.17763594e+02] [ 4.31792764e-02 9.99067338e-01 5.76193710e-05 2.34170770e+00] [ 5.04654172e-03 -2.75781866e-04 9.99987228e-01 1.08657451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.854391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:217.80, Y:2.34, Z:1.09 [[ 9.99052060e-01 -4.32370365e-02 -5.05373593e-03 2.17796715e+02] [ 4.32378826e-02 9.99064804e-01 5.82384073e-05 2.34052752e+00] [ 5.04649164e-03 -2.76696042e-04 9.99987228e-01 1.08696547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.884391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:217.83, Y:2.34, Z:1.09 [[ 9.99108430e-01 -4.19142662e-02 -5.05372877e-03 2.17829725e+02] [ 4.19150985e-02 9.99121174e-01 5.88532327e-05 2.33936794e+00] [ 5.04682063e-03 -2.70628300e-04 9.99987228e-01 1.08734653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:217.86, Y:2.34, Z:1.09 [[ 9.99155765e-01 -4.07702943e-02 -5.05372147e-03 2.17861439e+02] [ 4.07711152e-02 9.99168511e-01 5.94732342e-05 2.33896822e+00] [ 5.04709462e-03 -2.65468885e-04 9.99987228e-01 1.08739865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:217.89, Y:2.34, Z:1.09 [[ 9.99224811e-01 -3.90414897e-02 -5.05371539e-03 2.17893376e+02] [ 3.90422911e-02 9.99237557e-01 5.99857553e-05 2.33891835e+00] [ 5.04752029e-03 -2.57247882e-04 9.99987228e-01 1.08744691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:217.93, Y:2.34, Z:1.09 [[ 9.99386376e-01 -3.46602373e-02 -5.05371046e-03 2.17925022e+02] [ 3.46609849e-02 9.99399126e-01 6.03984148e-05 2.34003491e+00] [ 5.04858039e-03 -2.35527935e-04 9.99987228e-01 1.08730072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:217.96, Y:2.34, Z:1.09 [[ 9.99470890e-01 -3.21309722e-02 -5.05370677e-03 2.17957134e+02] [ 3.21316891e-02 9.99483642e-01 6.07056852e-05 2.34031851e+00] [ 5.04914671e-03 -2.23057700e-04 9.99987228e-01 1.08672402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:217.99, Y:2.34, Z:1.09 [[ 9.99549665e-01 -2.95791692e-02 -5.05370186e-03 2.17988456e+02] [ 2.95798556e-02 9.99562418e-01 6.11119574e-05 2.34046021e+00] [ 5.04968281e-03 -2.10572207e-04 9.99987228e-01 1.08647492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:218.02, Y:2.34, Z:1.09 [[ 9.99622362e-01 -2.70109990e-02 -5.05369818e-03 2.18020759e+02] [ 2.70116542e-02 9.99635117e-01 6.14140816e-05 2.34071914e+00] [ 5.05019532e-03 -1.97899637e-04 9.99987228e-01 1.08655794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09439141800001 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:218.05, Y:2.34, Z:1.09 [[ 9.99761799e-01 -2.12321607e-02 -5.05369334e-03 2.18053216e+02] [ 2.12327441e-02 9.99774558e-01 6.18098368e-05 2.34168174e+00] [ 5.05124167e-03 -1.69098891e-04 9.99987228e-01 1.08713071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12439141800002 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:218.08, Y:2.34, Z:1.09 [[ 9.99816846e-01 -1.84589789e-02 -5.05368849e-03 2.18084435e+02] [ 1.84595289e-02 9.99829606e-01 6.22040038e-05 2.34236625e+00] [ 5.05167915e-03 -1.55481320e-04 9.99987228e-01 1.08773051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15439141800002 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:218.12, Y:2.34, Z:1.09 [[ 9.99906948e-01 -1.26710461e-02 -5.05368486e-03 2.18116898e+02] [ 1.26715237e-02 9.99919711e-01 6.24975983e-05 2.34368962e+00] [ 5.05248720e-03 -1.26529670e-04 9.99987228e-01 1.08821685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:218.15, Y:2.34, Z:1.09 [[ 9.99937584e-01 -9.96432185e-03 -5.05367998e-03 2.18148184e+02] [ 9.96476689e-03 9.99950349e-01 6.28901895e-05 2.34391387e+00] [ 5.05280239e-03 -1.13245007e-04 9.99987228e-01 1.08885201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214391418 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:218.18, Y:2.34, Z:1.09 [[ 9.99981825e-01 -3.28795542e-03 -5.05367755e-03 2.18184049e+02] [ 3.28831621e-03 9.99994591e-01 6.30842506e-05 2.33847253e+00] [ 5.05344280e-03 -7.97011938e-05 9.99987228e-01 1.08706891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:218.21, Y:2.34, Z:1.09 [[ 9.99972583e-01 -5.41387744e-03 -5.05212829e-03 2.18206773e+02] [ 5.41487921e-03 9.99985322e-01 1.84628543e-04 2.34419044e+00] [ 5.05105458e-03 -2.11980145e-04 9.99987221e-01 1.08959968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:218.24, Y:2.34, Z:1.09 [[ 9.99986874e-01 -8.44028351e-04 -5.05361348e-03 2.18236314e+02] [ 8.44344527e-04 9.99999642e-01 6.04311039e-05 2.34412391e+00] [ 5.05356067e-03 -6.46973016e-05 9.99987229e-01 1.08944487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:218.26, Y:2.34, Z:1.09 [[ 9.99986707e-01 1.02278999e-03 -5.05361585e-03 2.18264925e+02] [-1.02249865e-03 9.99999475e-01 6.02327851e-05 2.34385440e+00] [ 5.05367480e-03 -5.50646691e-05 9.99987229e-01 1.08899424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:218.29, Y:2.34, Z:1.09 [[ 9.99977173e-01 4.48483209e-03 -5.05363271e-03 2.18292294e+02] [-4.48459229e-03 9.99989942e-01 5.87828623e-05 2.34378337e+00] [ 5.05384552e-03 -3.61180382e-05 9.99987229e-01 1.08818436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:218.32, Y:2.34, Z:1.09 [[ 9.99968275e-01 6.15709573e-03 -5.05363862e-03 2.18320283e+02] [-6.15687987e-03 9.99981045e-01 5.82703889e-05 2.34318888e+00] [ 5.05390161e-03 -2.71538944e-05 9.99987229e-01 1.08857747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:218.35, Y:2.34, Z:1.09 [[ 9.99961748e-01 7.13879036e-03 -5.05364577e-03 2.18348178e+02] [-7.13859020e-03 9.99974518e-01 5.76437201e-05 2.34260859e+00] [ 5.05392850e-03 -2.15656090e-05 9.99987229e-01 1.08854779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:218.38, Y:2.34, Z:1.09 [[ 9.99954426e-01 8.09974637e-03 -5.05365162e-03 2.18376734e+02] [-8.09956110e-03 9.99967196e-01 5.71266858e-05 2.34146765e+00] [ 5.05394855e-03 -1.61917223e-05 9.99987229e-01 1.08843936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:218.41, Y:2.34, Z:1.09 [[ 9.99955071e-01 8.01969935e-03 -5.05365614e-03 2.18406040e+02] [-8.01951509e-03 9.99967842e-01 5.67234213e-05 2.34121562e+00] [ 5.05394853e-03 -1.61930011e-05 9.99987229e-01 1.08858759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:218.43, Y:2.34, Z:1.09 [[ 9.99945414e-01 9.14493685e-03 -5.05366065e-03 2.18433580e+02] [-9.14476901e-03 9.99958184e-01 5.63188776e-05 2.33880944e+00] [ 5.05396436e-03 -1.01012441e-05 9.99987229e-01 1.08906056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:218.46, Y:2.34, Z:1.09 [[ 9.99942399e-01 9.46881822e-03 -5.05366742e-03 2.18461767e+02] [-9.46865762e-03 9.99955170e-01 5.57042236e-05 2.33720261e+00] [ 5.05396832e-03 -7.84956842e-06 9.99987229e-01 1.08956452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.544391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:218.49, Y:2.34, Z:1.09 [[ 9.99938850e-01 9.83647260e-03 -5.05367310e-03 2.18490114e+02] [-9.83631932e-03 9.99951621e-01 5.51840764e-05 2.33545564e+00] [ 5.05397143e-03 -5.47115946e-06 9.99987229e-01 1.09015685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.574391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:218.52, Y:2.33, Z:1.09 [[ 9.99941607e-01 9.55209273e-03 -5.05367745e-03 2.18517681e+02] [-9.55193785e-03 9.99954378e-01 5.47830212e-05 2.33220776e+00] [ 5.05397018e-03 -6.50740928e-06 9.99987229e-01 1.09063706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.604391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:218.55, Y:2.33, Z:1.09 [[ 9.99946358e-01 9.04105033e-03 -5.05368324e-03 2.18546518e+02] [-9.04089164e-03 9.99959129e-01 5.42440918e-05 2.33007481e+00] [ 5.05396711e-03 -8.55137950e-06 9.99987229e-01 1.09068331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.634391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:218.57, Y:2.33, Z:1.09 [[ 9.99951299e-01 8.47707011e-03 -5.05368745e-03 2.18574908e+02] [-8.47690623e-03 9.99964069e-01 5.38488419e-05 2.32788505e+00] [ 5.05396234e-03 -1.10065847e-05 9.99987229e-01 1.09072970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:218.60, Y:2.32, Z:1.09 [[ 9.99966918e-01 6.37366080e-03 -5.05369161e-03 2.18602887e+02] [-6.37347204e-03 9.99979688e-01 5.34553550e-05 2.32306062e+00] [ 5.05392967e-03 -2.12440243e-05 9.99987229e-01 1.09018073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:218.63, Y:2.32, Z:1.09 [[ 9.99975335e-01 4.87754805e-03 -5.05369672e-03 2.18631736e+02] [-4.87734265e-03 9.99988104e-01 5.29678053e-05 2.32034073e+00] [ 5.05389496e-03 -2.83178883e-05 9.99987229e-01 1.09039799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:218.66, Y:2.32, Z:1.09 [[ 9.99981901e-01 3.26454500e-03 -5.05370090e-03 2.18660649e+02] [-3.26432103e-03 9.99994671e-01 5.25657175e-05 2.31760070e+00] [ 5.05384557e-03 -3.60678640e-05 9.99987229e-01 1.09021957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:218.69, Y:2.31, Z:1.09 [[ 9.99986953e-01 7.44330627e-04 -5.05370515e-03 2.18688874e+02] [-7.44076556e-04 9.99999722e-01 5.21540525e-05 2.31246802e+00] [ 5.05374257e-03 -4.83930285e-05 9.99987229e-01 1.08928233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:218.72, Y:2.31, Z:1.09 [[ 9.99987153e-01 -3.93344356e-04 -5.05371036e-03 2.18717834e+02] [ 3.93610376e-04 9.99999921e-01 5.16439430e-05 2.31015509e+00] [ 5.05368965e-03 -5.36324723e-05 9.99987229e-01 1.08979113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:218.75, Y:2.31, Z:1.09 [[ 9.99986455e-01 -1.24481250e-03 -5.05371460e-03 2.18745701e+02] [ 1.24508728e-03 9.99999224e-01 5.12261788e-05 2.30794566e+00] [ 5.05364691e-03 -5.75178007e-05 9.99987229e-01 1.08877541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84439141800001 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:218.77, Y:2.30, Z:1.09 [[ 9.99985285e-01 -1.97234469e-03 -5.05371983e-03 2.18774433e+02] [ 1.97262613e-03 9.99998053e-01 5.07050643e-05 2.30347775e+00] [ 5.05360998e-03 -6.06734179e-05 9.99987229e-01 1.08830759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87439141800002 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:218.80, Y:2.30, Z:1.09 [[ 9.99984742e-01 -2.23068720e-03 -5.05372365e-03 2.18802869e+02] [ 2.23096999e-03 9.99997510e-01 5.03211057e-05 2.30137117e+00] [ 5.05359882e-03 -6.15950437e-05 9.99987229e-01 1.08906874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90439141800002 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:218.83, Y:2.30, Z:1.09 [[ 9.99985364e-01 -1.93168651e-03 -5.05373765e-03 2.18831174e+02] [ 1.93195817e-03 9.99998133e-01 4.88734194e-05 2.29911245e+00] [ 5.05363380e-03 -5.86363138e-05 9.99987229e-01 1.08914243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:218.86, Y:2.30, Z:1.09 [[ 9.99986607e-01 -1.11621339e-03 -5.05375114e-03 2.18859440e+02] [ 1.11646738e-03 9.99999376e-01 4.74362184e-05 2.29568499e+00] [ 5.05369504e-03 -5.30779313e-05 9.99987229e-01 1.08907103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:218.89, Y:2.29, Z:1.09 [[ 9.99986754e-01 -9.75787809e-04 -5.05375397e-03 2.18887825e+02] [ 9.76038467e-04 9.99999523e-01 4.71323256e-05 2.29396822e+00] [ 5.05370557e-03 -5.20643596e-05 9.99987229e-01 1.08921485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:218.92, Y:2.29, Z:1.09 [[ 9.99986962e-01 -7.31775729e-04 -5.05376668e-03 2.18916172e+02] [ 7.32016174e-04 9.99999731e-01 4.57278148e-05 2.29226483e+00] [ 5.05373186e-03 -4.94266576e-05 9.99987229e-01 1.08942144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:218.94, Y:2.29, Z:1.09 [[ 9.99987194e-01 -2.67580342e-04 -5.05377897e-03 2.18943997e+02] [ 2.67807778e-04 9.99999963e-01 4.43264817e-05 2.29051126e+00] [ 5.05376693e-03 -4.56793554e-05 9.99987229e-01 1.08953293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:218.97, Y:2.29, Z:1.09 [[ 9.99986545e-01 1.17047082e-03 -5.05378327e-03 2.18971724e+02] [-1.17026425e-03 9.99999314e-01 4.38308876e-05 2.28672465e+00] [ 5.05383111e-03 -3.79160360e-05 9.99987229e-01 1.08932616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:219.00, Y:2.28, Z:1.09 [[ 9.99985644e-01 1.78100973e-03 -5.05378747e-03 2.18999601e+02] [-1.78081343e-03 9.99998413e-01 4.33409397e-05 2.28488205e+00] [ 5.05385665e-03 -3.43404649e-05 9.99987229e-01 1.08971038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:219.03, Y:2.28, Z:1.09 [[ 9.99984446e-01 2.35938266e-03 -5.05379242e-03 2.19027320e+02] [-2.35919671e-03 9.99997216e-01 4.27567517e-05 2.28328680e+00] [ 5.05387923e-03 -3.08331962e-05 9.99987229e-01 1.08970896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:219.06, Y:2.28, Z:1.09 [[ 9.99979864e-01 3.83818987e-03 -5.05379725e-03 2.19055255e+02] [-3.83802572e-03 9.99992634e-01 4.21773536e-05 2.28010189e+00] [ 5.05392191e-03 -2.27799004e-05 9.99987229e-01 1.09029758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:219.08, Y:2.28, Z:1.09 [[ 9.99977578e-01 4.39341982e-03 -5.05380120e-03 2.19083943e+02] [-4.39326518e-03 9.99990349e-01 4.16982685e-05 2.27861194e+00] [ 5.05393563e-03 -1.94946447e-05 9.99987229e-01 1.09013429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:219.11, Y:2.28, Z:1.09 [[ 9.99976412e-01 4.65134508e-03 -5.05380370e-03 2.19113072e+02] [-4.65119528e-03 9.99989182e-01 4.13934991e-05 2.27683175e+00] [ 5.05394157e-03 -1.78862948e-05 9.99987229e-01 1.08986071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:219.14, Y:2.27, Z:1.09 [[ 9.99976344e-01 4.66595407e-03 -5.05380707e-03 2.19142168e+02] [-4.66580656e-03 9.99989114e-01 4.09781480e-05 2.27300536e+00] [ 5.05394326e-03 -1.73970924e-05 9.99987229e-01 1.08977034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:219.17, Y:2.27, Z:1.09 [[ 9.99979109e-01 4.02994225e-03 -5.05381069e-03 2.19169703e+02] [-4.02978890e-03 9.99991880e-01 4.05266515e-05 2.27127985e+00] [ 5.05393297e-03 -2.01600146e-05 9.99987229e-01 1.08915975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.294391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:219.20, Y:2.27, Z:1.09 [[ 9.99983793e-01 2.62169811e-03 -5.05381510e-03 2.19197989e+02] [-2.62152959e-03 9.99996563e-01 3.99695384e-05 2.26779297e+00] [ 5.05390251e-03 -2.67201648e-05 9.99987229e-01 1.08772631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.324391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:219.23, Y:2.27, Z:1.09 [[ 9.99986199e-01 1.43578845e-03 -5.05381853e-03 2.19226537e+02] [-1.43560700e-03 9.99998969e-01 3.95303193e-05 2.26622258e+00] [ 5.05387008e-03 -3.22744765e-05 9.99987229e-01 1.08791591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.354391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:219.26, Y:2.26, Z:1.09 [[ 9.99987202e-01 2.34496806e-04 -5.05382156e-03 2.19255078e+02] [-2.34301999e-04 9.99999972e-01 3.91385700e-05 2.26436498e+00] [ 5.05383060e-03 -3.79539486e-05 9.99987229e-01 1.08920225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.384391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:219.28, Y:2.26, Z:1.09 [[ 9.99985157e-01 -2.03562918e-03 -5.05382494e-03 2.19284012e+02] [ 2.03585075e-03 9.99997927e-01 3.86983943e-05 2.26103765e+00] [ 5.05373568e-03 -4.89866532e-05 9.99987229e-01 1.09030971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:219.31, Y:2.26, Z:1.09 [[ 9.99982776e-01 -2.98432135e-03 -5.05382826e-03 2.19312040e+02] [ 2.98455281e-03 9.99995545e-01 3.82586697e-05 2.25945057e+00] [ 5.05369158e-03 -5.33414281e-05 9.99987229e-01 1.08971333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:219.34, Y:2.26, Z:1.09 [[ 9.99978219e-01 -4.24503946e-03 -5.05383233e-03 2.19340988e+02] [ 4.24528427e-03 9.99990988e-01 3.77138363e-05 2.25825029e+00] [ 5.05362669e-03 -5.91679698e-05 9.99987229e-01 1.09150676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:219.37, Y:2.26, Z:1.09 [[ 9.99974403e-01 -5.06487975e-03 -5.05384342e-03 2.19369340e+02] [ 5.06512719e-03 9.99987172e-01 3.61635320e-05 2.25714991e+00] [ 5.05359543e-03 -6.17609661e-05 9.99987229e-01 1.09202945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:219.40, Y:2.26, Z:1.09 [[ 9.99966668e-01 -6.41266750e-03 -5.05385395e-03 2.19398346e+02] [ 6.41292439e-03 9.99979436e-01 3.46269375e-05 2.25504478e+00] [ 5.05352798e-03 -6.70357665e-05 9.99987229e-01 1.09251582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:219.43, Y:2.25, Z:1.09 [[ 9.99961422e-01 -7.18420773e-03 -5.05385616e-03 2.19428099e+02] [ 7.18447283e-03 9.99974191e-01 3.43014522e-05 2.25377322e+00] [ 5.05347930e-03 -7.06094212e-05 9.99987229e-01 1.09292502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:219.46, Y:2.25, Z:1.09 [[ 9.99953022e-01 -8.27123308e-03 -5.05385765e-03 2.19456582e+02] [ 8.27151094e-03 9.99965790e-01 3.40803573e-05 2.25239894e+00] [ 5.05340287e-03 -7.58817951e-05 9.99987229e-01 1.09327601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59439141800001 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:219.49, Y:2.25, Z:1.09 [[ 9.99935393e-01 -1.01817234e-02 -5.05386029e-03 2.19486006e+02] [ 1.01820237e-02 9.99948161e-01 3.36838675e-05 2.24961342e+00] [ 5.05325535e-03 -8.51402164e-05 9.99987229e-01 1.09318517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62439141800002 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:219.52, Y:2.25, Z:1.09 [[ 9.99926691e-01 -1.10032321e-02 -5.05386172e-03 2.19515837e+02] [ 1.10035417e-02 9.99939459e-01 3.34680704e-05 2.24814546e+00] [ 5.05318750e-03 -8.90759951e-05 9.99987229e-01 1.09307232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65439141800002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:219.55, Y:2.25, Z:1.09 [[ 9.99919825e-01 -1.16104688e-02 -5.05386313e-03 2.19545645e+02] [ 1.16107851e-02 9.99932592e-01 3.32536721e-05 2.24681851e+00] [ 5.05313637e-03 -9.19303249e-05 9.99987229e-01 1.09280298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:219.58, Y:2.25, Z:1.09 [[ 9.99911639e-01 -1.22952400e-02 -5.05386383e-03 2.19576479e+02] [ 1.22955646e-02 9.99924406e-01 3.31475067e-05 2.24501682e+00] [ 5.05307423e-03 -9.52846868e-05 9.99987229e-01 1.09325977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:219.61, Y:2.24, Z:1.09 [[ 9.99915719e-01 -1.19588337e-02 -5.05386383e-03 2.19607165e+02] [ 1.19591540e-02 9.99928486e-01 3.31475067e-05 2.24387500e+00] [ 5.05310600e-03 -9.35846487e-05 9.99987229e-01 1.09279301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:219.64, Y:2.24, Z:1.09 [[ 9.99922757e-01 -1.13551445e-02 -5.05386383e-03 2.19636958e+02] [ 1.13554570e-02 9.99935524e-01 3.31475067e-05 2.24270093e+00] [ 5.05316158e-03 -9.05338797e-05 9.99987229e-01 1.09204628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:219.67, Y:2.24, Z:1.09 [[ 9.99949414e-01 -8.69642528e-03 -5.05386373e-03 2.19667075e+02] [ 8.69670394e-03 9.99962182e-01 3.31624002e-05 2.24098356e+00] [ 5.05338421e-03 -7.71126792e-05 9.99987229e-01 1.09185227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:219.70, Y:2.24, Z:1.09 [[ 9.99963016e-01 -6.95876088e-03 -5.05386373e-03 2.19697143e+02] [ 6.95901734e-03 9.99975785e-01 3.31624002e-05 2.24026769e+00] [ 5.05351059e-03 -6.83310991e-05 9.99987229e-01 1.09266777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:219.73, Y:2.24, Z:1.09 [[ 9.99974510e-01 -5.04350829e-03 -5.05386517e-03 2.19725593e+02] [ 5.04373918e-03 9.99987280e-01 3.29412182e-05 2.23979799e+00] [ 5.05363475e-03 -5.84307563e-05 9.99987229e-01 1.09340357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:219.76, Y:2.24, Z:1.09 [[ 9.99986330e-01 -1.34084057e-03 -5.05386729e-03 2.19755235e+02] [ 1.34102251e-03 9.99999100e-01 3.26132085e-05 2.23910295e+00] [ 5.05381901e-03 -3.93901125e-05 9.99987229e-01 1.09342100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:219.78, Y:2.24, Z:1.09 [[ 9.99987227e-01 -6.97956340e-05 -5.05386870e-03 2.19783577e+02] [ 6.99602404e-05 9.99999997e-01 3.23936081e-05 2.23885943e+00] [ 5.05386642e-03 -3.27467642e-05 9.99987229e-01 1.09342983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:219.81, Y:2.24, Z:1.09 [[ 9.99986746e-01 9.83038782e-04 -5.05387819e-03 2.19812368e+02] [-9.82895480e-04 9.99999516e-01 3.08385178e-05 2.23850160e+00] [ 5.05390606e-03 -2.58706750e-05 9.99987229e-01 1.09292804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:219.84, Y:2.24, Z:1.09 [[ 9.99986084e-01 1.51331893e-03 -5.05388713e-03 2.19839970e+02] [-1.51319020e-03 9.99998855e-01 2.92950785e-05 2.23806968e+00] [ 5.05392568e-03 -2.16471784e-05 9.99987229e-01 1.09294541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:219.87, Y:2.24, Z:1.09 [[ 9.99985714e-01 1.74092048e-03 -5.05389091e-03 2.19869002e+02] [-1.74079803e-03 9.99998484e-01 2.86291502e-05 2.23678179e+00] [ 5.05393309e-03 -1.98309379e-05 9.99987229e-01 1.09287179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:219.90, Y:2.24, Z:1.09 [[ 9.99986694e-01 1.03438273e-03 -5.05389341e-03 2.19896627e+02] [-1.03425352e-03 9.99999465e-01 2.81809978e-05 2.23607423e+00] [ 5.05391985e-03 -2.29536158e-05 9.99987229e-01 1.09323541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.044391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:219.93, Y:2.24, Z:1.09 [[ 9.99987107e-01 -4.94112127e-04 -5.05389644e-03 2.19925331e+02] [ 4.94258055e-04 9.99999877e-01 2.76254585e-05 2.23568512e+00] [ 5.05388217e-03 -3.01230314e-05 9.99987229e-01 1.09410693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.074391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:219.95, Y:2.23, Z:1.10 [[ 9.99978666e-01 -4.13822328e-03 -5.05389883e-03 2.19954251e+02] [ 4.13841351e-03 9.99991436e-01 2.71818139e-05 2.23473180e+00] [ 5.05374306e-03 -4.80963572e-05 9.99987229e-01 1.09561405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.104391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:219.98, Y:2.23, Z:1.10 [[ 9.99966204e-01 -6.48444040e-03 -5.05390118e-03 2.19983383e+02] [ 6.48465835e-03 9.99978974e-01 2.67379395e-05 2.23427672e+00] [ 5.05362153e-03 -5.95098584e-05 9.99987229e-01 1.09637377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.134391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:220.01, Y:2.23, Z:1.10 [[ 9.99943701e-01 -9.33022310e-03 -5.05390348e-03 2.20011534e+02] [ 9.33047514e-03 9.99956470e-01 2.62942945e-05 2.23364542e+00] [ 5.05343816e-03 -7.34481350e-05 9.99987229e-01 1.09663322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:220.04, Y:2.23, Z:1.10 [[ 9.99863894e-01 -1.57051179e-02 -5.05390518e-03 2.20040886e+02] [ 1.57054497e-02 9.99876661e-01 2.59652350e-05 2.23196868e+00] [ 5.05287405e-03 -1.05335555e-04 9.99987229e-01 1.09683699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:220.07, Y:2.23, Z:1.10 [[ 9.99803067e-01 -1.91907340e-02 -5.05390573e-03 2.20071649e+02] [ 1.91911097e-02 9.99815833e-01 2.58576879e-05 2.23138295e+00] [ 5.05247874e-03 -1.22842655e-04 9.99987229e-01 1.09696932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:220.10, Y:2.23, Z:1.10 [[ 9.99723767e-01 -2.29531519e-02 -5.05390573e-03 2.20103388e+02] [ 2.29535756e-02 9.99736532e-01 2.58576879e-05 2.23107435e+00] [ 5.05198067e-03 -1.41855753e-04 9.99987229e-01 1.09645969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:220.13, Y:2.23, Z:1.10 [[ 9.99635491e-01 -2.65206162e-02 -5.05390463e-03 2.20133448e+02] [ 2.65210866e-02 9.99648254e-01 2.60693601e-05 2.23058693e+00] [ 5.05143557e-03 -1.60094900e-04 9.99987229e-01 1.09598036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:220.17, Y:2.23, Z:1.10 [[ 9.99432898e-01 -3.32917393e-02 -5.05390275e-03 2.20166054e+02] [ 3.32922980e-02 9.99445657e-01 2.64295998e-05 2.23009303e+00] [ 5.05022127e-03 -1.94670648e-04 9.99987229e-01 1.09583654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:220.20, Y:2.23, Z:1.10 [[ 9.99346273e-01 -3.57978321e-02 -5.05390042e-03 2.20197616e+02] [ 3.57984250e-02 9.99359031e-01 2.68682136e-05 2.22983244e+00] [ 5.04969920e-03 -2.07772324e-04 9.99987229e-01 1.09536769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34439141800001 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:220.23, Y:2.23, Z:1.10 [[ 9.99270003e-01 -3.78671372e-02 -5.05389866e-03 2.20229744e+02] [ 3.78677582e-02 9.99282759e-01 2.71941247e-05 2.23001229e+00] [ 5.04924404e-03 -2.18554086e-04 9.99987229e-01 1.09538397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37439141800002 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:220.26, Y:2.23, Z:1.10 [[ 9.99145693e-01 -4.10163765e-02 -5.05389639e-03 2.20261843e+02] [ 4.10170397e-02 9.99158447e-01 2.76113017e-05 2.23155258e+00] [ 5.04851075e-03 -2.34883582e-04 9.99987229e-01 1.09683272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40439141800002 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:220.29, Y:2.23, Z:1.10 [[ 9.99149045e-01 -4.09346236e-02 -5.05389396e-03 2.20294528e+02] [ 4.09352880e-02 9.99161799e-01 2.80478024e-05 2.23129399e+00] [ 5.04850966e-03 -2.34906540e-04 9.99987229e-01 1.09699783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:220.33, Y:2.23, Z:1.10 [[ 9.99104443e-01 -4.20091586e-02 -5.05389163e-03 2.20326723e+02] [ 4.20098388e-02 9.99117197e-01 2.84613195e-05 2.23246191e+00] [ 5.04823441e-03 -2.40749004e-04 9.99987229e-01 1.09687298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:220.36, Y:2.23, Z:1.10 [[ 9.99067336e-01 -4.28825940e-02 -5.05388857e-03 2.20359221e+02] [ 4.28832880e-02 9.99080088e-01 2.89960046e-05 2.23386208e+00] [ 5.04799601e-03 -2.45696320e-04 9.99987229e-01 1.09811277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:220.39, Y:2.24, Z:1.10 [[ 9.98987256e-01 -4.47092788e-02 -5.05388606e-03 2.20391148e+02] [ 4.47099983e-02 9.99000008e-01 2.94268193e-05 2.23752796e+00] [ 5.04751656e-03 -2.55356255e-04 9.99987229e-01 1.09907329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:220.42, Y:2.24, Z:1.10 [[ 9.98940246e-01 -4.57475988e-02 -5.05388360e-03 2.20421970e+02] [ 4.57483337e-02 9.98952996e-01 2.98437937e-05 2.23906218e+00] [ 5.04722688e-03 -2.61018920e-04 9.99987229e-01 1.09874718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:220.45, Y:2.24, Z:1.10 [[ 9.98891076e-01 -4.68089296e-02 -5.05388174e-03 2.20454511e+02] [ 4.68096796e-02 9.98903826e-01 3.01542530e-05 2.24028794e+00] [ 5.04693032e-03 -2.66691400e-04 9.99987229e-01 1.09755021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584391418 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:220.49, Y:2.24, Z:1.10 [[ 9.98761747e-01 -4.94917319e-02 -5.05387938e-03 2.20486404e+02] [ 4.94925181e-02 9.98774494e-01 3.05459221e-05 2.24449223e+00] [ 5.04617405e-03 -2.80637315e-04 9.99987229e-01 1.09862520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:220.52, Y:2.25, Z:1.10 [[ 9.98682453e-01 -5.10667890e-02 -5.05387682e-03 2.20517683e+02] [ 5.10675975e-02 9.98695199e-01 3.09628959e-05 2.24614053e+00] [ 5.04570134e-03 -2.89011448e-04 9.99987229e-01 1.09740320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:220.55, Y:2.25, Z:1.10 [[ 9.98599495e-01 -5.26640987e-02 -5.05387490e-03 2.20549959e+02] [ 5.26649291e-02 9.98612239e-01 3.12733548e-05 2.24826915e+00] [ 5.04521435e-03 -2.97391520e-04 9.99987229e-01 1.09696125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:220.58, Y:2.25, Z:1.10 [[ 9.98413376e-01 -5.60819861e-02 -5.05387243e-03 2.20580927e+02] [ 5.60828621e-02 9.98426117e-01 3.16671294e-05 2.25314508e+00] [ 5.04414227e-03 -3.15052516e-04 9.99987229e-01 1.09622657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:220.61, Y:2.26, Z:1.10 [[ 9.98287799e-01 -5.82745995e-02 -5.05387058e-03 2.20613484e+02] [ 5.82755050e-02 9.98300538e-01 3.19607347e-05 2.25520399e+00] [ 5.04341922e-03 -3.26422872e-04 9.99987229e-01 1.09745090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:220.65, Y:2.26, Z:1.10 [[ 9.98165937e-01 -6.03259472e-02 -5.05386785e-03 2.20645008e+02] [ 6.03268809e-02 9.98178675e-01 3.23857446e-05 2.25751248e+00] [ 5.04270941e-03 -3.37210431e-04 9.99987229e-01 1.09690219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:220.68, Y:2.26, Z:1.10 [[ 9.97916722e-01 -6.43169886e-02 -5.05386581e-03 2.20678254e+02] [ 6.43179749e-02 9.97929455e-01 3.27009835e-05 2.26254980e+00] [ 5.04129833e-03 -3.57687273e-04 9.99987229e-01 1.09756704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.794391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:220.71, Y:2.27, Z:1.10 [[ 9.97827198e-01 -6.56912578e-02 -5.05386163e-03 2.20711629e+02] [ 6.56922649e-02 9.97839930e-01 3.33358777e-05 2.26511125e+00] [ 5.04075505e-03 -3.65263062e-04 9.99987229e-01 1.09806192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.824391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:220.74, Y:2.27, Z:1.10 [[ 9.97758619e-01 -6.67247796e-02 -5.05385737e-03 2.20744416e+02] [ 6.67258030e-02 9.97771350e-01 3.39691413e-05 2.26758270e+00] [ 5.04032750e-03 -3.71115695e-04 9.99987229e-01 1.09908245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.854391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:220.77, Y:2.27, Z:1.10 [[ 9.97725171e-01 -6.72230785e-02 -5.05374145e-03 2.20774254e+02] [ 6.72241922e-02 9.97737894e-01 5.06486138e-05 2.27076812e+00] [ 5.03890460e-03 -3.90267084e-04 9.99987228e-01 1.09948328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.884391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:220.81, Y:2.28, Z:1.10 [[ 9.97750618e-01 -6.68443114e-02 -5.05384757e-03 2.20806459e+02] [ 6.68453444e-02 9.97763348e-01 3.55715693e-05 2.27697690e+00] [ 5.04016612e-03 -3.73317737e-04 9.99987229e-01 1.10129705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:220.84, Y:2.28, Z:1.10 [[ 9.97828021e-01 -6.56787607e-02 -5.05373773e-03 2.20839550e+02] [ 6.56798565e-02 9.97840746e-01 5.09981276e-05 2.27946837e+00] [ 5.03947594e-03 -3.82816130e-04 9.99987228e-01 1.10178133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:220.87, Y:2.28, Z:1.10 [[ 9.97924961e-01 -6.41890357e-02 -5.05368357e-03 2.20869911e+02] [ 6.41901499e-02 9.97937684e-01 5.84231838e-05 2.28259492e+00] [ 5.03951115e-03 -3.82698659e-04 9.99987228e-01 1.10101440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:220.90, Y:2.29, Z:1.10 [[ 9.98029684e-01 -6.25396544e-02 -5.05384100e-03 2.20903231e+02] [ 6.25406386e-02 9.98042418e-01 3.68061455e-05 2.28578047e+00] [ 5.04164585e-03 -3.52804070e-04 9.99987229e-01 1.10197186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:220.93, Y:2.29, Z:1.10 [[ 9.98375239e-01 -5.67568706e-02 -5.05374806e-03 2.20934768e+02] [ 5.67578447e-02 9.98387973e-01 4.94364420e-05 2.29193046e+00] [ 5.04279542e-03 -3.36195967e-04 9.99987229e-01 1.10151797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:220.97, Y:2.30, Z:1.10 [[ 9.98533743e-01 -5.38964170e-02 -5.05383629e-03 2.20967598e+02] [ 5.38972949e-02 9.98546484e-01 3.75678389e-05 2.29502380e+00] [ 5.04446568e-03 -3.09900859e-04 9.99987229e-01 1.10140943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:221.00, Y:2.30, Z:1.10 [[ 9.98675487e-01 -5.12028286e-02 -5.05383175e-03 2.21001000e+02] [ 5.12036752e-02 9.98688231e-01 3.81678853e-05 2.29782433e+00] [ 5.04524799e-03 -2.96892091e-04 9.99987229e-01 1.10168257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09439141800001 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:221.03, Y:2.30, Z:1.10 [[ 9.98905723e-01 -4.64953365e-02 -5.05382717e-03 2.21033896e+02] [ 4.64961260e-02 9.98918470e-01 3.87652221e-05 2.30339441e+00] [ 5.04655890e-03 -2.73706187e-04 9.99987229e-01 1.10201055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12439141800002 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:221.07, Y:2.31, Z:1.10 [[ 9.99019254e-01 -4.39885035e-02 -5.05382242e-03 2.21065801e+02] [ 4.39892641e-02 9.99032003e-01 3.93750481e-05 2.30538215e+00] [ 5.04719829e-03 -2.61650360e-04 9.99987229e-01 1.10203729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15439141800002 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:221.10, Y:2.31, Z:1.10 [[ 9.99118841e-01 -4.16653492e-02 -5.05381845e-03 2.21098459e+02] [ 4.16660826e-02 9.99131591e-01 3.98789907e-05 2.30772788e+00] [ 5.04776809e-03 -2.50416668e-04 9.99987229e-01 1.10177001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:221.13, Y:2.31, Z:1.10 [[ 9.99324388e-01 -3.64036637e-02 -5.05381365e-03 2.21129362e+02] [ 3.64043330e-02 9.99337142e-01 4.04780519e-05 2.31303783e+00] [ 5.04899014e-03 -2.24431419e-04 9.99987229e-01 1.10137200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:221.16, Y:2.32, Z:1.10 [[ 9.99408710e-01 -3.40101252e-02 -5.05381126e-03 2.21160997e+02] [ 3.40107654e-02 9.99421466e-01 4.07738778e-05 2.31592174e+00] [ 5.04950073e-03 -2.12633758e-04 9.99987229e-01 1.10078670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:221.19, Y:2.32, Z:1.10 [[ 9.99506287e-01 -3.10103278e-02 -5.05380889e-03 2.21193678e+02] [ 3.10109312e-02 9.99519045e-01 4.10657523e-05 2.31836082e+00] [ 5.05010477e-03 -1.97768798e-04 9.99987229e-01 1.10064203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:221.22, Y:2.32, Z:1.10 [[ 9.99665308e-01 -2.53718614e-02 -5.05380572e-03 2.21224632e+02] [ 2.53723948e-02 9.99678068e-01 4.14515303e-05 2.32386350e+00] [ 5.05112704e-03 -1.69664811e-04 9.99987229e-01 1.10120705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:221.26, Y:2.33, Z:1.10 [[ 9.99729472e-01 -2.27033572e-02 -5.05380065e-03 2.21256753e+02] [ 2.27038596e-02 9.99742233e-01 4.20612855e-05 2.32612602e+00] [ 5.05154302e-03 -1.56790687e-04 9.99987229e-01 1.10183327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:221.29, Y:2.33, Z:1.10 [[ 9.99778136e-01 -2.04484116e-02 -5.05379748e-03 2.21289427e+02] [ 2.04488871e-02 9.99790899e-01 4.24387640e-05 2.32827732e+00] [ 5.05187292e-03 -1.45773883e-04 9.99987229e-01 1.10364633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:221.32, Y:2.33, Z:1.10 [[ 9.99812559e-01 -1.86897175e-02 -5.05379402e-03 2.21320642e+02] [ 1.86901727e-02 9.99825323e-01 4.28471168e-05 2.33002043e+00] [ 5.05211043e-03 -1.37295368e-04 9.99987229e-01 1.10357843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:221.35, Y:2.33, Z:1.10 [[ 9.99843807e-01 -1.69357696e-02 -5.05379142e-03 2.21352812e+02] [ 1.69362039e-02 9.99856571e-01 4.31509172e-05 2.33340281e+00] [ 5.05233577e-03 -1.28736219e-04 9.99987229e-01 1.10454461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:221.38, Y:2.33, Z:1.10 [[ 9.99846490e-01 -1.67766645e-02 -5.05378795e-03 2.21384722e+02] [ 1.67770988e-02 9.99859254e-01 4.35539127e-05 2.33492218e+00] [ 5.05234596e-03 -1.28335127e-04 9.99987229e-01 1.10478919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:221.42, Y:2.34, Z:1.10 [[ 9.99840797e-01 -1.71125529e-02 -5.05378436e-03 2.21417308e+02] [ 1.71129936e-02 9.99853561e-01 4.39661326e-05 2.33613247e+00] [ 5.05229192e-03 -1.30444513e-04 9.99987229e-01 1.10494908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:221.45, Y:2.34, Z:1.10 [[ 9.99824315e-01 -1.80498811e-02 -5.05378076e-03 2.21449573e+02] [ 1.80503358e-02 9.99837078e-01 4.43764346e-05 2.33766348e+00] [ 5.05215640e-03 -1.35591078e-04 9.99987229e-01 1.10428597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:221.48, Y:2.34, Z:1.10 [[ 9.99810342e-01 -1.88079773e-02 -5.05377714e-03 2.21480370e+02] [ 1.88084438e-02 9.99823105e-01 4.47854172e-05 2.33810964e+00] [ 5.05204082e-03 -1.39830607e-04 9.99987229e-01 1.10428943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.544391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:221.51, Y:2.34, Z:1.10 [[ 9.99800533e-01 -1.93223784e-02 -5.05377442e-03 2.21511768e+02] [ 1.93228530e-02 9.99813295e-01 4.50896824e-05 2.33857834e+00] [ 5.05195962e-03 -1.42734029e-04 9.99987229e-01 1.10240301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.574391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:221.54, Y:2.34, Z:1.10 [[ 9.99791067e-01 -1.98060910e-02 -5.05377172e-03 2.21544423e+02] [ 1.98065732e-02 9.99803830e-01 4.53904374e-05 2.34009862e+00] [ 5.05188131e-03 -1.45478854e-04 9.99987229e-01 1.10440595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.604391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:221.58, Y:2.34, Z:1.10 [[ 9.99802033e-01 -1.92445914e-02 -5.05376799e-03 2.21576212e+02] [ 1.92450686e-02 9.99814795e-01 4.58024078e-05 2.34085884e+00] [ 5.05195056e-03 -1.43053452e-04 9.99987229e-01 1.10457005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.634391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:221.61, Y:2.34, Z:1.10 [[ 9.99816428e-01 -1.84816266e-02 -5.05376421e-03 2.21607547e+02] [ 1.84820962e-02 9.99829190e-01 4.62152177e-05 2.34171672e+00] [ 5.05204685e-03 -1.39610890e-04 9.99987229e-01 1.10243673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:221.64, Y:2.34, Z:1.10 [[ 9.99865002e-01 -1.56345159e-02 -5.05376139e-03 2.21639990e+02] [ 1.56349506e-02 9.99877766e-01 4.65223069e-05 2.34365025e+00] [ 5.05241629e-03 -1.25531336e-04 9.99987229e-01 1.10444611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:221.67, Y:2.34, Z:1.11 [[ 9.99892121e-01 -1.37914952e-02 -5.05375775e-03 2.21672343e+02] [ 1.37919084e-02 9.99904886e-01 4.69137426e-05 2.34437140e+00] [ 5.05263006e-03 -1.16609646e-04 9.99987229e-01 1.10557383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:221.70, Y:2.34, Z:1.11 [[ 9.99921873e-01 -1.14327320e-02 -5.05375385e-03 2.21704496e+02] [ 1.14331171e-02 9.99934639e-01 4.73309078e-05 2.34493515e+00] [ 5.05288240e-03 -1.05107370e-04 9.99987229e-01 1.10582044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:221.74, Y:2.35, Z:1.11 [[ 9.99948698e-01 -8.77844756e-03 -5.05374993e-03 2.21735645e+02] [ 8.77880095e-03 9.99961464e-01 4.77455103e-05 2.34572758e+00] [ 5.05313605e-03 -9.21089256e-05 9.99987229e-01 1.10653365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:221.77, Y:2.35, Z:1.11 [[ 9.99981178e-01 -3.47891316e-03 -5.05374798e-03 2.21765846e+02] [ 3.47919992e-03 9.99993946e-01 4.79507347e-05 2.34808291e+00] [ 5.05355057e-03 -6.55328318e-05 9.99987229e-01 1.10701117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:221.80, Y:2.35, Z:1.11 [[ 9.99986772e-01 -9.56719489e-04 -5.05374701e-03 2.21795502e+02] [ 9.56974554e-04 9.99999541e-01 4.80525279e-05 2.34908559e+00] [ 5.05369872e-03 -5.28881996e-05 9.99987229e-01 1.10702934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84439141800001 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:221.82, Y:2.35, Z:1.11 [[ 9.99986215e-01 1.42448140e-03 -5.05374892e-03 2.21823112e+02] [-1.42425776e-03 9.99998985e-01 4.78509016e-05 2.34984769e+00] [ 5.05381195e-03 -4.06524008e-05 9.99987229e-01 1.10663493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87439141800002 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:221.85, Y:2.35, Z:1.11 [[ 9.99980331e-01 3.71445172e-03 -5.05375360e-03 2.21850720e+02] [-3.71425985e-03 9.99993101e-01 4.73520901e-05 2.35086536e+00] [ 5.05389462e-03 -2.85802047e-05 9.99987229e-01 1.10643517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90439141800002 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:221.88, Y:2.35, Z:1.11 [[ 9.99978531e-01 4.17102735e-03 -5.05376851e-03 2.21878633e+02] [-4.17084964e-03 9.99991301e-01 4.57033437e-05 2.35057902e+00] [ 5.05391517e-03 -2.46238539e-05 9.99987229e-01 1.10594839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:221.91, Y:2.35, Z:1.11 [[ 9.99979804e-01 3.85373555e-03 -5.05377306e-03 2.21907923e+02] [-3.85355635e-03 9.99992574e-01 4.51944971e-05 2.35044966e+00] [ 5.05390970e-03 -2.57185851e-05 9.99987229e-01 1.10557644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:221.94, Y:2.35, Z:1.11 [[ 9.99982506e-01 3.07356806e-03 -5.05377662e-03 2.21936497e+02] [-3.07338094e-03 9.99995276e-01 4.47922145e-05 2.35030116e+00] [ 5.05389042e-03 -2.92592502e-05 9.99987229e-01 1.10570823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:221.96, Y:2.35, Z:1.11 [[ 9.99986961e-01 7.32721992e-04 -5.05378020e-03 2.21964313e+02] [-7.32507036e-04 9.99999731e-01 4.43845913e-05 2.35021265e+00] [ 5.05381136e-03 -4.06820831e-05 9.99987229e-01 1.10616778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:221.99, Y:2.35, Z:1.11 [[ 9.99986523e-01 -1.18870914e-03 -5.05378459e-03 2.21992615e+02] [ 1.18894608e-03 9.99999292e-01 4.38791516e-05 2.34999255e+00] [ 5.05372885e-03 -4.98872376e-05 9.99987229e-01 1.10684785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:222.02, Y:2.35, Z:1.11 [[ 9.99968529e-01 -6.11554377e-03 -5.05378895e-03 2.22020420e+02] [ 6.11584105e-03 9.99981297e-01 4.33711429e-05 2.34943427e+00] [ 5.05342919e-03 -7.42779479e-05 9.99987229e-01 1.10741961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:222.05, Y:2.35, Z:1.11 [[ 9.99954069e-01 -8.14364447e-03 -5.05379238e-03 2.22049970e+02] [ 8.14396560e-03 9.99966836e-01 4.29672520e-05 2.34853562e+00] [ 5.05327487e-03 -8.41231898e-05 9.99987229e-01 1.10760439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:222.08, Y:2.35, Z:1.11 [[ 9.99928818e-01 -1.08082278e-02 -5.05379412e-03 2.22080627e+02] [ 1.08085820e-02 9.99941585e-01 4.27623820e-05 2.34755351e+00] [ 5.05303671e-03 -9.73836860e-05 9.99987229e-01 1.10778057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:222.11, Y:2.35, Z:1.11 [[ 9.99855426e-01 -1.62353131e-02 -5.05379412e-03 2.22110777e+02] [ 1.62357365e-02 9.99868191e-01 4.27623820e-05 2.34603824e+00] [ 5.05243372e-03 -1.24808269e-04 9.99987229e-01 1.10651612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:222.14, Y:2.35, Z:1.11 [[ 9.99806615e-01 -1.90050221e-02 -5.05379325e-03 2.22142609e+02] [ 1.90054814e-02 9.99819379e-01 4.28652352e-05 2.34551529e+00] [ 5.05206577e-03 -1.38906719e-04 9.99987229e-01 1.10663856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:222.18, Y:2.35, Z:1.11 [[ 9.99750591e-01 -2.17534934e-02 -5.05378974e-03 2.22175060e+02] [ 2.17539898e-02 9.99763353e-01 4.32742188e-05 2.34514034e+00] [ 5.05165241e-03 -1.53203517e-04 9.99987229e-01 1.10662679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:222.21, Y:2.34, Z:1.11 [[ 9.99691618e-01 -2.43131194e-02 -5.05378624e-03 2.22206735e+02] [ 2.43136506e-02 9.99704379e-01 4.36796843e-05 2.34437661e+00] [ 5.05123024e-03 -1.66542207e-04 9.99987229e-01 1.10611853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:222.24, Y:2.34, Z:1.11 [[ 9.99693442e-01 -2.42380212e-02 -5.05378361e-03 2.22239426e+02] [ 2.42385530e-02 9.99706202e-01 4.39818137e-05 2.34400981e+00] [ 5.05123279e-03 -1.66464732e-04 9.99987229e-01 1.10628367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.294391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:222.27, Y:2.34, Z:1.11 [[ 9.99532864e-01 -3.01415435e-02 -5.05378028e-03 2.22271499e+02] [ 3.01421525e-02 9.99545621e-01 4.43614572e-05 2.34293343e+00] [ 5.05014682e-03 -1.96672550e-04 9.99987229e-01 1.10748094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.324391418 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:222.30, Y:2.34, Z:1.11 [[ 9.99445215e-01 -3.29199289e-02 -5.05377673e-03 2.22302246e+02] [ 3.29205753e-02 9.99457970e-01 4.47616399e-05 2.34222795e+00] [ 5.04956388e-03 -2.11110044e-04 9.99987229e-01 1.10818976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.354391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:222.34, Y:2.34, Z:1.11 [[ 9.99355526e-01 -3.55386078e-02 -5.05377030e-03 2.22335078e+02] [ 3.55392913e-02 9.99368279e-01 4.54761982e-05 2.34185536e+00] [ 5.04896157e-03 -2.25054305e-04 9.99987229e-01 1.10919539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.384391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:222.37, Y:2.34, Z:1.11 [[ 9.99187068e-01 -3.99957875e-02 -5.05376490e-03 2.22366353e+02] [ 3.99965309e-02 9.99199818e-01 4.60684517e-05 2.34194890e+00] [ 5.04787843e-03 -2.48164065e-04 9.99987229e-01 1.11003598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:222.40, Y:2.34, Z:1.11 [[ 9.99118994e-01 -4.16616850e-02 -5.05376221e-03 2.22399188e+02] [ 4.16624511e-02 9.99131742e-01 4.63616171e-05 2.34204068e+00] [ 5.04744274e-03 -2.56872894e-04 9.99987229e-01 1.11167122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:222.43, Y:2.34, Z:1.11 [[ 9.99062962e-01 -4.29843821e-02 -5.05375631e-03 2.22430806e+02] [ 4.29851683e-02 9.99075709e-01 4.69968950e-05 2.34233534e+00] [ 5.04706503e-03 -2.64189422e-04 9.99987229e-01 1.11133925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:222.46, Y:2.34, Z:1.11 [[ 9.99011261e-01 -4.41696645e-02 -5.05375136e-03 2.22463768e+02] [ 4.41704684e-02 9.99024007e-01 4.75232846e-05 2.34291272e+00] [ 5.04671985e-03 -2.70702861e-04 9.99987229e-01 1.11177524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504391418 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:222.50, Y:2.34, Z:1.11 [[ 9.99018439e-01 -4.40070174e-02 -5.05374543e-03 2.22496937e+02] [ 4.40078225e-02 9.99031185e-01 4.81452320e-05 2.34305547e+00] [ 5.04673056e-03 -2.70502306e-04 9.99987229e-01 1.11166513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:222.53, Y:2.34, Z:1.11 [[ 9.99045925e-01 -4.33785550e-02 -5.05373939e-03 2.22528756e+02] [ 4.33793552e-02 9.99058672e-01 4.87711014e-05 2.34341724e+00] [ 5.04686654e-03 -2.67952526e-04 9.99987229e-01 1.11151588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:222.56, Y:2.34, Z:1.11 [[ 9.99078354e-01 -4.26251290e-02 -5.05373434e-03 2.22562294e+02] [ 4.26259221e-02 9.99091101e-01 4.92887512e-05 2.34416566e+00] [ 5.04704007e-03 -2.64663411e-04 9.99987229e-01 1.11179345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59439141800001 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:222.59, Y:2.35, Z:1.11 [[ 9.99162576e-01 -4.06030280e-02 -5.05372825e-03 2.22594974e+02] [ 4.06037984e-02 9.99175324e-01 4.99058617e-05 2.34619987e+00] [ 5.04753423e-03 -2.55064633e-04 9.99987229e-01 1.11171292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62439141800002 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:222.63, Y:2.35, Z:1.11 [[ 9.99216181e-01 -3.92617209e-02 -5.05372207e-03 2.22628334e+02] [ 3.92624774e-02 9.99228930e-01 5.05243083e-05 2.34698788e+00] [ 5.04784162e-03 -2.48906355e-04 9.99987229e-01 1.11133022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65439141800002 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:222.66, Y:2.35, Z:1.11 [[ 9.99276391e-01 -3.76981936e-02 -5.05371582e-03 2.22660883e+02] [ 3.76989332e-02 9.99289141e-01 5.11417921e-05 2.34815193e+00] [ 5.04819539e-03 -2.41624481e-04 9.99987229e-01 1.11129320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:222.69, Y:2.35, Z:1.11 [[ 9.99430348e-01 -3.33682311e-02 -5.05371161e-03 2.22692278e+02] [ 3.33689175e-02 9.99443101e-01 5.15544003e-05 2.35091285e+00] [ 5.04917692e-03 -2.20161918e-04 9.99987229e-01 1.11017713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:222.73, Y:2.35, Z:1.11 [[ 9.99516006e-01 -3.06955100e-02 -5.05370846e-03 2.22725507e+02] [ 3.06961639e-02 9.99528760e-01 5.18614863e-05 2.35209070e+00] [ 5.04973503e-03 -2.06965849e-04 9.99987229e-01 1.11059021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:222.76, Y:2.35, Z:1.11 [[ 9.99601201e-01 -2.77830700e-02 -5.05370205e-03 2.22757481e+02] [ 2.77836899e-02 9.99613957e-01 5.24785936e-05 2.35343026e+00] [ 5.05029309e-03 -1.92868156e-04 9.99987229e-01 1.11078447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774391418 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:222.79, Y:2.36, Z:1.11 [[ 9.99781617e-01 -2.02775536e-02 -5.05369772e-03 2.22789466e+02] [ 2.02780798e-02 9.99794377e-01 5.28926901e-05 2.35696969e+00] [ 5.05158603e-03 -1.55360425e-04 9.99987229e-01 1.11283454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:222.82, Y:2.36, Z:1.11 [[ 9.99852503e-01 -1.64143865e-02 -5.05369337e-03 2.22821706e+02] [ 1.64148654e-02 9.99865266e-01 5.33044578e-05 2.35862950e+00] [ 5.05213751e-03 -1.36252292e-04 9.99987229e-01 1.11371493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:222.85, Y:2.36, Z:1.11 [[ 9.99912869e-01 -1.21948461e-02 -5.05368893e-03 2.22852648e+02] [ 1.21952733e-02 9.99925633e-01 5.37225317e-05 2.36020051e+00] [ 5.05265796e-03 -1.15348968e-04 9.99987229e-01 1.11476933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:222.88, Y:2.36, Z:1.12 [[ 9.99951034e-01 -8.50823796e-03 -5.05368560e-03 2.22883518e+02] [ 8.50861966e-03 9.99963800e-01 5.40333164e-05 2.36165172e+00] [ 5.05304293e-03 -9.70305593e-05 9.99987229e-01 1.11540067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:222.91, Y:2.36, Z:1.12 [[ 9.99985481e-01 -1.87049822e-03 -5.05368192e-03 2.22913624e+02] [ 1.87079691e-03 9.99998249e-01 5.43760552e-05 2.36361329e+00] [ 5.05357136e-03 -6.38296782e-05 9.99987229e-01 1.11581626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:222.94, Y:2.36, Z:1.12 [[ 9.99987202e-01 2.36487717e-04 -5.05368192e-03 2.22942647e+02] [-2.36215934e-04 9.99999971e-01 5.43760552e-05 2.36407017e+00] [ 5.05369463e-03 -5.31815991e-05 9.99987229e-01 1.11548255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:222.97, Y:2.36, Z:1.12 [[ 9.99985060e-01 2.08333464e-03 -5.05369690e-03 2.22971848e+02] [-2.08309366e-03 9.99997829e-01 5.29462612e-05 2.36430030e+00] [ 5.05379623e-03 -4.24181462e-05 9.99987229e-01 1.11577350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984391418 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:223.00, Y:2.36, Z:1.11 [[ 9.99979594e-01 3.90793704e-03 -5.05371175e-03 2.22998749e+02] [-3.90772673e-03 9.99992363e-01 5.14879389e-05 2.36450963e+00] [ 5.05387437e-03 -3.17383637e-05 9.99987229e-01 1.11469530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:223.03, Y:2.36, Z:1.11 [[ 9.99972331e-01 5.45863151e-03 -5.05371900e-03 2.23027020e+02] [-5.45844465e-03 9.99985101e-01 5.07667355e-05 2.36480140e+00] [ 5.05392082e-03 -2.31798854e-05 9.99987229e-01 1.11484912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.044391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:223.05, Y:2.36, Z:1.11 [[ 9.99961479e-01 7.17636612e-03 -5.05372517e-03 2.23054729e+02] [-7.17620434e-03 9.99974249e-01 5.01449656e-05 2.36495613e+00] [ 5.05395489e-03 -1.38764695e-05 9.99987229e-01 1.11480577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.074391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:223.08, Y:2.37, Z:1.11 [[ 9.99932859e-01 1.04277305e-02 -5.05373125e-03 2.23082141e+02] [-1.04276134e-02 9.99945630e-01 4.95239396e-05 2.36523134e+00] [ 5.05397290e-03 3.17774133e-06 9.99987229e-01 1.11445964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.104391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:223.11, Y:2.37, Z:1.11 [[ 9.99913065e-01 1.21787398e-02 -5.05373622e-03 2.23109468e+02] [-1.21786477e-02 9.99925836e-01 4.90119459e-05 2.36523273e+00] [ 5.05395832e-03 1.25399877e-05 9.99987229e-01 1.11411187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.134391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:223.14, Y:2.37, Z:1.12 [[ 9.99892604e-01 1.37564581e-02 -5.05374297e-03 2.23137375e+02] [-1.37563897e-02 9.99905375e-01 4.83057176e-05 2.36519697e+00] [ 5.05392928e-03 2.12207278e-05 9.99987229e-01 1.11503718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:223.17, Y:2.37, Z:1.12 [[ 9.99871736e-01 1.51977270e-02 -5.05374872e-03 2.23165209e+02] [-1.51976800e-02 9.99884507e-01 4.76961352e-05 2.36521222e+00] [ 5.05388993e-03 2.91152386e-05 9.99987229e-01 1.11524588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:223.19, Y:2.36, Z:1.12 [[ 9.99852318e-01 1.64256468e-02 -5.05375439e-03 2.23192256e+02] [-1.64256186e-02 9.99865089e-01 4.70884190e-05 2.36491145e+00] [ 5.05384604e-03 3.59295773e-05 9.99987229e-01 1.11545624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:223.22, Y:2.36, Z:1.12 [[ 9.99814782e-01 1.85704338e-02 -5.05376083e-03 2.23220981e+02] [-1.85704366e-02 9.99827554e-01 4.63857341e-05 2.36305425e+00] [ 5.05375073e-03 4.74734025e-05 9.99987229e-01 1.11674613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:223.25, Y:2.36, Z:1.12 [[ 9.99814777e-01 1.85707260e-02 -5.05376456e-03 2.23249551e+02] [-1.85707308e-02 9.99827548e-01 4.59764151e-05 2.36191366e+00] [ 5.05374684e-03 4.78842022e-05 9.99987229e-01 1.11702266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:223.28, Y:2.36, Z:1.12 [[ 9.99825968e-01 1.79580908e-02 -5.05376827e-03 2.23277951e+02] [-1.79580899e-02 9.99838739e-01 4.55649900e-05 2.36083453e+00] [ 5.05377156e-03 4.51989644e-05 9.99987229e-01 1.11728249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:223.30, Y:2.36, Z:1.12 [[ 9.99846081e-01 1.68010150e-02 -5.05377370e-03 2.23304849e+02] [-1.68010024e-02 9.99858852e-01 4.49541072e-05 2.35980780e+00] [ 5.05381565e-03 3.99612761e-05 9.99987229e-01 1.11724727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34439141800001 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:223.33, Y:2.36, Z:1.12 [[ 9.99895585e-01 1.35380091e-02 -5.05377989e-03 2.23333413e+02] [-1.35379584e-02 9.99908357e-01 4.42478737e-05 2.35688203e+00] [ 5.05391577e-03 2.41746082e-05 9.99987229e-01 1.11787738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37439141800002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:223.36, Y:2.35, Z:1.12 [[ 9.99925406e-01 1.11194402e-02 -5.05378337e-03 2.23361843e+02] [-1.11193606e-02 9.99938177e-01 4.38460130e-05 2.35495815e+00] [ 5.05395848e-03 1.23520973e-05 9.99987229e-01 1.11830533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40439141800002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:223.39, Y:2.35, Z:1.12 [[ 9.99969932e-01 5.88162385e-03 -5.05378860e-03 2.23389419e+02] [-5.88148046e-03 9.99982703e-01 4.32347686e-05 2.35049052e+00] [ 5.05395548e-03 -1.35097097e-05 9.99987229e-01 1.11744425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:223.42, Y:2.35, Z:1.12 [[ 9.99983440e-01 2.75316301e-03 -5.05379287e-03 2.23418618e+02] [-2.75298222e-03 9.99996210e-01 4.27293280e-05 2.34800444e+00] [ 5.05389136e-03 -2.88156184e-05 9.99987229e-01 1.11703122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:223.45, Y:2.35, Z:1.12 [[ 9.99987219e-01 -1.47113417e-04 -5.05379629e-03 2.23445959e+02] [ 1.47329181e-04 9.99999988e-01 4.23210279e-05 2.34514089e+00] [ 5.05379001e-03 -4.30650586e-05 9.99987229e-01 1.11602590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:223.47, Y:2.34, Z:1.11 [[ 9.99971460e-01 -5.61596390e-03 -5.05380048e-03 2.23473996e+02] [ 5.61624694e-03 9.99984228e-01 4.18148130e-05 2.34002544e+00] [ 5.05348594e-03 -7.01970110e-05 9.99987229e-01 1.11412996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:223.50, Y:2.34, Z:1.11 [[ 9.99956613e-01 -7.82501829e-03 -5.05380454e-03 2.23504089e+02] [ 7.82532702e-03 9.99969381e-01 4.13182432e-05 2.33767039e+00] [ 5.05332648e-03 -8.08641237e-05 9.99987229e-01 1.11426602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:223.53, Y:2.33, Z:1.11 [[ 9.99931184e-01 -1.05870834e-02 -5.05380619e-03 2.23533798e+02] [ 1.05874264e-02 9.99943951e-01 4.11156884e-05 2.33284434e+00] [ 5.05308763e-03 -9.46196601e-05 9.99987229e-01 1.11367364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:223.57, Y:2.33, Z:1.11 [[ 9.99925839e-01 -1.10804290e-02 -5.05380700e-03 2.23565189e+02] [ 1.10807778e-02 9.99938605e-01 4.10153230e-05 2.33058156e+00] [ 5.05304226e-03 -9.70123936e-05 9.99987229e-01 1.11401673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:223.60, Y:2.33, Z:1.11 [[ 9.99929454e-01 -1.07492650e-02 -5.05380538e-03 2.23596648e+02] [ 1.07496106e-02 9.99942220e-01 4.12144446e-05 2.32853507e+00] [ 5.05307035e-03 -9.55379769e-05 9.99987229e-01 1.11423090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:223.63, Y:2.33, Z:1.11 [[ 9.99947460e-01 -8.91829204e-03 -5.05380376e-03 2.23628197e+02] [ 8.91861521e-03 9.99960228e-01 4.14120096e-05 2.32548985e+00] [ 5.05323343e-03 -8.64827649e-05 9.99987229e-01 1.11464522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:223.66, Y:2.32, Z:1.11 [[ 9.99959324e-01 -7.47062726e-03 -5.05380210e-03 2.23658528e+02] [ 7.47093297e-03 9.99972091e-01 4.16136754e-05 2.32434758e+00] [ 5.05335018e-03 -7.93685994e-05 9.99987229e-01 1.11467916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704391418 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:223.69, Y:2.32, Z:1.12 [[ 9.99971118e-01 -5.67644221e-03 -5.05380210e-03 2.23688843e+02] [ 5.67672501e-03 9.99983886e-01 4.16136754e-05 2.32305619e+00] [ 5.05348445e-03 -7.03015183e-05 9.99987229e-01 1.11508675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:223.72, Y:2.32, Z:1.11 [[ 9.99986453e-01 -1.24639684e-03 -5.05380210e-03 2.23718831e+02] [ 1.24662307e-03 9.99999222e-01 4.16136754e-05 2.32045140e+00] [ 5.05374630e-03 -4.79132979e-05 9.99987229e-01 1.11473848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:223.75, Y:2.32, Z:1.11 [[ 9.99986519e-01 1.19161704e-03 -5.05380378e-03 2.23746213e+02] [-1.19142298e-03 9.99999289e-01 4.14092428e-05 2.31900961e+00] [ 5.05384953e-03 -3.53874666e-05 9.99987229e-01 1.11485403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.794391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:223.77, Y:2.32, Z:1.11 [[ 9.99979891e-01 3.83107783e-03 -5.05380786e-03 2.23774410e+02] [-3.83092003e-03 9.99992661e-01 4.09042770e-05 2.31777289e+00] [ 5.05392748e-03 -2.15427207e-05 9.99987229e-01 1.11472129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.824391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:223.80, Y:2.32, Z:1.12 [[ 9.99941117e-01 9.60315505e-03 -5.05382033e-03 2.23801963e+02] [-9.60307907e-03 9.99953889e-01 3.93009287e-05 2.31610345e+00] [ 5.05396471e-03 9.23362168e-06 9.99987229e-01 1.11503930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.854391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:223.83, Y:2.32, Z:1.12 [[ 9.99907146e-01 1.26553959e-02 -5.05383252e-03 2.23829703e+02] [-1.26553672e-02 9.99919917e-01 3.76653673e-05 2.31521828e+00] [ 5.05390446e-03 2.62962363e-05 9.99987229e-01 1.11526747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.884391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:223.86, Y:2.31, Z:1.11 [[ 9.99866060e-01 1.55666332e-02 -5.05383696e-03 2.23857687e+02] [-1.55666447e-02 9.99878832e-01 3.70594279e-05 2.31424530e+00] [ 5.05380149e-03 4.16168201e-05 9.99987229e-01 1.11485128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:223.89, Y:2.31, Z:1.12 [[ 9.99816937e-01 1.84540152e-02 -5.05384132e-03 2.23886063e+02] [-1.84540667e-02 9.99829709e-01 3.64563185e-05 2.31297318e+00] [ 5.05365345e-03 5.68142799e-05 9.99987229e-01 1.11544351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:223.91, Y:2.31, Z:1.12 [[ 9.99715347e-01 2.33170184e-02 -5.05384566e-03 2.23914125e+02] [-2.33171351e-02 9.99728118e-01 3.58441942e-05 2.30992773e+00] [ 5.05330739e-03 8.20072108e-05 9.99987229e-01 1.11522654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:223.94, Y:2.31, Z:1.12 [[ 9.99677010e-01 2.49065199e-02 -5.05384991e-03 2.23940915e+02] [-2.49066600e-02 9.99689780e-01 3.52342410e-05 2.30822176e+00] [ 5.05315967e-03 9.06516604e-05 9.99987229e-01 1.11528695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:223.97, Y:2.31, Z:1.12 [[ 9.99650172e-01 2.59613514e-02 -5.05385472e-03 2.23967964e+02] [-2.59615084e-02 9.99662943e-01 3.45298142e-05 2.30649774e+00] [ 5.05304772e-03 9.66879573e-05 9.99987229e-01 1.11526784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:224.00, Y:2.30, Z:1.12 [[ 9.99636404e-01 2.64861795e-02 -5.05385939e-03 2.23996527e+02] [-2.64863468e-02 9.99649175e-01 3.38320829e-05 2.30459454e+00] [ 5.05298245e-03 1.00038491e-04 9.99987229e-01 1.11621160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:224.02, Y:2.30, Z:1.12 [[ 9.99652507e-01 2.58712941e-02 -5.05386202e-03 2.24024525e+02] [-2.58714556e-02 9.99665277e-01 3.34342589e-05 2.30052772e+00] [ 5.05303537e-03 9.73281262e-05 9.99987229e-01 1.11680816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09439141800001 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:224.05, Y:2.30, Z:1.12 [[ 9.99686839e-01 2.45088103e-02 -5.05386662e-03 2.24053120e+02] [-2.45089580e-02 9.99699610e-01 3.27245251e-05 2.29807719e+00] [ 5.05315053e-03 9.11507274e-05 9.99987229e-01 1.11792660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12439141800002 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:224.08, Y:2.29, Z:1.12 [[ 9.99796206e-01 1.95449497e-02 -5.05386923e-03 2.24080471e+02] [-1.95450360e-02 9.99808977e-01 3.23157831e-05 2.29262831e+00] [ 5.05353544e-03 6.64688590e-05 9.99987229e-01 1.11876198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15439141800002 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:224.11, Y:2.29, Z:1.12 [[ 9.99856525e-01 1.61675135e-02 -5.05387243e-03 2.24107072e+02] [-1.61675592e-02 9.99869296e-01 3.18072260e-05 2.28965683e+00] [ 5.05372612e-03 4.99061196e-05 9.99987229e-01 1.11851961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:224.14, Y:2.29, Z:1.12 [[ 9.99858426e-01 1.60494883e-02 -5.05387774e-03 2.24135533e+02] [-1.60495369e-02 9.99871197e-01 3.09409578e-05 2.28959719e+00] [ 5.05372337e-03 5.01758198e-05 9.99987229e-01 1.11866369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:224.16, Y:2.28, Z:1.12 [[ 9.99946853e-01 8.98607557e-03 -5.05388132e-03 2.24162329e+02] [-8.98603698e-03 9.99959624e-01 3.03444018e-05 2.28356213e+00] [ 5.05394994e-03 1.50715754e-05 9.99987229e-01 1.11792642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:224.19, Y:2.28, Z:1.12 [[ 9.99984484e-01 2.34262007e-03 -5.05405787e-03 2.24192406e+02] [-2.34264591e-03 9.99997256e-01 8.06905366e-07 2.28087324e+00] [ 5.05404589e-03 1.10329752e-05 9.99987228e-01 1.11818827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:224.22, Y:2.28, Z:1.12 [[ 9.99982590e-01 -3.04587631e-03 -5.05387669e-03 2.24221433e+02] [ 3.04607019e-03 9.99995360e-01 3.06658938e-05 2.27737979e+00] [ 5.05375984e-03 -4.60598230e-05 9.99987229e-01 1.11787312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:224.25, Y:2.27, Z:1.12 [[ 9.99947425e-01 -8.92214419e-03 -5.05387913e-03 2.24250004e+02] [ 8.92241105e-03 9.99960194e-01 3.02588432e-05 2.27409434e+00] [ 5.05340798e-03 -7.53500394e-05 9.99987229e-01 1.11776693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:224.28, Y:2.27, Z:1.12 [[ 9.99777861e-01 -2.04618181e-02 -5.05388092e-03 2.24280713e+02] [ 2.04622308e-02 9.99790626e-01 2.99559051e-05 2.26849730e+00] [ 5.05220982e-03 -1.33362928e-04 9.99987229e-01 1.11847435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:224.31, Y:2.27, Z:1.12 [[ 9.99663477e-01 -2.54438699e-02 -5.05388092e-03 2.24312857e+02] [ 2.54443462e-02 9.99676240e-01 2.99559051e-05 2.26567486e+00] [ 5.05148248e-03 -1.58538520e-04 9.99987229e-01 1.11878499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:224.34, Y:2.26, Z:1.12 [[ 9.99531332e-01 -3.01923103e-02 -5.05387848e-03 2.24344563e+02] [ 3.01928492e-02 9.99544092e-01 3.03628163e-05 2.26313386e+00] [ 5.05065765e-03 -1.82939577e-04 9.99987229e-01 1.11870200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:224.38, Y:2.26, Z:1.12 [[ 9.99264828e-01 -3.80034385e-02 -5.05387600e-03 2.24377079e+02] [ 3.80040792e-02 9.99277584e-01 3.07695354e-05 2.25945487e+00] [ 5.04905565e-03 -2.22814818e-04 9.99987229e-01 1.11867150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:224.41, Y:2.26, Z:1.12 [[ 9.99154283e-01 -4.08065806e-02 -5.05387344e-03 2.24408788e+02] [ 4.08072592e-02 9.99167036e-01 3.11842954e-05 2.25759342e+00] [ 5.04839123e-03 -2.37392646e-04 9.99987229e-01 1.11851687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:224.44, Y:2.26, Z:1.12 [[ 9.99044467e-01 -4.34121055e-02 -5.05387019e-03 2.24440954e+02] [ 4.34128200e-02 9.99057219e-01 3.17024519e-05 2.25612374e+00] [ 5.04772923e-03 -2.51074916e-04 9.99987229e-01 1.11763156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:224.47, Y:2.25, Z:1.12 [[ 9.98950884e-01 -4.55147118e-02 -5.05386694e-03 2.24473189e+02] [ 4.55154557e-02 9.98963634e-01 3.22134050e-05 2.25489691e+00] [ 5.04716310e-03 -2.62208666e-04 9.99987229e-01 1.11815146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.544391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:224.51, Y:2.25, Z:1.12 [[ 9.98868723e-01 -4.72835260e-02 -5.05386422e-03 2.24505337e+02] [ 4.72842946e-02 9.98881472e-01 3.26334846e-05 2.25415569e+00] [ 5.04666831e-03 -2.71564972e-04 9.99987229e-01 1.11831229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.574391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:224.54, Y:2.25, Z:1.12 [[ 9.98755361e-01 -4.96204269e-02 -5.05385728e-03 2.24537063e+02] [ 4.96212306e-02 9.98768107e-01 3.36757182e-05 2.25381815e+00] [ 5.04596047e-03 -2.84412422e-04 9.99987229e-01 1.11878841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.604391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:224.57, Y:2.25, Z:1.12 [[ 9.98725636e-01 -5.02151530e-02 -5.05385449e-03 2.24570568e+02] [ 5.02159664e-02 9.98738382e-01 3.40896807e-05 2.25361191e+00] [ 5.04576663e-03 -2.87830425e-04 9.99987229e-01 1.11920164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.634391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:224.60, Y:2.25, Z:1.12 [[ 9.98700087e-01 -5.07207459e-02 -5.05385018e-03 2.24603353e+02] [ 5.07215689e-02 9.98712832e-01 3.47165522e-05 2.25438367e+00] [ 5.04558418e-03 -2.91010634e-04 9.99987229e-01 1.11961578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:224.64, Y:2.25, Z:1.12 [[ 9.98699434e-01 -5.07336009e-02 -5.05384583e-03 2.24636827e+02] [ 5.07344271e-02 9.98712179e-01 3.53385119e-05 2.25462332e+00] [ 5.04554453e-03 -2.91696525e-04 9.99987229e-01 1.11968987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:224.67, Y:2.25, Z:1.12 [[ 9.98713177e-01 -5.04623484e-02 -5.05384137e-03 2.24668828e+02] [ 5.04631743e-02 9.98725922e-01 3.59657692e-05 2.25475005e+00] [ 5.04558746e-03 -2.90952365e-04 9.99987229e-01 1.11917697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:224.70, Y:2.25, Z:1.12 [[ 9.98737211e-01 -4.99844135e-02 -5.05383763e-03 2.24701774e+02] [ 4.99852360e-02 9.98749956e-01 3.64839941e-05 2.25482839e+00] [ 5.04569648e-03 -2.89055189e-04 9.99987229e-01 1.11835574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:224.73, Y:2.26, Z:1.12 [[ 9.98755049e-01 -4.96267110e-02 -5.05383308e-03 2.24734507e+02] [ 4.96275321e-02 9.98767794e-01 3.71034194e-05 2.25689469e+00] [ 5.04576440e-03 -2.87866491e-04 9.99987229e-01 1.11882847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:224.77, Y:2.26, Z:1.12 [[ 9.98770584e-01 -4.93130685e-02 -5.05382842e-03 2.24765969e+02] [ 4.93138887e-02 9.98783329e-01 3.77273322e-05 2.25782843e+00] [ 5.04581913e-03 -2.86904882e-04 9.99987229e-01 1.11826646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:224.80, Y:2.26, Z:1.12 [[ 9.98803899e-01 -4.86336363e-02 -5.05382610e-03 2.24797901e+02] [ 4.86344493e-02 9.98816644e-01 3.80360044e-05 2.26035200e+00] [ 5.04599579e-03 -2.83780559e-04 9.99987229e-01 1.11773111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84439141800001 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:224.83, Y:2.26, Z:1.12 [[ 9.98822190e-01 -4.82565115e-02 -5.05382292e-03 2.24829171e+02] [ 4.82573219e-02 9.98834936e-01 3.84534298e-05 2.26173226e+00] [ 5.04607927e-03 -2.82292098e-04 9.99987229e-01 1.11732242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87439141800002 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:224.86, Y:2.26, Z:1.12 [[ 9.98861259e-01 -4.74409642e-02 -5.05382054e-03 2.24862690e+02] [ 4.74417657e-02 9.98874005e-01 3.87640340e-05 2.26298188e+00] [ 5.04629096e-03 -2.78482062e-04 9.99987229e-01 1.11772425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90439141800002 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:224.90, Y:2.27, Z:1.12 [[ 9.98938955e-01 -4.57757926e-02 -5.05381577e-03 2.24895369e+02] [ 4.57765759e-02 9.98951702e-01 3.93758195e-05 2.26730342e+00] [ 5.04671541e-03 -2.70680421e-04 9.99987229e-01 1.11941809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:224.93, Y:2.27, Z:1.12 [[ 9.98994763e-01 -4.45412546e-02 -5.05381082e-03 2.24927160e+02] [ 4.45420253e-02 9.99007511e-01 4.00010968e-05 2.26964619e+00] [ 5.04701327e-03 -2.65067856e-04 9.99987229e-01 1.12041709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:224.96, Y:2.27, Z:1.12 [[ 9.99051567e-01 -4.32484051e-02 -5.05380752e-03 2.24959559e+02] [ 4.32491614e-02 9.99064316e-01 4.04145552e-05 2.27215847e+00] [ 5.04733089e-03 -2.58949162e-04 9.99987229e-01 1.12145928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:224.99, Y:2.27, Z:1.12 [[ 9.99110716e-01 -4.18597118e-02 -5.05380335e-03 2.24992829e+02] [ 4.18604530e-02 9.99123466e-01 4.09295493e-05 2.27437909e+00] [ 5.04766022e-03 -2.52447649e-04 9.99987229e-01 1.12236280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:225.02, Y:2.28, Z:1.12 [[ 9.99237849e-01 -3.87063224e-02 -5.05379822e-03 2.25024723e+02] [ 3.87070265e-02 9.99250601e-01 4.15530755e-05 2.27879005e+00] [ 5.04840254e-03 -2.37138908e-04 9.99987229e-01 1.12301425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:225.06, Y:2.28, Z:1.12 [[ 9.99302860e-01 -3.69899141e-02 -5.05379393e-03 2.25055965e+02] [ 3.69905989e-02 9.99315613e-01 4.20681898e-05 2.28097503e+00] [ 5.04877908e-03 -2.28981727e-04 9.99987229e-01 1.12335625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:225.09, Y:2.28, Z:1.12 [[ 9.99365790e-01 -3.52487788e-02 -5.05379141e-03 2.25087966e+02] [ 3.52494429e-02 9.99378544e-01 4.23695425e-05 2.28311482e+00] [ 5.04915722e-03 -2.20486003e-04 9.99987229e-01 1.12382733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:225.12, Y:2.29, Z:1.12 [[ 9.99475197e-01 -3.19967303e-02 -5.05378793e-03 2.25120375e+02] [ 3.19973549e-02 9.99487953e-01 4.27800403e-05 2.28813856e+00] [ 5.04983133e-03 -2.04465435e-04 9.99987229e-01 1.12401197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:225.15, Y:2.29, Z:1.12 [[ 9.99523080e-01 -3.04642731e-02 -5.05378445e-03 2.25151387e+02] [ 3.04648802e-02 9.99535837e-01 4.31871859e-05 2.29032428e+00] [ 5.05012300e-03 -1.97129527e-04 9.99987229e-01 1.12363144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:225.18, Y:2.29, Z:1.12 [[ 9.99573092e-01 -2.87765996e-02 -5.05378184e-03 2.25183923e+02] [ 2.87771867e-02 9.99585850e-01 4.34902379e-05 2.29239766e+00] [ 5.05043732e-03 -1.88905295e-04 9.99987229e-01 1.12398382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204391418 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:225.22, Y:2.29, Z:1.12 [[ 9.99614088e-01 -2.73154617e-02 -5.05377839e-03 2.25216266e+02] [ 2.73160322e-02 9.99626847e-01 4.38880144e-05 2.29445397e+00] [ 5.05069373e-03 -1.81920251e-04 9.99987229e-01 1.12419367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:225.25, Y:2.30, Z:1.12 [[ 9.99679634e-01 -2.48009996e-02 -5.05377486e-03 2.25248344e+02] [ 2.48015400e-02 9.99692394e-01 4.42910089e-05 2.29859928e+00] [ 5.05112182e-03 -1.69618219e-04 9.99987229e-01 1.12438619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:225.28, Y:2.30, Z:1.12 [[ 9.99707967e-01 -2.36313325e-02 -5.05377122e-03 2.25279723e+02] [ 2.36318601e-02 9.99720728e-01 4.47025353e-05 2.30066196e+00] [ 5.05130346e-03 -1.64119495e-04 9.99987229e-01 1.12489009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.294391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:225.31, Y:2.30, Z:1.13 [[ 9.99735128e-01 -2.24529022e-02 -5.05376849e-03 2.25310968e+02] [ 2.24534163e-02 9.99747889e-01 4.50085331e-05 2.30292094e+00] [ 5.05148381e-03 -1.58470979e-04 9.99987229e-01 1.12502702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.324391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:225.34, Y:2.31, Z:1.13 [[ 9.99791274e-01 -1.97956401e-02 -5.05376577e-03 2.25343622e+02] [ 1.97961218e-02 9.99804037e-01 4.53117258e-05 2.30771068e+00] [ 5.05187845e-03 -1.45347231e-04 9.99987229e-01 1.12515413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.354391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:225.38, Y:2.31, Z:1.13 [[ 9.99822978e-01 -1.81238216e-02 -5.05376211e-03 2.25376134e+02] [ 1.81242840e-02 9.99835741e-01 4.57161894e-05 2.30945499e+00] [ 5.05210343e-03 -1.37303916e-04 9.99987229e-01 1.12565353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.384391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:225.41, Y:2.31, Z:1.13 [[ 9.99849571e-01 -1.65919950e-02 -5.05375835e-03 2.25408388e+02] [ 1.65924400e-02 9.99862335e-01 4.61288014e-05 2.31109112e+00] [ 5.05229725e-03 -1.29976044e-04 9.99987229e-01 1.12594910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:225.44, Y:2.31, Z:1.13 [[ 9.99897636e-01 -1.33856866e-02 -5.05375455e-03 2.25439925e+02] [ 1.33860927e-02 9.99910401e-01 4.65416621e-05 2.31448323e+00] [ 5.05267874e-03 -1.14186925e-04 9.99987229e-01 1.12552603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:225.47, Y:2.32, Z:1.13 [[ 9.99915195e-01 -1.20026310e-02 -5.05375170e-03 2.25472528e+02] [ 1.20030210e-02 9.99927960e-01 4.68489352e-05 2.31585953e+00] [ 5.05282532e-03 -1.07505250e-04 9.99987229e-01 1.12664276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:225.50, Y:2.32, Z:1.13 [[ 9.99941515e-01 -9.56173703e-03 -5.05374784e-03 2.25503429e+02] [ 9.56209797e-03 9.99954281e-01 4.72617437e-05 2.31852820e+00] [ 5.05306488e-03 -9.55834115e-05 9.99987229e-01 1.12684233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:225.53, Y:2.32, Z:1.13 [[ 9.99950786e-01 -8.53730310e-03 -5.05374495e-03 2.25534082e+02] [ 8.53765251e-03 9.99963552e-01 4.75688320e-05 2.31974284e+00] [ 5.05315464e-03 -9.07136091e-05 9.99987229e-01 1.12703134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:225.56, Y:2.32, Z:1.13 [[ 9.99959932e-01 -7.38882177e-03 -5.05374401e-03 2.25564605e+02] [ 7.38915702e-03 9.99972699e-01 4.76686287e-05 2.32054142e+00] [ 5.05325382e-03 -8.50096266e-05 9.99987229e-01 1.12761912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:225.59, Y:2.32, Z:1.13 [[ 9.99971812e-01 -5.55290639e-03 -5.05374401e-03 2.25594650e+02] [ 5.55321820e-03 9.99984580e-01 4.76686287e-05 2.32133821e+00] [ 5.05340138e-03 -7.57318282e-05 9.99987229e-01 1.12811661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59439141800001 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:225.62, Y:2.32, Z:1.13 [[ 9.99974276e-01 -5.08998222e-03 -5.05374401e-03 2.25623895e+02] [ 5.09028812e-03 9.99987043e-01 4.76686287e-05 2.32124787e+00] [ 5.05343589e-03 -7.33924155e-05 9.99987229e-01 1.12864622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62439141800002 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:225.65, Y:2.32, Z:1.13 [[ 9.99976311e-01 -4.67306648e-03 -5.05374587e-03 2.25653196e+02] [ 4.67336605e-03 9.99989079e-01 4.74701211e-05 2.32103741e+00] [ 5.05346885e-03 -7.10870009e-05 9.99987229e-01 1.12895486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65439141800002 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:225.68, Y:2.32, Z:1.13 [[ 9.99976882e-01 -4.54913925e-03 -5.05374773e-03 2.25682457e+02] [ 4.54943624e-03 9.99989650e-01 4.72708085e-05 2.32076801e+00] [ 5.05348039e-03 -7.02614188e-05 9.99987229e-01 1.12950543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:225.71, Y:2.32, Z:1.13 [[ 9.99972324e-01 -5.45992047e-03 -5.05374752e-03 2.25712302e+02] [ 5.46022920e-03 9.99985092e-01 4.72934208e-05 2.32019603e+00] [ 5.05341396e-03 -7.48867317e-05 9.99987229e-01 1.12953456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:225.74, Y:2.32, Z:1.13 [[ 9.99966586e-01 -6.42546476e-03 -5.05374942e-03 2.25741625e+02] [ 6.42578478e-03 9.99979353e-01 4.70896938e-05 2.31959879e+00] [ 5.05334250e-03 -7.95624265e-05 9.99987229e-01 1.12888160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:225.77, Y:2.32, Z:1.13 [[ 9.99958344e-01 -7.60067391e-03 -5.05374934e-03 2.25771693e+02] [ 7.60100899e-03 9.99971111e-01 4.70979697e-05 2.31862629e+00] [ 5.05324537e-03 -8.55096020e-05 9.99987229e-01 1.12867068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:225.80, Y:2.32, Z:1.13 [[ 9.99922474e-01 -1.13800729e-02 -5.05374934e-03 2.25802229e+02] [ 1.13804562e-02 9.99935239e-01 4.70979697e-05 2.31663783e+00] [ 5.05288608e-03 -1.04608291e-04 9.99987229e-01 1.12775441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:225.83, Y:2.32, Z:1.13 [[ 9.99897060e-01 -1.34286812e-02 -5.05374934e-03 2.25833420e+02] [ 1.34290907e-02 9.99909825e-01 4.70979697e-05 2.31535183e+00] [ 5.05266116e-03 -1.14960380e-04 9.99987229e-01 1.12699650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:225.87, Y:2.31, Z:1.13 [[ 9.99867219e-01 -1.54920416e-02 -5.05374305e-03 2.25865144e+02] [ 1.54924807e-02 9.99879983e-01 4.77643985e-05 2.31388324e+00] [ 5.05239654e-03 -1.26053073e-04 9.99987229e-01 1.12650269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:225.90, Y:2.31, Z:1.13 [[ 9.99832050e-01 -1.76162171e-02 -5.05373952e-03 2.25896972e+02] [ 1.76166852e-02 9.99844813e-01 4.81350409e-05 2.31248477e+00] [ 5.05210728e-03 -1.37157095e-04 9.99987229e-01 1.12745108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:225.93, Y:2.31, Z:1.13 [[ 9.99742377e-01 -2.21277951e-02 -5.05373563e-03 2.25927801e+02] [ 2.21283229e-02 9.99755138e-01 4.85396426e-05 2.30978310e+00] [ 5.05142408e-03 -1.60357832e-04 9.99987229e-01 1.12723439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924391418 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:225.96, Y:2.31, Z:1.13 [[ 9.99693130e-01 -2.42508898e-02 -5.05373272e-03 2.25959771e+02] [ 2.42514463e-02 9.99705889e-01 4.88408518e-05 2.30845133e+00] [ 5.05106193e-03 -1.71386191e-04 9.99987229e-01 1.12739561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:225.99, Y:2.31, Z:1.13 [[ 9.99587468e-01 -2.82728535e-02 -5.05372883e-03 2.25991434e+02] [ 2.82734632e-02 9.99600225e-01 4.92395917e-05 2.30622752e+00] [ 5.05031633e-03 -1.92105695e-04 9.99987229e-01 1.12873720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:226.02, Y:2.30, Z:1.13 [[ 9.99541613e-01 -2.98500368e-02 -5.05372581e-03 2.26023113e+02] [ 2.98506682e-02 9.99554368e-01 4.95477784e-05 2.30496005e+00] [ 5.04999471e-03 -2.00382159e-04 9.99987229e-01 1.12855947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:226.06, Y:2.30, Z:1.13 [[ 9.99510952e-01 -3.08596422e-02 -5.05372073e-03 2.26055505e+02] [ 3.08602891e-02 9.99523707e-01 5.00603000e-05 2.30375844e+00] [ 5.04976884e-03 -2.05995101e-04 9.99987229e-01 1.12942421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.044391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:226.09, Y:2.30, Z:1.13 [[ 9.99461569e-01 -3.24196265e-02 -5.05371659e-03 2.26088852e+02] [ 3.24202955e-02 9.99474323e-01 5.04750992e-05 2.30220408e+00] [ 5.04942358e-03 -2.14290907e-04 9.99987229e-01 1.12945036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.074391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:226.12, Y:2.30, Z:1.13 [[ 9.99450920e-01 -3.27462809e-02 -5.05371026e-03 2.26120874e+02] [ 3.27469571e-02 9.99463673e-01 5.11009649e-05 2.30120716e+00] [ 5.04932646e-03 -2.16566540e-04 9.99987229e-01 1.12943309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.104391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:226.15, Y:2.30, Z:1.13 [[ 9.99454838e-01 -3.26264695e-02 -5.05370011e-03 2.26154413e+02] [ 3.26271492e-02 9.99467591e-01 5.20858003e-05 2.30074347e+00] [ 5.04931010e-03 -2.16945233e-04 9.99987229e-01 1.12960231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.134391418 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:226.19, Y:2.30, Z:1.13 [[ 9.99446850e-01 -3.28702696e-02 -5.05369380e-03 2.26187672e+02] [ 3.28709555e-02 9.99459603e-01 5.26916043e-05 2.29975522e+00] [ 5.04923081e-03 -2.18782202e-04 9.99987229e-01 1.12982817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:226.22, Y:2.30, Z:1.13 [[ 9.99427875e-01 -3.34422358e-02 -5.05368727e-03 2.26221050e+02] [ 3.34429320e-02 9.99440627e-01 5.33102577e-05 2.29896525e+00] [ 5.04907756e-03 -2.22289877e-04 9.99987229e-01 1.13009746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:226.25, Y:2.30, Z:1.13 [[ 9.99411757e-01 -3.39205086e-02 -5.05368058e-03 2.26253401e+02] [ 3.39212142e-02 9.99424509e-01 5.39368067e-05 2.29881445e+00] [ 5.04894267e-03 -2.25332060e-04 9.99987229e-01 1.13006440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:226.29, Y:2.30, Z:1.13 [[ 9.99404989e-01 -3.41193349e-02 -5.05367613e-03 2.26286749e+02] [ 3.41200451e-02 9.99417740e-01 5.43509014e-05 2.29832281e+00] [ 5.04887916e-03 -2.26750219e-04 9.99987229e-01 1.12967569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:226.32, Y:2.30, Z:1.13 [[ 9.99401887e-01 -3.42100717e-02 -5.05366939e-03 2.26319788e+02] [ 3.42107862e-02 9.99414638e-01 5.49703066e-05 2.29764014e+00] [ 5.04883063e-03 -2.27827431e-04 9.99987229e-01 1.12903018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:226.35, Y:2.30, Z:1.13 [[ 9.99408417e-01 -3.40187568e-02 -5.05366264e-03 2.26350582e+02] [ 3.40194720e-02 9.99421169e-01 5.55842546e-05 2.29713659e+00] [ 5.04884651e-03 -2.27474306e-04 9.99987229e-01 1.12809202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:226.38, Y:2.30, Z:1.13 [[ 9.99433845e-01 -3.32633476e-02 -5.05365928e-03 2.26381712e+02] [ 3.32640546e-02 9.99446597e-01 5.58879048e-05 2.29715926e+00] [ 5.04900355e-03 -2.23961462e-04 9.99987229e-01 1.12792080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34439141800001 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:226.41, Y:2.30, Z:1.13 [[ 9.99452929e-01 -3.26849213e-02 -5.05367584e-03 2.26414669e+02] [ 3.26856135e-02 9.99465681e-01 5.44068811e-05 2.29736377e+00] [ 5.04919728e-03 -2.19559612e-04 9.99987229e-01 1.12905085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37439141800002 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:226.45, Y:2.30, Z:1.13 [[ 9.99527847e-01 -3.03075006e-02 -5.05364734e-03 2.26445985e+02] [ 3.03081751e-02 9.99540600e-01 5.69364523e-05 2.29873569e+00] [ 5.04960010e-03 -2.10076398e-04 9.99987229e-01 1.13024627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40439141800002 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:226.48, Y:2.30, Z:1.13 [[ 9.99585276e-01 -2.83502565e-02 -5.05364009e-03 2.26478331e+02] [ 2.83509094e-02 9.99598031e-01 5.75733852e-05 2.29956165e+00] [ 5.04997646e-03 -2.00824800e-04 9.99987229e-01 1.13120875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:226.51, Y:2.30, Z:1.13 [[ 9.99737704e-01 -2.23379549e-02 -5.05363551e-03 2.26510676e+02] [ 2.23385331e-02 9.99750462e-01 5.79725346e-05 2.30179472e+00] [ 5.05107945e-03 -1.70848133e-04 9.99987229e-01 1.13229259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:226.54, Y:2.30, Z:1.13 [[ 9.99812362e-01 -1.87002918e-02 -5.05363084e-03 2.26541985e+02] [ 1.87008255e-02 9.99825123e-01 5.83771280e-05 2.30250144e+00] [ 5.05165540e-03 -1.52873243e-04 9.99987229e-01 1.13246787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:226.57, Y:2.30, Z:1.13 [[ 9.99874218e-01 -1.50336205e-02 -5.05362734e-03 2.26573452e+02] [ 1.50341089e-02 9.99886980e-01 5.86780140e-05 2.30341318e+00] [ 5.05217404e-03 -1.34647417e-04 9.99987229e-01 1.13251704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:226.60, Y:2.30, Z:1.13 [[ 9.99919789e-01 -1.16136390e-02 -5.05362389e-03 2.26604486e+02] [ 1.16140853e-02 9.99932553e-01 5.89738289e-05 2.30446453e+00] [ 5.05259814e-03 -1.17662318e-04 9.99987229e-01 1.13385882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:226.64, Y:2.31, Z:1.13 [[ 9.99974507e-01 -5.04434174e-03 -5.05362148e-03 2.26635236e+02] [ 5.04470522e-03 9.99987274e-01 5.91800076e-05 2.30706831e+00] [ 5.05325864e-03 -8.46725296e-05 9.99987229e-01 1.13427056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:226.67, Y:2.31, Z:1.13 [[ 9.99983871e-01 -2.59217579e-03 -5.05362028e-03 2.26665100e+02] [ 2.59250848e-03 9.99996638e-01 5.92822216e-05 2.30774331e+00] [ 5.05344962e-03 -7.23828189e-05 9.99987229e-01 1.13462263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:226.69, Y:2.31, Z:1.13 [[ 9.99987082e-01 -5.44783443e-04 -5.05362271e-03 2.26693411e+02] [ 5.45088942e-04 9.99999850e-01 5.90743624e-05 2.30811971e+00] [ 5.05358976e-03 -6.18282731e-05 9.99987229e-01 1.13415341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:226.72, Y:2.31, Z:1.13 [[ 9.99985704e-01 1.74724832e-03 -5.05362630e-03 2.26721678e+02] [-1.74697364e-03 9.99998472e-01 5.87657514e-05 2.30903322e+00] [ 5.05372125e-03 -4.99363594e-05 9.99987229e-01 1.13234067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:226.75, Y:2.31, Z:1.13 [[ 9.99985247e-01 1.99185340e-03 -5.05363216e-03 2.26750879e+02] [-1.99158443e-03 9.99998015e-01 5.82566772e-05 2.30944980e+00] [ 5.05373817e-03 -4.81910827e-05 9.99987229e-01 1.13160979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:226.78, Y:2.31, Z:1.13 [[ 9.99985795e-01 1.69428211e-03 -5.05363680e-03 2.26779797e+02] [-1.69401137e-03 9.99998563e-01 5.78517075e-05 2.30994767e+00] [ 5.05372756e-03 -4.92899675e-05 9.99987229e-01 1.13138464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:226.81, Y:2.31, Z:1.13 [[ 9.99987208e-01 2.12243185e-04 -5.05364143e-03 2.26808072e+02] [-2.11955590e-04 9.99999976e-01 5.74440489e-05 2.31114836e+00] [ 5.05365350e-03 -5.63721665e-05 9.99987229e-01 1.13131199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:226.84, Y:2.31, Z:1.13 [[ 9.99986781e-01 -9.47545433e-04 -5.05364757e-03 2.26837246e+02] [ 9.47845083e-04 9.99999549e-01 5.68990879e-05 2.31159494e+00] [ 5.05359138e-03 -6.16884108e-05 9.99987229e-01 1.13202030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.794391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:226.87, Y:2.31, Z:1.13 [[ 9.99984436e-01 -2.36388283e-03 -5.05365209e-03 2.26866073e+02] [ 2.36419852e-03 9.99997204e-01 5.64949721e-05 2.31198839e+00] [ 5.05350441e-03 -6.84419296e-05 9.99987229e-01 1.13288066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.824391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:226.89, Y:2.31, Z:1.13 [[ 9.99972611e-01 -5.40715303e-03 -5.05365655e-03 2.26894978e+02] [ 5.40750554e-03 9.99985378e-01 5.60925102e-05 2.31228042e+00] [ 5.05327936e-03 -8.34186497e-05 9.99987229e-01 1.13427628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.854391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:226.92, Y:2.31, Z:1.14 [[ 9.99959360e-01 -7.46578642e-03 -5.05366097e-03 2.26924245e+02] [ 7.46616319e-03 9.99972126e-01 5.56918313e-05 2.31216895e+00] [ 5.05310432e-03 -9.34210255e-05 9.99987229e-01 1.13517321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.884391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:226.95, Y:2.31, Z:1.14 [[ 9.99941596e-01 -9.55328073e-03 -5.05366322e-03 2.26953303e+02] [ 9.55368311e-03 9.99954361e-01 5.54869667e-05 2.31206018e+00] [ 5.05290249e-03 -1.03764823e-04 9.99987229e-01 1.13531153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:226.98, Y:2.31, Z:1.14 [[ 9.99892792e-01 -1.37428381e-02 -5.05366433e-03 2.26984418e+02] [ 1.37432934e-02 9.99905555e-01 5.53854671e-05 2.31179704e+00] [ 5.05242588e-03 -1.24833521e-04 9.99987229e-01 1.13567178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:227.02, Y:2.31, Z:1.14 [[ 9.99871578e-01 -1.52081656e-02 -5.05366216e-03 2.27016034e+02] [ 1.52086407e-02 9.99884340e-01 5.55831177e-05 2.31136417e+00] [ 5.05223234e-03 -1.32435311e-04 9.99987229e-01 1.13590494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:227.05, Y:2.31, Z:1.14 [[ 9.99788780e-01 -1.99211840e-02 -5.05383483e-03 2.27048667e+02] [ 1.99216405e-02 9.99801544e-01 4.00019870e-05 2.31089892e+00] [ 5.05203498e-03 -1.40674218e-04 9.99987228e-01 1.13557217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:227.08, Y:2.31, Z:1.14 [[ 9.99755070e-01 -2.15467222e-02 -5.05365737e-03 2.27080688e+02] [ 2.15472803e-02 9.99767829e-01 5.60127669e-05 2.31039457e+00] [ 5.05127717e-03 -1.64891620e-04 9.99987229e-01 1.13542786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:227.11, Y:2.31, Z:1.14 [[ 9.99736099e-01 -2.24096482e-02 -5.05365275e-03 2.27112349e+02] [ 2.24102195e-02 9.99748858e-01 5.64267129e-05 2.30975555e+00] [ 5.05111906e-03 -1.69665289e-04 9.99987229e-01 1.13528987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:227.14, Y:2.31, Z:1.13 [[ 9.99718591e-01 -2.31775849e-02 -5.05364929e-03 2.27143618e+02] [ 2.31781675e-02 9.99731349e-01 5.67349343e-05 2.30919778e+00] [ 5.05097664e-03 -1.73853298e-04 9.99987229e-01 1.13489317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09439141800001 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:227.18, Y:2.31, Z:1.14 [[ 9.99707568e-01 -2.36482256e-02 -5.05364588e-03 2.27175956e+02] [ 2.36488157e-02 9.99720326e-01 5.70373372e-05 2.30907187e+00] [ 5.05088367e-03 -1.76533398e-04 9.99987229e-01 1.13538676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12439141800002 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:227.21, Y:2.31, Z:1.14 [[ 9.99719459e-01 -2.31400868e-02 -5.05364119e-03 2.27207558e+02] [ 2.31406725e-02 9.99732217e-01 5.74494940e-05 2.30902348e+00] [ 5.05095853e-03 -1.74378033e-04 9.99987229e-01 1.13522606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15439141800002 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:227.24, Y:2.31, Z:1.14 [[ 9.99745049e-01 -2.20067886e-02 -5.05363769e-03 2.27239834e+02] [ 2.20073614e-02 9.99757807e-01 5.77562463e-05 2.30892788e+00] [ 5.05114270e-03 -1.68958752e-04 9.99987229e-01 1.13541833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:227.27, Y:2.31, Z:1.14 [[ 9.99772010e-01 -2.07458107e-02 -5.05363304e-03 2.27270825e+02] [ 2.07463694e-02 9.99784769e-01 5.81602714e-05 2.30886832e+00] [ 5.05133876e-03 -1.62991549e-04 9.99987229e-01 1.13566639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:227.30, Y:2.31, Z:1.14 [[ 9.99826364e-01 -1.79360864e-02 -5.05362956e-03 2.27302934e+02] [ 1.79366108e-02 9.99839124e-01 5.84610179e-05 2.30929515e+00] [ 5.05176799e-03 -1.49095853e-04 9.99987229e-01 1.13572053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:227.34, Y:2.31, Z:1.14 [[ 9.99850500e-01 -1.65359660e-02 -5.05362488e-03 2.27335068e+02] [ 1.65364746e-02 9.99863261e-01 5.88624028e-05 2.30951634e+00] [ 5.05196051e-03 -1.42422742e-04 9.99987229e-01 1.13581469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:227.37, Y:2.31, Z:1.14 [[ 9.99878653e-01 -1.47357022e-02 -5.05362002e-03 2.27365888e+02] [ 1.47361899e-02 9.99891415e-01 5.92764929e-05 2.31052801e+00] [ 5.05219780e-03 -1.33740404e-04 9.99987229e-01 1.13535333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:227.40, Y:2.31, Z:1.13 [[ 9.99886450e-01 -1.41967444e-02 -5.05361639e-03 2.27396992e+02] [ 1.41972267e-02 9.99899213e-01 5.95846729e-05 2.31078188e+00] [ 5.05226114e-03 -1.31325245e-04 9.99987229e-01 1.13464975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:227.43, Y:2.31, Z:1.14 [[ 9.99886107e-01 -1.42209064e-02 -5.05361282e-03 2.27428809e+02] [ 1.42213906e-02 9.99898869e-01 5.98862953e-05 2.31110839e+00] [ 5.05225010e-03 -1.31748876e-04 9.99987229e-01 1.13500486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:227.46, Y:2.31, Z:1.13 [[ 9.99870464e-01 -1.52812258e-02 -5.05360792e-03 2.27461097e+02] [ 1.52817256e-02 9.99883226e-01 6.02967785e-05 2.31208627e+00] [ 5.05209638e-03 -1.37516817e-04 9.99987229e-01 1.13393432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:227.49, Y:2.31, Z:1.13 [[ 9.99855894e-01 -1.62065550e-02 -5.05360300e-03 2.27492407e+02] [ 1.62070686e-02 9.99868655e-01 6.07059916e-05 2.31217163e+00] [ 5.05195540e-03 -1.42601334e-04 9.99987229e-01 1.13298605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:227.52, Y:2.31, Z:1.13 [[ 9.99823271e-01 -1.81076857e-02 -5.05359933e-03 2.27524911e+02] [ 1.81082251e-02 9.99836031e-01 6.10104273e-05 2.31267144e+00] [ 5.05166594e-03 -1.52511359e-04 9.99987229e-01 1.13384675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:227.56, Y:2.31, Z:1.13 [[ 9.99810454e-01 -1.88020630e-02 -5.05359442e-03 2.27557562e+02] [ 1.88026134e-02 9.99823213e-01 6.14144493e-05 2.31277407e+00] [ 5.05154629e-03 -1.56423591e-04 9.99987229e-01 1.13474434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:227.59, Y:2.31, Z:1.14 [[ 9.99822359e-01 -1.81579398e-02 -5.05358940e-03 2.27587698e+02] [ 1.81584840e-02 9.99835119e-01 6.18246848e-05 2.31282659e+00] [ 5.05163355e-03 -1.53579225e-04 9.99987229e-01 1.13557001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:227.62, Y:2.31, Z:1.14 [[ 9.99806542e-01 -1.90088683e-02 -5.05381080e-03 2.27621115e+02] [ 1.90093322e-02 9.99819305e-01 4.37601735e-05 2.31321607e+00] [ 5.05206578e-03 -1.39821276e-04 9.99987228e-01 1.13630264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.544391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:227.65, Y:2.31, Z:1.14 [[ 9.99814741e-01 -1.85727106e-02 -5.05357073e-03 2.27652787e+02] [ 1.85732661e-02 9.99827500e-01 6.30137993e-05 2.31344815e+00] [ 5.05152865e-03 -1.56863439e-04 9.99987229e-01 1.13708862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.574391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:227.69, Y:2.31, Z:1.14 [[ 9.99842453e-01 -1.70155953e-02 -5.05356258e-03 2.27685391e+02] [ 1.70161342e-02 9.99855213e-01 6.36602389e-05 2.31444303e+00] [ 5.05174768e-03 -1.49642308e-04 9.99987229e-01 1.13847747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.604391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:227.72, Y:2.32, Z:1.14 [[ 9.99867145e-01 -1.54968844e-02 -5.05355743e-03 2.27716255e+02] [ 1.54974060e-02 9.99879906e-01 6.40669324e-05 2.31550556e+00] [ 5.05195769e-03 -1.42375452e-04 9.99987229e-01 1.13895676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.634391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:227.75, Y:2.32, Z:1.14 [[ 9.99882839e-01 -1.44488710e-02 -5.05355357e-03 2.27748392e+02] [ 1.44493808e-02 9.99895600e-01 6.43696499e-05 2.31556686e+00] [ 5.05209591e-03 -1.37382828e-04 9.99987229e-01 1.13958211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:227.78, Y:2.32, Z:1.14 [[ 9.99894951e-01 -1.35848589e-02 -5.05354852e-03 2.27780766e+02] [ 1.35853596e-02 9.99907713e-01 6.47642134e-05 2.31565595e+00] [ 5.05220232e-03 -1.33411684e-04 9.99987229e-01 1.14030519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:227.81, Y:2.32, Z:1.14 [[ 9.99908812e-01 -1.25231747e-02 -5.05354328e-03 2.27812525e+02] [ 1.25236639e-02 9.99921574e-01 6.51705227e-05 2.31555533e+00] [ 5.05233080e-03 -1.28453457e-04 9.99987229e-01 1.14073240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:227.84, Y:2.32, Z:1.14 [[ 9.99937809e-01 -9.94180152e-03 -5.05353803e-03 2.27844758e+02] [ 9.94225982e-03 9.99950572e-01 6.55751580e-05 2.31585194e+00] [ 5.05263631e-03 -1.15814668e-04 9.99987229e-01 1.14124256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:227.88, Y:2.32, Z:1.14 [[ 9.99947169e-01 -8.95102175e-03 -5.05353270e-03 2.27876436e+02] [ 8.95146947e-03 9.99959933e-01 6.59833469e-05 2.31589446e+00] [ 5.05273960e-03 -1.11216405e-04 9.99987229e-01 1.14128229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:227.91, Y:2.32, Z:1.14 [[ 9.99958746e-01 -7.54774987e-03 -5.05353001e-03 2.27906831e+02] [ 7.54818072e-03 9.99971510e-01 6.61885625e-05 2.31555564e+00] [ 5.05288646e-03 -1.04330790e-04 9.99987229e-01 1.14133849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:227.94, Y:2.32, Z:1.14 [[ 9.99968282e-01 -6.15606048e-03 -5.05352867e-03 2.27937250e+02] [ 6.15647407e-03 9.99981047e-01 6.62903996e-05 2.31532368e+00] [ 5.05302480e-03 -9.74002152e-05 9.99987229e-01 1.14105662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84439141800001 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:227.97, Y:2.31, Z:1.14 [[ 9.99969561e-01 -5.94471798e-03 -5.05352867e-03 2.27968055e+02] [ 5.94512887e-03 9.99982325e-01 6.62903996e-05 2.31495574e+00] [ 5.05304527e-03 -9.63322610e-05 9.99987229e-01 1.14061213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87439141800002 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:228.00, Y:2.31, Z:1.14 [[ 9.99973056e-01 -5.32429915e-03 -5.05352867e-03 2.27998828e+02] [ 5.32470212e-03 9.99985821e-01 6.62903996e-05 2.31419253e+00] [ 5.05310407e-03 -9.31971483e-05 9.99987229e-01 1.13995588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90439141800002 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:228.03, Y:2.31, Z:1.14 [[ 9.99972955e-01 -5.34332823e-03 -5.05352867e-03 2.28028489e+02] [ 5.34373145e-03 9.99985720e-01 6.62903996e-05 2.31324248e+00] [ 5.05310230e-03 -9.32933069e-05 9.99987229e-01 1.13852927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:228.06, Y:2.31, Z:1.14 [[ 9.99973030e-01 -5.32935546e-03 -5.05353137e-03 2.28058098e+02] [ 5.32975745e-03 9.99985795e-01 6.60837427e-05 2.31239946e+00] [ 5.05310740e-03 -9.30160569e-05 9.99987229e-01 1.13753816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:228.09, Y:2.31, Z:1.14 [[ 9.99971246e-01 -5.65418044e-03 -5.05353271e-03 2.28088118e+02] [ 5.65458607e-03 9.99984011e-01 6.59815099e-05 2.31181542e+00] [ 5.05307883e-03 -9.45552483e-05 9.99987229e-01 1.13734258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:228.12, Y:2.31, Z:1.14 [[ 9.99971022e-01 -5.69360003e-03 -5.05353530e-03 2.28118266e+02] [ 5.69400516e-03 9.99983787e-01 6.57824131e-05 2.31146199e+00] [ 5.05307883e-03 -9.45553629e-05 9.99987229e-01 1.13749503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:228.15, Y:2.31, Z:1.14 [[ 9.99970180e-01 -5.83958057e-03 -5.05353789e-03 2.28147956e+02] [ 5.83998656e-03 9.99982945e-01 6.55832015e-05 2.31061065e+00] [ 5.05306872e-03 -9.50938391e-05 9.99987229e-01 1.13737446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:228.18, Y:2.31, Z:1.14 [[ 9.99967623e-01 -6.26219359e-03 -5.05354046e-03 2.28178325e+02] [ 6.26260395e-03 9.99980388e-01 6.53840120e-05 2.30934858e+00] [ 5.05303190e-03 -9.70302176e-05 9.99987229e-01 1.13818589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:228.21, Y:2.31, Z:1.14 [[ 9.99964339e-01 -6.76628439e-03 -5.05354046e-03 2.28207393e+02] [ 6.76670119e-03 9.99977103e-01 6.53840120e-05 2.30848076e+00] [ 5.05298235e-03 -9.95774786e-05 9.99987229e-01 1.13845719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:228.24, Y:2.31, Z:1.14 [[ 9.99960754e-01 -7.27685898e-03 -5.05354177e-03 2.28238188e+02] [ 7.27728179e-03 9.99973518e-01 6.52825630e-05 2.30736451e+00] [ 5.05293289e-03 -1.02056048e-04 9.99987229e-01 1.13949518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:228.27, Y:2.31, Z:1.14 [[ 9.99957973e-01 -7.64944884e-03 -5.05354177e-03 2.28268482e+02] [ 7.64987640e-03 9.99970737e-01 6.52825630e-05 2.30637515e+00] [ 5.05289452e-03 -1.03938789e-04 9.99987229e-01 1.13981113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:228.30, Y:2.31, Z:1.14 [[ 9.99954382e-01 -8.10530157e-03 -5.05354177e-03 2.28298819e+02] [ 8.10573495e-03 9.99967146e-01 6.52825630e-05 2.30523056e+00] [ 5.05284661e-03 -1.06242255e-04 9.99987229e-01 1.14015083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:228.33, Y:2.30, Z:1.14 [[ 9.99939930e-01 -9.72616137e-03 -5.05354177e-03 2.28328912e+02] [ 9.72661545e-03 9.99952693e-01 6.52825630e-05 2.30319272e+00] [ 5.05266776e-03 -1.14432499e-04 9.99987229e-01 1.14060350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:228.36, Y:2.30, Z:1.14 [[ 9.99931561e-01 -1.05515098e-02 -5.05354177e-03 2.28358848e+02] [ 1.05519745e-02 9.99944324e-01 6.52825630e-05 2.30205229e+00] [ 5.05257158e-03 -1.18602939e-04 9.99987229e-01 1.14095133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:228.39, Y:2.30, Z:1.14 [[ 9.99918759e-01 -1.17020553e-02 -5.05354051e-03 2.28390662e+02] [ 1.17025351e-02 9.99931521e-01 6.53802363e-05 2.30101151e+00] [ 5.05242936e-03 -1.24514160e-04 9.99987229e-01 1.14141711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.294391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:228.42, Y:2.30, Z:1.14 [[ 9.99902969e-01 -1.29812998e-02 -5.05353790e-03 2.28421970e+02] [ 1.29817969e-02 9.99915731e-01 6.55811617e-05 2.30013795e+00] [ 5.05226072e-03 -1.31178801e-04 9.99987229e-01 1.14139955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.324391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:228.45, Y:2.30, Z:1.14 [[ 9.99864482e-01 -1.56677986e-02 -5.05353526e-03 2.28452924e+02] [ 1.56683311e-02 9.99877242e-01 6.57838620e-05 2.29818314e+00] [ 5.05188421e-03 -1.44955411e-04 9.99987229e-01 1.14068033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.354391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:228.48, Y:2.30, Z:1.14 [[ 9.99838411e-01 -1.72514922e-02 -5.05353130e-03 2.28484662e+02] [ 1.72520464e-02 9.99851170e-01 6.60870407e-05 2.29693504e+00] [ 5.05163908e-03 -1.53260118e-04 9.99987229e-01 1.14058290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.384391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:228.52, Y:2.30, Z:1.14 [[ 9.99814862e-01 -1.85661872e-02 -5.05352610e-03 2.28516304e+02] [ 1.85667601e-02 9.99827621e-01 6.64824198e-05 2.29539350e+00] [ 5.05142065e-03 -1.60297718e-04 9.99987229e-01 1.14007697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:228.55, Y:2.29, Z:1.14 [[ 9.99748835e-01 -2.18341404e-02 -5.05352220e-03 2.28548208e+02] [ 2.18347565e-02 9.99761591e-01 6.67770457e-05 2.29353000e+00] [ 5.05085938e-03 -1.77102700e-04 9.99987229e-01 1.13971810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:228.58, Y:2.29, Z:1.14 [[ 9.99724052e-01 -2.29408286e-02 -5.05351708e-03 2.28578973e+02] [ 2.29414608e-02 9.99736808e-01 6.71624122e-05 2.29220123e+00] [ 5.05064628e-03 -1.83078943e-04 9.99987229e-01 1.13928611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:228.61, Y:2.29, Z:1.14 [[ 9.99700251e-01 -2.39555865e-02 -5.05350885e-03 2.28611212e+02] [ 2.39562347e-02 9.99713006e-01 6.77762420e-05 2.29121807e+00] [ 5.05043490e-03 -1.88818970e-04 9.99987229e-01 1.13954077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:228.64, Y:2.29, Z:1.14 [[ 9.99675683e-01 -2.49597889e-02 -5.05350390e-03 2.28643319e+02] [ 2.49604518e-02 9.99688437e-01 6.81431121e-05 2.29013821e+00] [ 5.05022858e-03 -1.94258753e-04 9.99987229e-01 1.14016821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:228.68, Y:2.29, Z:1.14 [[ 9.99675766e-01 -2.49564491e-02 -5.05349834e-03 2.28675687e+02] [ 2.49571141e-02 9.99688520e-01 6.85531453e-05 2.28965244e+00] [ 5.05021344e-03 -1.94651653e-04 9.99987229e-01 1.14052076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:228.71, Y:2.29, Z:1.14 [[ 9.99707885e-01 -2.36348573e-02 -5.05349269e-03 2.28706769e+02] [ 2.36355075e-02 9.99720640e-01 6.89672769e-05 2.28935608e+00] [ 5.05045091e-03 -1.88388995e-04 9.99987229e-01 1.14052816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59439141800001 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:228.74, Y:2.29, Z:1.14 [[ 9.99731641e-01 -2.26076920e-02 -5.05348846e-03 2.28739311e+02] [ 2.26083307e-02 9.99744397e-01 6.92754492e-05 2.28922110e+00] [ 5.05063062e-03 -1.83507797e-04 9.99987229e-01 1.14145330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62439141800002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:228.77, Y:2.29, Z:1.14 [[ 9.99765195e-01 -2.10717055e-02 -5.05348269e-03 2.28770193e+02] [ 2.10723267e-02 9.99777951e-01 6.96941144e-05 2.28904048e+00] [ 5.05089200e-03 -1.76166388e-04 9.99987229e-01 1.14203328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65439141800002 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:228.80, Y:2.29, Z:1.14 [[ 9.99820846e-01 -1.82411096e-02 -5.05347837e-03 2.28801554e+02] [ 1.82416962e-02 9.99833604e-01 7.00057131e-05 2.28985103e+00] [ 5.05136051e-03 -1.62177188e-04 9.99987229e-01 1.14077220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:228.83, Y:2.29, Z:1.14 [[ 9.99841558e-01 -1.70681476e-02 -5.05347409e-03 2.28833687e+02] [ 1.70687208e-02 9.99854316e-01 7.03137381e-05 2.29000697e+00] [ 5.05153775e-03 -1.56558936e-04 9.99987229e-01 1.14224240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:228.87, Y:2.29, Z:1.14 [[ 9.99865460e-01 -1.56052483e-02 -5.05346847e-03 2.28865979e+02] [ 1.56058048e-02 9.99878220e-01 7.07154845e-05 2.28971760e+00] [ 5.05174952e-03 -1.49569413e-04 9.99987229e-01 1.14257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:228.90, Y:2.29, Z:1.14 [[ 9.99877501e-01 -1.48137009e-02 -5.05346272e-03 2.28898551e+02] [ 1.48142494e-02 9.99890260e-01 7.11240544e-05 2.28983581e+00] [ 5.05185454e-03 -1.45978599e-04 9.99987229e-01 1.14276780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:228.93, Y:2.29, Z:1.14 [[ 9.99899101e-01 -1.32759341e-02 -5.05345681e-03 2.28930204e+02] [ 1.32764651e-02 9.99911861e-01 7.15409935e-05 2.28997618e+00] [ 5.05206164e-03 -1.38625818e-04 9.99987229e-01 1.14260241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:228.96, Y:2.29, Z:1.14 [[ 9.99907266e-01 -1.26460180e-02 -5.05344716e-03 2.28962872e+02] [ 1.26465443e-02 9.99920027e-01 7.22163376e-05 2.28983544e+00] [ 5.05212977e-03 -1.36118284e-04 9.99987229e-01 1.14316942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:228.99, Y:2.29, Z:1.14 [[ 9.99917935e-01 -1.17722695e-02 -5.05344130e-03 2.28993790e+02] [ 1.17727867e-02 9.99930696e-01 7.26245191e-05 2.28941874e+00] [ 5.05223612e-03 -1.32111646e-04 9.99987229e-01 1.14322105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:229.03, Y:2.29, Z:1.14 [[ 9.99937817e-01 -9.94109875e-03 -5.05343150e-03 2.29025039e+02] [ 9.94159606e-03 9.99950578e-01 7.33000684e-05 2.29016619e+00] [ 5.05245307e-03 -1.23534685e-04 9.99987229e-01 1.14393943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:229.06, Y:2.29, Z:1.14 [[ 9.99952783e-01 -8.30028833e-03 -5.05342859e-03 2.29056066e+02] [ 8.30076571e-03 9.99965545e-01 7.35001007e-05 2.29051248e+00] [ 5.05264440e-03 -1.15443957e-04 9.99987229e-01 1.14476941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:229.09, Y:2.29, Z:1.14 [[ 9.99977784e-01 -4.34668711e-03 -5.05342566e-03 2.29086399e+02] [ 4.34711504e-03 9.99990549e-01 7.37006231e-05 2.29147537e+00] [ 5.05305755e-03 -9.56668085e-05 9.99987229e-01 1.14426174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:229.12, Y:2.29, Z:1.14 [[ 9.99985459e-01 -1.88257439e-03 -5.05342566e-03 2.29116194e+02] [ 1.88297087e-03 9.99998225e-01 7.37006231e-05 2.29132164e+00] [ 5.05327794e-03 -8.32150048e-05 9.99987229e-01 1.14408121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:229.14, Y:2.29, Z:1.14 [[ 9.99987206e-01 2.25277723e-04 -5.05342710e-03 2.29144992e+02] [-2.24908652e-04 9.99999972e-01 7.36021051e-05 2.29137336e+00] [ 5.05344354e-03 -7.24646039e-05 9.99987229e-01 1.14388941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:229.17, Y:2.29, Z:1.14 [[ 9.99984506e-01 2.33462945e-03 -5.05344665e-03 2.29172769e+02] [-2.33429422e-03 9.99997273e-01 7.22339869e-05 2.29150849e+00] [ 5.05360151e-03 -6.04366363e-05 9.99987229e-01 1.14404406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.044391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:229.20, Y:2.29, Z:1.14 [[ 9.99965441e-01 6.60147710e-03 -5.05346845e-03 2.29200278e+02] [-6.60120423e-03 9.99978209e-01 7.06756039e-05 2.29176722e+00] [ 5.05382489e-03 -3.73141842e-05 9.99987229e-01 1.14487113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.074391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:229.23, Y:2.29, Z:1.15 [[ 9.99949455e-01 8.69189266e-03 -5.05349013e-03 2.29226736e+02] [-8.69165449e-03 9.99962224e-01 6.90896183e-05 2.29148455e+00] [ 5.05389975e-03 -2.51629360e-05 9.99987229e-01 1.14543761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.104391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:229.25, Y:2.29, Z:1.15 [[ 9.99916501e-01 1.18933724e-02 -5.05349941e-03 2.29254213e+02] [-1.18931786e-02 9.99929271e-01 6.84040147e-05 2.29084167e+00] [ 5.05395554e-03 -8.29613199e-06 9.99987229e-01 1.14567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.134391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:229.28, Y:2.29, Z:1.15 [[ 9.99902974e-01 1.29809425e-02 -5.05350724e-03 2.29281999e+02] [-1.29807656e-02 9.99915744e-01 6.78207182e-05 2.28991250e+00] [ 5.05396183e-03 -2.21574505e-06 9.99987229e-01 1.14651676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:229.31, Y:2.29, Z:1.15 [[ 9.99893954e-01 1.36580298e-02 -5.05351549e-03 2.29308649e+02] [-1.36578646e-02 9.99906725e-01 6.72000183e-05 2.28882831e+00] [ 5.05396195e-03 1.82733843e-06 9.99987229e-01 1.14648942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:229.34, Y:2.29, Z:1.15 [[ 9.99893188e-01 1.37139938e-02 -5.05352494e-03 2.29336543e+02] [-1.37138329e-02 9.99905959e-01 6.64821141e-05 2.28691657e+00] [ 5.05396144e-03 2.82818357e-06 9.99987229e-01 1.14688076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:229.36, Y:2.29, Z:1.15 [[ 9.99906311e-01 1.27212775e-02 -5.05353287e-03 2.29364212e+02] [-1.27211070e-02 9.99919081e-01 6.58737805e-05 2.28580926e+00] [ 5.05396194e-03 -1.58107626e-06 9.99987229e-01 1.14696807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:229.39, Y:2.28, Z:1.15 [[ 9.99938403e-01 9.88189705e-03 -5.05354078e-03 2.29392177e+02] [-9.88169343e-03 9.99951173e-01 6.52613316e-05 2.28292307e+00] [ 5.05393893e-03 -1.53197710e-05 9.99987229e-01 1.14620431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:229.42, Y:2.28, Z:1.15 [[ 9.99959096e-01 7.50114441e-03 -5.05354727e-03 2.29420290e+02] [-7.50091294e-03 9.99971866e-01 6.47546058e-05 2.28128092e+00] [ 5.05389083e-03 -2.68457390e-05 9.99987229e-01 1.14608361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:229.45, Y:2.28, Z:1.15 [[ 9.99975103e-01 4.92489715e-03 -5.05355519e-03 2.29448140e+02] [-4.92463594e-03 9.99987872e-01 6.41305999e-05 2.27938106e+00] [ 5.05380974e-03 -3.92420838e-05 9.99987229e-01 1.14566390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34439141800001 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:229.48, Y:2.28, Z:1.15 [[ 9.99984030e-01 2.52994473e-03 -5.05356168e-03 2.29476929e+02] [-2.52965555e-03 9.99996798e-01 6.36146901e-05 2.27717747e+00] [ 5.05370645e-03 -5.08299038e-05 9.99987229e-01 1.14533743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37439141800002 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:229.51, Y:2.27, Z:1.15 [[ 9.99985492e-01 -1.86476089e-03 -5.05356674e-03 2.29505749e+02] [ 1.86510414e-03 9.99998259e-01 6.32107715e-05 2.27404615e+00] [ 5.05344006e-03 -7.26352826e-05 9.99987229e-01 1.14552171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40439141800002 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:229.53, Y:2.27, Z:1.15 [[ 9.99981164e-01 -3.48316256e-03 -5.05357172e-03 2.29534918e+02] [ 3.48352445e-03 9.99993931e-01 6.28094920e-05 2.27231761e+00] [ 5.05332228e-03 -8.04125496e-05 9.99987229e-01 1.14589975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:229.56, Y:2.27, Z:1.15 [[ 9.99974131e-01 -5.11846846e-03 -5.05357678e-03 2.29563121e+02] [ 5.11884916e-03 9.99986897e-01 6.24001881e-05 2.26983816e+00] [ 5.05319117e-03 -8.82670711e-05 9.99987229e-01 1.14591767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464391418 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:229.59, Y:2.27, Z:1.15 [[ 9.99972920e-01 -5.34976973e-03 -5.05358052e-03 2.29592458e+02] [ 5.35015184e-03 9.99985686e-01 6.20958744e-05 2.26842605e+00] [ 5.05317598e-03 -8.91316160e-05 9.99987229e-01 1.14590599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:229.62, Y:2.27, Z:1.15 [[ 9.99973526e-01 -5.23539782e-03 -5.05358303e-03 2.29622069e+02] [ 5.23577744e-03 9.99986291e-01 6.18905970e-05 2.26743152e+00] [ 5.05318973e-03 -8.83483945e-05 9.99987229e-01 1.14656657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:229.65, Y:2.27, Z:1.15 [[ 9.99977284e-01 -4.46018030e-03 -5.05358555e-03 2.29651829e+02] [ 4.46054898e-03 9.99990050e-01 6.16840136e-05 2.26552549e+00] [ 5.05326015e-03 -8.42243783e-05 9.99987229e-01 1.14636702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:229.68, Y:2.26, Z:1.15 [[ 9.99979328e-01 -3.97549992e-03 -5.05358544e-03 2.29681306e+02] [ 3.97586245e-03 9.99992094e-01 6.16931537e-05 2.26462658e+00] [ 5.05330023e-03 -8.17842390e-05 9.99987229e-01 1.14679041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:229.71, Y:2.26, Z:1.15 [[ 9.99981245e-01 -3.45984471e-03 -5.05358787e-03 2.29709571e+02] [ 3.46019965e-03 9.99994012e-01 6.14933607e-05 2.26376834e+00] [ 5.05334485e-03 -7.89786304e-05 9.99987229e-01 1.14712245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:229.74, Y:2.26, Z:1.15 [[ 9.99983114e-01 -2.86944827e-03 -5.05359147e-03 2.29739207e+02] [ 2.86979417e-03 9.99995880e-01 6.11961639e-05 2.26286503e+00] [ 5.05339505e-03 -7.56978978e-05 9.99987229e-01 1.14803386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:229.77, Y:2.26, Z:1.15 [[ 9.99984954e-01 -2.13384987e-03 -5.05359394e-03 2.29768185e+02] [ 2.13418534e-03 9.99997721e-01 6.09912041e-05 2.26083468e+00] [ 5.05345228e-03 -7.17755925e-05 9.99987229e-01 1.14810764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:229.80, Y:2.26, Z:1.15 [[ 9.99984539e-01 -2.31993535e-03 -5.05361090e-03 2.29796765e+02] [ 2.32026593e-03 9.99997306e-01 5.95521796e-05 2.25965163e+00] [ 5.05345913e-03 -7.12769801e-05 9.99987229e-01 1.14778575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:229.83, Y:2.26, Z:1.15 [[ 9.99982245e-01 -3.15776317e-03 -5.05361448e-03 2.29825246e+02] [ 3.15810291e-03 9.99995011e-01 5.92473617e-05 2.25723149e+00] [ 5.05340218e-03 -7.52061443e-05 9.99987229e-01 1.14694325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:229.85, Y:2.26, Z:1.15 [[ 9.99978901e-01 -4.08152114e-03 -5.05361797e-03 2.29854883e+02] [ 4.08187116e-03 9.99991667e-01 5.89480604e-05 2.25570290e+00] [ 5.05333526e-03 -7.95750341e-05 9.99987229e-01 1.14694086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:229.88, Y:2.25, Z:1.15 [[ 9.99975143e-01 -4.91669441e-03 -5.05362034e-03 2.29884735e+02] [ 4.91705406e-03 9.99987910e-01 5.87442418e-05 2.25424281e+00] [ 5.05327041e-03 -8.35917060e-05 9.99987229e-01 1.14678833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.794391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:229.91, Y:2.25, Z:1.15 [[ 9.99960722e-01 -7.28121267e-03 -5.05362268e-03 2.29913947e+02] [ 7.28160148e-03 9.99973487e-01 5.85420765e-05 2.25221812e+00] [ 5.05306243e-03 -9.53382435e-05 9.99987229e-01 1.14589396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.824391418 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:229.94, Y:2.25, Z:1.15 [[ 9.99953330e-01 -8.23394039e-03 -5.05362503e-03 2.29943000e+02] [ 8.23434033e-03 9.99966096e-01 5.83385945e-05 2.25111046e+00] [ 5.05297333e-03 -9.99491402e-05 9.99987229e-01 1.14511813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.854391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:229.97, Y:2.25, Z:1.15 [[ 9.99946876e-01 -8.98360501e-03 -5.05362619e-03 2.29973545e+02] [ 8.98401402e-03 9.99959641e-01 5.82378211e-05 2.25044722e+00] [ 5.05289905e-03 -1.03636576e-04 9.99987229e-01 1.14500214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.884391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:230.00, Y:2.25, Z:1.14 [[ 9.99941002e-01 -9.61525907e-03 -5.05362619e-03 2.30003452e+02] [ 9.61567614e-03 9.99953767e-01 5.82378211e-05 2.24935182e+00] [ 5.05283257e-03 -1.06828418e-04 9.99987229e-01 1.14483700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:230.03, Y:2.25, Z:1.14 [[ 9.99941002e-01 -9.61525856e-03 -5.05362504e-03 2.30034448e+02] [ 9.61567614e-03 9.99953767e-01 5.83375690e-05 2.24899396e+00] [ 5.05283046e-03 -1.06928149e-04 9.99987229e-01 1.14499363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:230.06, Y:2.25, Z:1.15 [[ 9.99938337e-01 -9.88856598e-03 -5.05362504e-03 2.30064955e+02] [ 9.88898705e-03 9.99951101e-01 5.83375690e-05 2.24844093e+00] [ 5.05280105e-03 -1.08309204e-04 9.99987229e-01 1.14592841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:230.10, Y:2.25, Z:1.15 [[ 9.99939763e-01 -9.74328531e-03 -5.05362504e-03 2.30095909e+02] [ 9.74370452e-03 9.99952527e-01 5.83375690e-05 2.24804050e+00] [ 5.05281673e-03 -1.07575084e-04 9.99987229e-01 1.14665022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:230.13, Y:2.25, Z:1.15 [[ 9.99948510e-01 -8.79989148e-03 -5.05362265e-03 2.30126740e+02] [ 8.80029969e-03 9.99961275e-01 5.85434270e-05 2.24806391e+00] [ 5.05291177e-03 -1.03013806e-04 9.99987229e-01 1.14756117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:230.16, Y:2.25, Z:1.15 [[ 9.99954747e-01 -8.06011284e-03 -5.05362147e-03 2.30157718e+02] [ 8.06051212e-03 9.99967512e-01 5.86456898e-05 2.24814828e+00] [ 5.05298459e-03 -9.93778129e-05 9.99987229e-01 1.14868323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:230.19, Y:2.25, Z:1.15 [[ 9.99961559e-01 -7.16533472e-03 -5.05362147e-03 2.30188050e+02] [ 7.16572258e-03 9.99974324e-01 5.86456898e-05 2.24821959e+00] [ 5.05307149e-03 -9.48562848e-05 9.99987229e-01 1.14937485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09439141800001 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:230.22, Y:2.25, Z:1.15 [[ 9.99975299e-01 -4.88482099e-03 -5.05362147e-03 2.30217691e+02] [ 4.88517973e-03 9.99988066e-01 5.86456898e-05 2.24849074e+00] [ 5.05327468e-03 -8.33320903e-05 9.99987229e-01 1.15088641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12439141800002 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:230.25, Y:2.25, Z:1.15 [[ 9.99980835e-01 -3.57650725e-03 -5.05362262e-03 2.30247237e+02] [ 3.57684879e-03 9.99993601e-01 5.85458758e-05 2.24911783e+00] [ 5.05338090e-03 -7.66207977e-05 9.99987229e-01 1.15325075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15439141800002 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:230.28, Y:2.25, Z:1.15 [[ 9.99979524e-01 -3.92548887e-03 -5.05396084e-03 2.30276473e+02] [ 3.92568571e-03 9.99992294e-01 2.90273741e-05 2.24755105e+00] [ 5.05380795e-03 -4.88670415e-05 9.99987228e-01 1.15197032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:230.31, Y:2.25, Z:1.15 [[ 9.99977564e-01 -4.39683594e-03 -5.05362479e-03 2.30306017e+02] [ 4.39718623e-03 9.99990331e-01 5.82049465e-05 2.24706726e+00] [ 5.05332001e-03 -8.04253700e-05 9.99987229e-01 1.15246592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:230.34, Y:2.25, Z:1.15 [[ 9.99971942e-01 -5.52951147e-03 -5.05362716e-03 2.30335246e+02] [ 5.52987518e-03 9.99984708e-01 5.79989056e-05 2.24681630e+00] [ 5.05322918e-03 -8.59432056e-05 9.99987229e-01 1.15239926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:230.36, Y:2.25, Z:1.15 [[ 9.99963856e-01 -6.83727358e-03 -5.05362952e-03 2.30364798e+02] [ 6.83765294e-03 9.99976621e-01 5.77928883e-05 2.24633911e+00] [ 5.05311622e-03 -9.23457642e-05 9.99987229e-01 1.15160757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:230.39, Y:2.25, Z:1.15 [[ 9.99945647e-01 -9.11942077e-03 -5.05363068e-03 2.30394954e+02] [ 9.11982875e-03 9.99958412e-01 5.76908113e-05 2.24516236e+00] [ 5.05289440e-03 -1.03775922e-04 9.99987229e-01 1.15077708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:230.42, Y:2.24, Z:1.15 [[ 9.99938043e-01 -9.91824515e-03 -5.05363185e-03 2.30424798e+02] [ 9.91866281e-03 9.99950807e-01 5.75883010e-05 2.24444212e+00] [ 5.05281207e-03 -1.07710003e-04 9.99987229e-01 1.15000435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334391418 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:230.46, Y:2.24, Z:1.15 [[ 9.99931510e-01 -1.05563681e-02 -5.05363069e-03 2.30456451e+02] [ 1.05567944e-02 9.99944274e-01 5.76898873e-05 2.24373723e+00] [ 5.05274007e-03 -1.11036076e-04 9.99987229e-01 1.14952927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:230.49, Y:2.24, Z:1.15 [[ 9.99935505e-01 -1.01708476e-02 -5.05362839e-03 2.30487726e+02] [ 1.01712700e-02 9.99948270e-01 5.78904403e-05 2.24334480e+00] [ 5.05277817e-03 -1.09288526e-04 9.99987229e-01 1.15008169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:230.52, Y:2.24, Z:1.15 [[ 9.99943057e-01 -9.39912685e-03 -5.05362606e-03 2.30518221e+02] [ 9.39954043e-03 9.99955822e-01 5.80935515e-05 2.24343768e+00] [ 5.05285677e-03 -1.05592006e-04 9.99987229e-01 1.15045947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:230.55, Y:2.24, Z:1.15 [[ 9.99959620e-01 -7.43091237e-03 -5.05362490e-03 2.30548357e+02] [ 7.43130134e-03 9.99972386e-01 5.81942575e-05 2.24412963e+00] [ 5.05305291e-03 -9.57469171e-05 9.99987229e-01 1.15153261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:230.58, Y:2.24, Z:1.15 [[ 9.99967559e-01 -6.27230779e-03 -5.05362490e-03 2.30578530e+02] [ 6.27268197e-03 9.99980325e-01 5.81942575e-05 2.24409062e+00] [ 5.05316045e-03 -8.98921514e-05 9.99987229e-01 1.15202712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:230.61, Y:2.24, Z:1.15 [[ 9.99974155e-01 -5.11382651e-03 -5.05362490e-03 2.30607991e+02] [ 5.11418589e-03 9.99986921e-01 5.81942575e-05 2.24380689e+00] [ 5.05326120e-03 -8.40379306e-05 9.99987229e-01 1.15166993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:230.64, Y:2.24, Z:1.15 [[ 9.99977965e-01 -4.30459944e-03 -5.05362604e-03 2.30638130e+02] [ 4.30494800e-03 9.99990732e-01 5.80951909e-05 2.24366120e+00] [ 5.05332912e-03 -7.98495080e-05 9.99987229e-01 1.15231544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.544391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:230.67, Y:2.24, Z:1.15 [[ 9.99982036e-01 -3.22310363e-03 -5.05362839e-03 2.30666567e+02] [ 3.22343734e-03 9.99994803e-01 5.78901317e-05 2.24362881e+00] [ 5.05341554e-03 -7.41791461e-05 9.99987229e-01 1.15165194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.574391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:230.70, Y:2.24, Z:1.15 [[ 9.99981945e-01 -3.25133970e-03 -5.05363186e-03 2.30696200e+02] [ 3.25167223e-03 9.99994712e-01 5.75853474e-05 2.24320714e+00] [ 5.05341790e-03 -7.40170621e-05 9.99987229e-01 1.15152681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.604391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:230.73, Y:2.24, Z:1.15 [[ 9.99975709e-01 -4.80024763e-03 -5.05363414e-03 2.30725184e+02] [ 4.80059892e-03 9.99988475e-01 5.73842214e-05 2.24276911e+00] [ 5.05330044e-03 -8.16432980e-05 9.99987229e-01 1.15101002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.634391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:230.76, Y:2.24, Z:1.15 [[ 9.99969518e-01 -5.95182189e-03 -5.05363752e-03 2.30755295e+02] [ 5.95218637e-03 9.99982284e-01 5.70850916e-05 2.24226462e+00] [ 5.05320823e-03 -8.71635439e-05 9.99987229e-01 1.15122919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:230.78, Y:2.24, Z:1.15 [[ 9.99962316e-01 -7.05877956e-03 -5.05363974e-03 2.30784731e+02] [ 7.05915718e-03 9.99975082e-01 5.68883593e-05 2.24145686e+00] [ 5.05311225e-03 -9.25606528e-05 9.99987229e-01 1.15151577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:230.82, Y:2.24, Z:1.15 [[ 9.99944308e-01 -9.26507581e-03 -5.05364195e-03 2.30815010e+02] [ 9.26548060e-03 9.99957073e-01 5.66912434e-05 2.23960992e+00] [ 5.05289976e-03 -1.03512508e-04 9.99987229e-01 1.15237969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724391418 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:230.85, Y:2.24, Z:1.15 [[ 9.99935090e-01 -1.02116096e-02 -5.05364195e-03 2.30845661e+02] [ 1.02120265e-02 9.99947854e-01 5.66912434e-05 2.23852219e+00] [ 5.05279951e-03 -1.08295489e-04 9.99987229e-01 1.15225580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:230.88, Y:2.24, Z:1.15 [[ 9.99932662e-01 -1.04466428e-02 -5.05364081e-03 2.30875734e+02] [ 1.04470631e-02 9.99945426e-01 5.67926625e-05 2.23702009e+00] [ 5.05277172e-03 -1.09584543e-04 9.99987229e-01 1.15191361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:230.91, Y:2.24, Z:1.15 [[ 9.99935600e-01 -1.01615105e-02 -5.05363968e-03 2.30907454e+02] [ 1.01619277e-02 9.99948365e-01 5.68926080e-05 2.23656921e+00] [ 5.05280062e-03 -1.08243665e-04 9.99987229e-01 1.15220781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:230.94, Y:2.24, Z:1.15 [[ 9.99943309e-01 -9.37227507e-03 -5.05363738e-03 2.30939095e+02] [ 9.37268327e-03 9.99956074e-01 5.70963220e-05 2.23607756e+00] [ 5.05288027e-03 -1.04459228e-04 9.99987229e-01 1.15213609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84439141800001 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:230.97, Y:2.24, Z:1.15 [[ 9.99951153e-01 -8.49420846e-03 -5.05363509e-03 2.30969422e+02] [ 8.49460647e-03 9.99963919e-01 5.72987162e-05 2.23564814e+00] [ 5.05296604e-03 -1.00224559e-04 9.99987229e-01 1.15164354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87439141800002 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:231.00, Y:2.23, Z:1.15 [[ 9.99967881e-01 -6.22076389e-03 -5.05363395e-03 2.30999920e+02] [ 6.22113339e-03 9.99980647e-01 5.73990582e-05 2.23489387e+00] [ 5.05317908e-03 -8.88365455e-05 9.99987229e-01 1.15225984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90439141800002 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:231.03, Y:2.23, Z:1.15 [[ 9.99973900e-01 -5.16340627e-03 -5.05363395e-03 2.31029776e+02] [ 5.16376227e-03 9.99986666e-01 5.73990582e-05 2.23422231e+00] [ 5.05327019e-03 -8.34933244e-05 9.99987229e-01 1.15303990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:231.06, Y:2.23, Z:1.15 [[ 9.99978096e-01 -4.27408736e-03 -5.05363510e-03 2.31059225e+02] [ 4.27443149e-03 9.99990863e-01 5.72972468e-05 2.23365766e+00] [ 5.05334403e-03 -7.88974088e-05 9.99987229e-01 1.15412548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:231.09, Y:2.23, Z:1.16 [[ 9.99985064e-01 -2.08155208e-03 -5.05363740e-03 2.31087583e+02] [ 2.08186719e-03 9.99997831e-01 5.70934275e-05 2.23308786e+00] [ 5.05350760e-03 -6.76135766e-05 9.99987229e-01 1.15512016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:231.12, Y:2.23, Z:1.16 [[ 9.99986441e-01 -1.25655231e-03 -5.05364080e-03 2.31116597e+02] [ 1.25685536e-03 9.99999209e-01 5.67909655e-05 2.23288159e+00] [ 5.05356544e-03 -6.31418909e-05 9.99987229e-01 1.15562672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:231.14, Y:2.23, Z:1.15 [[ 9.99986548e-01 1.16781097e-03 -5.05365659e-03 2.31144588e+02] [-1.16754616e-03 9.99999317e-01 5.53493168e-05 2.23230856e+00] [ 5.05371778e-03 -4.94481949e-05 9.99987229e-01 1.15440737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:231.17, Y:2.23, Z:1.15 [[ 9.99984844e-01 2.18450170e-03 -5.05366212e-03 2.31172330e+02] [-2.18425245e-03 9.99997613e-01 5.48402396e-05 2.23153992e+00] [ 5.05376985e-03 -4.38009346e-05 9.99987229e-01 1.15360217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:231.20, Y:2.23, Z:1.15 [[ 9.99983003e-01 2.90774979e-03 -5.05367013e-03 2.31200318e+02] [-2.90751355e-03 9.99995772e-01 5.40915668e-05 2.23051762e+00] [ 5.05380605e-03 -3.93970330e-05 9.99987229e-01 1.15328244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:231.23, Y:2.23, Z:1.15 [[ 9.99980457e-01 3.68055280e-03 -5.05367660e-03 2.31227190e+02] [-3.68032952e-03 9.99993226e-01 5.34801150e-05 2.22939772e+00] [ 5.05383920e-03 -3.48798746e-05 9.99987229e-01 1.15301014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:231.26, Y:2.23, Z:1.15 [[ 9.99974172e-01 5.11036116e-03 -5.05368568e-03 2.31255096e+02] [-5.11016055e-03 9.99986942e-01 5.26080755e-05 2.22757231e+00] [ 5.05388853e-03 -2.67815716e-05 9.99987229e-01 1.15397316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:231.28, Y:2.23, Z:1.15 [[ 9.99971366e-01 5.63261972e-03 -5.05369198e-03 2.31283916e+02] [-5.63242887e-03 9.99984136e-01 5.19956083e-05 2.22651167e+00] [ 5.05390468e-03 -2.35295589e-05 9.99987229e-01 1.15433512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:231.31, Y:2.23, Z:1.15 [[ 9.99970116e-01 5.85033520e-03 -5.05369611e-03 2.31311723e+02] [-5.85014918e-03 9.99982886e-01 5.15906796e-05 2.22544326e+00] [ 5.05391145e-03 -2.20242618e-05 9.99987229e-01 1.15443377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:231.34, Y:2.22, Z:1.15 [[ 9.99969474e-01 5.95915779e-03 -5.05370118e-03 2.31340964e+02] [-5.95897569e-03 9.99982244e-01 5.10890808e-05 2.22317660e+00] [ 5.05391590e-03 -2.09726388e-05 9.99987229e-01 1.15389656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:231.37, Y:2.22, Z:1.15 [[ 9.99971132e-01 5.67416135e-03 -5.05370517e-03 2.31369972e+02] [-5.67397762e-03 9.99983902e-01 5.06920062e-05 2.22146715e+00] [ 5.05391144e-03 -2.20159328e-05 9.99987229e-01 1.15391189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.294391418 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:231.40, Y:2.22, Z:1.15 [[ 9.99972526e-01 5.42281213e-03 -5.05370927e-03 2.31397404e+02] [-5.42262728e-03 9.99985296e-01 5.02796994e-05 2.21934906e+00] [ 5.05390762e-03 -2.28739363e-05 9.99987229e-01 1.15293232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.324391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:231.43, Y:2.22, Z:1.15 [[ 9.99977263e-01 4.46477264e-03 -5.05371430e-03 2.31426543e+02] [-4.46457813e-03 9.99990032e-01 4.97690450e-05 2.21623588e+00] [ 5.05388613e-03 -2.72052110e-05 9.99987229e-01 1.15318458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.354391418 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:231.45, Y:2.21, Z:1.15 [[ 9.99979983e-01 3.80711293e-03 -5.05371827e-03 2.31454481e+02] [-3.80691208e-03 9.99992752e-01 4.93620073e-05 2.21483227e+00] [ 5.05386957e-03 -3.01219581e-05 9.99987229e-01 1.15307339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.384391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:231.48, Y:2.21, Z:1.15 [[ 9.99984753e-01 2.22562795e-03 -5.05372315e-03 2.31482088e+02] [-2.22540946e-03 9.99997523e-01 4.88570501e-05 2.21209001e+00] [ 5.05381937e-03 -3.76097018e-05 9.99987229e-01 1.15297607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:231.51, Y:2.21, Z:1.15 [[ 9.99986269e-01 1.38591427e-03 -5.05372838e-03 2.31510764e+02] [-1.38568782e-03 9.99999039e-01 4.83108007e-05 2.21044236e+00] [ 5.05379047e-03 -4.13072475e-05 9.99987229e-01 1.15374793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:231.54, Y:2.21, Z:1.15 [[ 9.99987199e-01 2.48092821e-04 -5.05373211e-03 2.31539116e+02] [-2.47853829e-04 9.99999968e-01 4.79165434e-05 2.20870944e+00] [ 5.05374384e-03 -4.66633432e-05 9.99987229e-01 1.15384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:231.57, Y:2.21, Z:1.15 [[ 9.99983604e-01 -2.69286573e-03 -5.05373583e-03 2.31568209e+02] [ 2.69314028e-03 9.99996372e-01 4.75218793e-05 2.20568463e+00] [ 5.05358952e-03 -6.11315196e-05 9.99987229e-01 1.15444061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:231.60, Y:2.20, Z:1.15 [[ 9.99977072e-01 -4.50733634e-03 -5.05373962e-03 2.31596634e+02] [ 4.50763200e-03 9.99989839e-01 4.71144530e-05 2.20411879e+00] [ 5.05347591e-03 -6.98937712e-05 9.99987229e-01 1.15408360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:231.63, Y:2.20, Z:1.15 [[ 9.99965899e-01 -6.53151768e-03 -5.05374163e-03 2.31625804e+02] [ 6.53183809e-03 9.99978666e-01 4.68977916e-05 2.20245496e+00] [ 5.05332751e-03 -7.99064144e-05 9.99987229e-01 1.15496091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:231.66, Y:2.20, Z:1.16 [[ 9.99950994e-01 -8.51288624e-03 -5.05374350e-03 2.31655546e+02] [ 8.51323093e-03 9.99963761e-01 4.66959528e-05 2.20078547e+00] [ 5.05316284e-03 -8.97173498e-05 9.99987229e-01 1.15570724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59439141800001 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:231.69, Y:2.20, Z:1.16 [[ 9.99908257e-01 -1.25672740e-02 -5.05374536e-03 2.31685913e+02] [ 1.25676694e-02 9.99921023e-01 4.64931858e-05 2.19743766e+00] [ 5.05276194e-03 -1.10002721e-04 9.99987229e-01 1.15655107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62439141800002 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:231.72, Y:2.20, Z:1.16 [[ 9.99885100e-01 -1.42914685e-02 -5.05374536e-03 2.31716945e+02] [ 1.42918859e-02 9.99897865e-01 4.64931858e-05 2.19563127e+00] [ 5.05256474e-03 -1.18715396e-04 9.99987229e-01 1.15643636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65439141800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:231.75, Y:2.19, Z:1.16 [[ 9.99856979e-01 -1.61394484e-02 -5.05374347e-03 2.31747913e+02] [ 1.61398904e-02 9.99869742e-01 4.66978495e-05 2.19421614e+00] [ 5.05233151e-03 -1.28258037e-04 9.99987229e-01 1.15665390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:231.78, Y:2.19, Z:1.16 [[ 9.99788389e-01 -1.99408181e-02 -5.05374158e-03 2.31779696e+02] [ 1.99413097e-02 9.99801151e-01 4.69019053e-05 2.19196790e+00] [ 5.05180139e-03 -1.47670207e-04 9.99987229e-01 1.15658738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:231.81, Y:2.19, Z:1.16 [[ 9.99749080e-01 -2.18228342e-02 -5.05373777e-03 2.31812128e+02] [ 2.18233519e-02 9.99761841e-01 4.73083717e-05 2.19057456e+00] [ 5.05150178e-03 -1.57585999e-04 9.99987229e-01 1.15673389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:231.84, Y:2.19, Z:1.16 [[ 9.99648408e-01 -2.60292152e-02 -5.05373388e-03 2.31843323e+02] [ 2.60297886e-02 9.99661167e-01 4.77209817e-05 2.18829837e+00] [ 5.05077936e-03 -1.79251828e-04 9.99987229e-01 1.15599408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:231.88, Y:2.19, Z:1.16 [[ 9.99591951e-01 -2.81139124e-02 -5.05373096e-03 2.31875762e+02] [ 2.81145140e-02 9.99604708e-01 4.80279238e-05 2.18700920e+00] [ 5.05038301e-03 -1.90091516e-04 9.99987229e-01 1.15557064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:231.91, Y:2.19, Z:1.16 [[ 9.99594195e-01 -2.80339965e-02 -5.05372710e-03 2.31908450e+02] [ 2.80345991e-02 9.99606952e-01 4.84311028e-05 2.18661727e+00] [ 5.05038302e-03 -1.90090662e-04 9.99987229e-01 1.15573576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:231.94, Y:2.19, Z:1.16 [[ 9.99533920e-01 -3.01065308e-02 -5.05372319e-03 2.31940895e+02] [ 3.01071619e-02 9.99546675e-01 4.88351351e-05 2.18537873e+00] [ 5.04996196e-03 -2.00965637e-04 9.99987229e-01 1.15587073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:231.97, Y:2.18, Z:1.16 [[ 9.99473264e-01 -3.20570644e-02 -5.05371924e-03 2.31972288e+02] [ 3.20577225e-02 9.99486018e-01 4.92410265e-05 2.18412391e+00] [ 5.04954320e-03 -2.11225818e-04 9.99987229e-01 1.15527589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:232.00, Y:2.18, Z:1.15 [[ 9.99359096e-01 -3.54380696e-02 -5.05371628e-03 2.32004342e+02] [ 3.54387723e-02 9.99371848e-01 4.95426925e-05 2.18232973e+00] [ 5.04878608e-03 -2.28608441e-04 9.99987229e-01 1.15499444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:232.04, Y:2.18, Z:1.16 [[ 9.99321477e-01 -3.64834864e-02 -5.05371233e-03 2.32035957e+02] [ 3.64842045e-02 9.99334229e-01 4.99430560e-05 2.18148460e+00] [ 5.04852561e-03 -2.34289843e-04 9.99987229e-01 1.15516618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:232.07, Y:2.18, Z:1.16 [[ 9.99289003e-01 -3.73623916e-02 -5.05370231e-03 2.32067849e+02] [ 3.73631259e-02 9.99301753e-01 5.09367264e-05 2.18092834e+00] [ 5.04827046e-03 -2.39722626e-04 9.99987229e-01 1.15551035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:232.10, Y:2.18, Z:1.16 [[ 9.99281443e-01 -3.75640493e-02 -5.05369819e-03 2.32100182e+02] [ 3.75647882e-02 9.99294193e-01 5.13424251e-05 2.18091237e+00] [ 5.04820262e-03 -2.41146635e-04 9.99987229e-01 1.15565092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:232.13, Y:2.18, Z:1.16 [[ 9.99310604e-01 -3.67801083e-02 -5.05369402e-03 2.32131399e+02] [ 3.67808392e-02 9.99323355e-01 5.17499481e-05 2.18103522e+00] [ 5.04837109e-03 -2.37593379e-04 9.99987229e-01 1.15548030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.044391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:232.16, Y:2.18, Z:1.16 [[ 9.99428009e-01 -3.34382328e-02 -5.05368697e-03 2.32163826e+02] [ 3.34389245e-02 9.99440761e-01 5.24292873e-05 2.18175319e+00] [ 5.04910761e-03 -2.21389155e-04 9.99987229e-01 1.15575725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.074391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:232.20, Y:2.18, Z:1.16 [[ 9.99511937e-01 -3.08277181e-02 -5.05368272e-03 2.32196062e+02] [ 3.08283786e-02 9.99524691e-01 5.28353667e-05 2.18222167e+00] [ 5.04965187e-03 -2.08606424e-04 9.99987229e-01 1.15613303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.104391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:232.23, Y:2.18, Z:1.16 [[ 9.99677109e-01 -2.49025660e-02 -5.05367846e-03 2.32227846e+02] [ 2.49031529e-02 9.99689867e-01 5.32398236e-05 2.18450575e+00] [ 5.05078534e-03 -1.79075160e-04 9.99987229e-01 1.15758958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.134391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:232.26, Y:2.19, Z:1.16 [[ 9.99756607e-01 -2.14752914e-02 -5.05367416e-03 2.32259781e+02] [ 2.14758366e-02 9.99769366e-01 5.36452801e-05 2.18550668e+00] [ 5.05135656e-03 -1.62164104e-04 9.99987229e-01 1.15802617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:232.29, Y:2.19, Z:1.16 [[ 9.99826190e-01 -1.79457824e-02 -5.05366986e-03 2.32290492e+02] [ 1.79462846e-02 9.99838951e-01 5.40466685e-05 2.18646872e+00] [ 5.05188607e-03 -1.44731872e-04 9.99987229e-01 1.15818838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:232.32, Y:2.19, Z:1.16 [[ 9.99879427e-01 -1.46830279e-02 -5.05366665e-03 2.32321532e+02] [ 1.46834900e-02 9.99892190e-01 5.43458811e-05 2.18789316e+00] [ 5.05232385e-03 -1.28544792e-04 9.99987229e-01 1.15871677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:232.35, Y:2.19, Z:1.16 [[ 9.99957543e-01 -7.70538678e-03 -5.05366463e-03 2.32352412e+02] [ 7.70576075e-03 9.99970309e-01 5.45323667e-05 2.19043025e+00] [ 5.05309439e-03 -9.34723820e-05 9.99987229e-01 1.16027393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:232.38, Y:2.19, Z:1.16 [[ 9.99977711e-01 -4.36335708e-03 -5.05366241e-03 2.32382373e+02] [ 4.36368942e-03 9.99990478e-01 5.47376860e-05 2.19146381e+00] [ 5.05337545e-03 -7.67890791e-05 9.99987229e-01 1.16004335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:232.41, Y:2.19, Z:1.16 [[ 9.99986700e-01 -1.03001234e-03 -5.05366351e-03 2.32411762e+02] [ 1.03030161e-03 9.99999468e-01 5.46360787e-05 2.19218312e+00] [ 5.05360454e-03 -5.98421496e-05 9.99987229e-01 1.16025823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:232.44, Y:2.19, Z:1.16 [[ 9.99974296e-01 5.08605151e-03 -5.05366554e-03 2.32439236e+02] [-5.08584129e-03 9.99987066e-01 5.44475616e-05 2.19409000e+00] [ 5.05387710e-03 -2.87440212e-05 9.99987229e-01 1.16017719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34439141800001 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:232.47, Y:2.19, Z:1.16 [[ 9.99958637e-01 7.56204399e-03 -5.05367053e-03 2.32466670e+02] [-7.56186775e-03 9.99971407e-01 5.39800022e-05 2.19454066e+00] [ 5.05393423e-03 -1.57625812e-05 9.99987229e-01 1.16081882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37439141800002 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:232.49, Y:2.19, Z:1.16 [[ 9.99914452e-01 1.20643330e-02 -5.05368749e-03 2.32494951e+02] [-1.20642225e-02 9.99927223e-01 5.23428847e-05 2.19497170e+00] [ 5.05395118e-03 8.63040341e-06 9.99987229e-01 1.15996427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:232.52, Y:2.20, Z:1.16 [[ 9.99893988e-01 1.36554773e-02 -5.05369268e-03 2.32522690e+02] [-1.36553897e-02 9.99906759e-01 5.18369196e-05 2.19500681e+00] [ 5.05392933e-03 1.71787185e-05 9.99987229e-01 1.16013009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:232.55, Y:2.19, Z:1.16 [[ 9.99876996e-01 1.48476292e-02 -5.05369878e-03 2.32550638e+02] [-1.48475599e-02 9.99889768e-01 5.12356545e-05 2.19490109e+00] [ 5.05390242e-03 2.38057427e-05 9.99987229e-01 1.16011040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:232.58, Y:2.19, Z:1.16 [[ 9.99869973e-01 1.53133111e-02 -5.05370477e-03 2.32578143e+02] [-1.53132507e-02 9.99882744e-01 5.06370421e-05 2.19442244e+00] [ 5.05388762e-03 2.67581903e-05 9.99987229e-01 1.15993928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:232.61, Y:2.19, Z:1.16 [[ 9.99883425e-01 1.44082047e-02 -5.05371064e-03 2.32605619e+02] [-1.44081358e-02 9.99896196e-01 5.00446829e-05 2.19269929e+00] [ 5.05390710e-03 2.27757002e-05 9.99987229e-01 1.15958301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:232.63, Y:2.19, Z:1.16 [[ 9.99902321e-01 1.30310876e-02 -5.05371546e-03 2.32634838e+02] [-1.30310036e-02 9.99915092e-01 4.95532320e-05 2.19137707e+00] [ 5.05393209e-03 1.63065926e-05 9.99987229e-01 1.15989519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:232.66, Y:2.19, Z:1.16 [[ 9.99927499e-01 1.09295917e-02 -5.05371930e-03 2.32662815e+02] [-1.09294828e-02 9.99940270e-01 4.91579359e-05 2.19011168e+00] [ 5.05395472e-03 6.08016636e-06 9.99987229e-01 1.16022489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:232.69, Y:2.19, Z:1.16 [[ 9.99968374e-01 6.14086669e-03 -5.05372401e-03 2.32689366e+02] [-6.14069914e-03 9.99981145e-01 4.86694414e-05 2.18693481e+00] [ 5.05392759e-03 -1.76345035e-05 9.99987229e-01 1.16168876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:232.72, Y:2.19, Z:1.16 [[ 9.99985743e-01 1.72400343e-03 -5.05395000e-03 2.32718926e+02] [-1.72390217e-03 9.99998514e-01 2.43915015e-05 2.18506954e+00] [ 5.05398454e-03 -1.56786383e-05 9.99987228e-01 1.16175423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:232.75, Y:2.18, Z:1.16 [[ 9.99970044e-01 -5.86268374e-03 -5.05372737e-03 2.32746866e+02] [ 5.86300061e-03 9.99982811e-01 4.78868531e-05 2.18095265e+00] [ 5.05335976e-03 -7.75154252e-05 9.99987229e-01 1.16287029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:232.78, Y:2.18, Z:1.16 [[ 9.99940712e-01 -9.64529254e-03 -5.05373206e-03 2.32776801e+02] [ 9.64565517e-03 9.99953478e-01 4.73864785e-05 2.17863314e+00] [ 5.05303990e-03 -9.61302259e-05 9.99987229e-01 1.16322335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:232.81, Y:2.18, Z:1.16 [[ 9.99901732e-01 -1.30761943e-02 -5.05373392e-03 2.32807144e+02] [ 1.30765998e-02 9.99914497e-01 4.71873518e-05 2.17592583e+00] [ 5.05268478e-03 -1.13268371e-04 9.99987229e-01 1.16349261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:232.84, Y:2.17, Z:1.16 [[ 9.99795576e-01 -1.95771556e-02 -5.05373392e-03 2.32836999e+02] [ 1.95776440e-02 9.99808338e-01 4.71873518e-05 2.17183528e+00] [ 5.05184152e-03 -1.46117909e-04 9.99987229e-01 1.16257381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:232.87, Y:2.17, Z:1.16 [[ 9.99736557e-01 -2.23892192e-02 -5.05373296e-03 2.32868963e+02] [ 2.23897440e-02 9.99749317e-01 4.72898731e-05 2.16993737e+00] [ 5.05140729e-03 -1.60429202e-04 9.99987229e-01 1.16274548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.794391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:232.90, Y:2.17, Z:1.16 [[ 9.99681345e-01 -2.47319233e-02 -5.05372905e-03 2.32899673e+02] [ 2.47324801e-02 9.99694104e-01 4.77046212e-05 2.16797513e+00] [ 5.05100330e-03 -1.72680673e-04 9.99987229e-01 1.16214859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.824391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:232.93, Y:2.17, Z:1.16 [[ 9.99636634e-01 -2.64775338e-02 -5.05372611e-03 2.32930443e+02] [ 2.64781145e-02 9.99649392e-01 4.80131405e-05 2.16598946e+00] [ 5.05068297e-03 -1.81808833e-04 9.99987229e-01 1.16145196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.854391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:232.96, Y:2.16, Z:1.16 [[ 9.99583905e-01 -2.83985180e-02 -5.05372332e-03 2.32962872e+02] [ 2.83991247e-02 9.99596662e-01 4.83056070e-05 2.16355315e+00] [ 5.05031315e-03 -1.91806826e-04 9.99987229e-01 1.16169003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.884391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:232.99, Y:2.16, Z:1.16 [[ 9.99591552e-01 -2.81280818e-02 -5.05371941e-03 2.32994071e+02] [ 2.81286870e-02 9.99604309e-01 4.87114984e-05 2.16236206e+00] [ 5.05034953e-03 -1.90846094e-04 9.99987229e-01 1.16061821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:233.02, Y:2.16, Z:1.16 [[ 9.99573623e-01 -2.87581715e-02 -5.05371280e-03 2.33024999e+02] [ 2.87587882e-02 9.99586379e-01 4.93876407e-05 2.16308095e+00] [ 5.05020218e-03 -1.94705239e-04 9.99987229e-01 1.16156949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:233.06, Y:2.16, Z:1.16 [[ 9.99651418e-01 -2.59133352e-02 -5.05383245e-03 2.33057942e+02] [ 2.59138545e-02 9.99664179e-01 3.72855839e-05 2.16177681e+00] [ 5.05116907e-03 -1.68236866e-04 9.99987229e-01 1.16124990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:233.09, Y:2.16, Z:1.16 [[ 9.99703401e-01 -2.38237138e-02 -5.05373393e-03 2.33088730e+02] [ 2.38242559e-02 9.99716161e-01 4.70760551e-05 2.16086131e+00] [ 5.05117795e-03 -1.67463543e-04 9.99987229e-01 1.16029360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:233.12, Y:2.16, Z:1.16 [[ 9.99782895e-01 -2.02144249e-02 -5.05369613e-03 2.33120675e+02] [ 2.02149399e-02 9.99795656e-01 5.08334718e-05 2.16168235e+00] [ 5.05163587e-03 -1.52982599e-04 9.99987229e-01 1.16129698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:233.15, Y:2.16, Z:1.16 [[ 9.99823731e-01 -1.80822173e-02 -5.05369195e-03 2.33152234e+02] [ 1.80827071e-02 9.99836493e-01 5.12462757e-05 2.16166078e+00] [ 5.05193899e-03 -1.42621674e-04 9.99987229e-01 1.16078401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:233.18, Y:2.16, Z:1.16 [[ 9.99862134e-01 -1.58168675e-02 -5.05365966e-03 2.33183580e+02] [ 1.58173445e-02 9.99874897e-01 5.44311020e-05 2.16195133e+00] [ 5.05216650e-03 -1.34359074e-04 9.99987229e-01 1.16116832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09439141800001 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:233.22, Y:2.16, Z:1.16 [[ 9.99927114e-01 -1.09647701e-02 -5.05369687e-03 2.33215136e+02] [ 1.09651664e-02 9.99939879e-01 5.07237516e-05 2.16334289e+00] [ 5.05283686e-03 -1.06134682e-04 9.99987229e-01 1.16106716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12439141800002 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:233.25, Y:2.16, Z:1.16 [[ 9.99951883e-01 -8.40779008e-03 -5.05369481e-03 2.33245277e+02] [ 8.40815480e-03 9.99964650e-01 5.09273712e-05 2.16392242e+00] [ 5.05308798e-03 -9.34171690e-05 9.99987229e-01 1.16059290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:233.28, Y:2.16, Z:1.16 [[ 9.99969244e-01 -5.99761750e-03 -5.05369380e-03 2.33275787e+02] [ 5.99795196e-03 9.99982011e-01 5.10282320e-05 2.16445890e+00] [ 5.05329684e-03 -8.13384752e-05 9.99987229e-01 1.16019817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:233.31, Y:2.16, Z:1.16 [[ 9.99980288e-01 -3.72620933e-03 -5.05369380e-03 2.33305354e+02] [ 3.72651479e-03 9.99993055e-01 5.10282320e-05 2.16489349e+00] [ 5.05346856e-03 -6.98598908e-05 9.99987229e-01 1.15986313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:233.33, Y:2.17, Z:1.16 [[ 9.99987196e-01 2.60855963e-04 -5.05369355e-03 2.33333786e+02] [-2.60601284e-04 9.99999965e-01 5.10530393e-05 2.16572688e+00] [ 5.05370668e-03 -4.97353866e-05 9.99987229e-01 1.15976073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:233.36, Y:2.17, Z:1.16 [[ 9.99985919e-01 1.61911110e-03 -5.05369644e-03 2.33361559e+02] [-1.61887522e-03 9.99998688e-01 5.07650586e-05 2.16635209e+00] [ 5.05377200e-03 -4.25830399e-05 9.99987229e-01 1.15998436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:233.39, Y:2.17, Z:1.16 [[ 9.99979826e-01 3.84807356e-03 -5.05371130e-03 2.33389192e+02] [-3.84787385e-03 9.99992596e-01 4.92398762e-05 2.16736758e+00] [ 5.05386336e-03 -2.97928393e-05 9.99987229e-01 1.16188758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:233.42, Y:2.17, Z:1.16 [[ 9.99976758e-01 4.57627889e-03 -5.05372669e-03 2.33417562e+02] [-4.57609674e-03 9.99989528e-01 4.76064107e-05 2.16765350e+00] [ 5.05389163e-03 -2.44789620e-05 9.99987229e-01 1.16239224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:233.45, Y:2.17, Z:1.16 [[ 9.99975607e-01 4.82129008e-03 -5.05373045e-03 2.33446617e+02] [-4.82111309e-03 9.99988377e-01 4.72029048e-05 2.16818185e+00] [ 5.05389930e-03 -2.28371474e-05 9.99987229e-01 1.16286509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:233.48, Y:2.17, Z:1.16 [[ 9.99975095e-01 4.92641143e-03 -5.05373427e-03 2.33475341e+02] [-4.92623787e-03 9.99987865e-01 4.67903500e-05 2.16884487e+00] [ 5.05390346e-03 -2.18932876e-05 9.99987229e-01 1.16315192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:233.50, Y:2.17, Z:1.16 [[ 9.99977382e-01 4.43791865e-03 -5.05373805e-03 2.33503685e+02] [-4.43774093e-03 9.99990152e-01 4.63790774e-05 2.16882450e+00] [ 5.05389411e-03 -2.39508483e-05 9.99987229e-01 1.16318554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:233.53, Y:2.17, Z:1.16 [[ 9.99981720e-01 3.31941895e-03 -5.05374177e-03 2.33531936e+02] [-3.31922902e-03 9.99994490e-01 4.59701507e-05 2.16873894e+00] [ 5.05386652e-03 -2.91947841e-05 9.99987229e-01 1.16310029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:233.56, Y:2.17, Z:1.16 [[ 9.99987224e-01 1.04172417e-04 -5.05374694e-03 2.33560977e+02] [-1.03944334e-04 9.99999994e-01 4.53942136e-05 2.16814258e+00] [ 5.05375164e-03 -4.48683253e-05 9.99987229e-01 1.16409696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:233.59, Y:2.17, Z:1.16 [[ 9.99984732e-01 -2.23505531e-03 -5.05375057e-03 2.33588504e+02] [ 2.23531120e-03 9.99997501e-01 4.49867865e-05 2.16782740e+00] [ 5.05363739e-03 -5.62828049e-05 9.99987229e-01 1.16467466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:233.62, Y:2.17, Z:1.17 [[ 9.99956616e-01 -7.82466689e-03 -5.05375501e-03 2.33616938e+02] [ 7.82499161e-03 9.99969383e-01 4.44818260e-05 2.16677184e+00] [ 5.05325223e-03 -8.40254867e-05 9.99987229e-01 1.16587358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.544391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:233.65, Y:2.17, Z:1.17 [[ 9.99924220e-01 -1.12256038e-02 -5.05375856e-03 2.33647304e+02] [ 1.12259699e-02 9.99936986e-01 4.40748315e-05 2.16611286e+00] [ 5.05294534e-03 -1.00804833e-04 9.99987229e-01 1.16633288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.574391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:233.68, Y:2.17, Z:1.17 [[ 9.99881410e-01 -1.45473376e-02 -5.05375856e-03 2.33677955e+02] [ 1.45477461e-02 9.99894175e-01 4.40748315e-05 2.16527332e+00] [ 5.05258258e-03 -1.17590401e-04 9.99987229e-01 1.16649127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.604391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:233.71, Y:2.16, Z:1.17 [[ 9.99753617e-01 -2.16140173e-02 -5.05375577e-03 2.33709389e+02] [ 2.16145176e-02 9.99766378e-01 4.43927406e-05 2.16350146e+00] [ 5.05161560e-03 -1.53616296e-04 9.99987229e-01 1.16683852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.634391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:233.74, Y:2.16, Z:1.17 [[ 9.99670167e-01 -2.51796708e-02 -5.05375397e-03 2.33741180e+02] [ 2.51802177e-02 9.99682927e-01 4.45968940e-05 2.16267420e+00] [ 5.05102862e-03 -1.71836809e-04 9.99987229e-01 1.16713298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:233.77, Y:2.16, Z:1.17 [[ 9.99632841e-01 -2.66203408e-02 -5.05375026e-03 2.33772117e+02] [ 2.66209081e-02 9.99645600e-01 4.50130006e-05 2.16135083e+00] [ 5.05076095e-03 -1.79531895e-04 9.99987229e-01 1.16596249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:233.80, Y:2.16, Z:1.17 [[ 9.99371613e-01 -3.50833231e-02 -5.05374647e-03 2.33804360e+02] [ 3.50840006e-02 9.99384366e-01 4.54346143e-05 2.16060299e+00] [ 5.04904122e-03 -2.22711708e-04 9.99987229e-01 1.16606071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:233.84, Y:2.16, Z:1.17 [[ 9.99374372e-01 -3.50046264e-02 -5.05374276e-03 2.33837048e+02] [ 3.50053049e-02 9.99387125e-01 4.58436447e-05 2.16022676e+00] [ 5.04904071e-03 -2.22722770e-04 9.99987229e-01 1.16622582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:233.87, Y:2.16, Z:1.17 [[ 9.99257264e-01 -3.82018413e-02 -5.05373912e-03 2.33868971e+02] [ 3.82025627e-02 9.99270015e-01 4.62416017e-05 2.15968573e+00] [ 5.04828345e-03 -2.39273042e-04 9.99987229e-01 1.16560570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:233.90, Y:2.16, Z:1.17 [[ 9.99002301e-01 -4.43718621e-02 -5.05373546e-03 2.33901696e+02] [ 4.43726641e-02 9.99015047e-01 4.66377235e-05 2.15905994e+00] [ 5.04668837e-03 -2.70838899e-04 9.99987229e-01 1.16534369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:233.93, Y:2.16, Z:1.17 [[ 9.98869950e-01 -4.72576137e-02 -5.05372958e-03 2.33934867e+02] [ 4.72584558e-02 9.98882694e-01 4.72672598e-05 2.15839328e+00] [ 5.04584928e-03 -2.86045301e-04 9.99987229e-01 1.16561600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84439141800001 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:233.97, Y:2.16, Z:1.16 [[ 9.98749202e-01 -4.97442672e-02 -5.05372355e-03 2.33966123e+02] [ 4.97451442e-02 9.98761943e-01 4.79034643e-05 2.15765955e+00] [ 5.04508382e-03 -2.99241753e-04 9.99987229e-01 1.16329579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87439141800002 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:234.00, Y:2.16, Z:1.17 [[ 9.98506857e-01 -5.43922469e-02 -5.05372054e-03 2.33997224e+02] [ 5.43931848e-02 9.98519594e-01 4.82185409e-05 2.15935425e+00] [ 5.04361627e-03 -3.23034499e-04 9.99987229e-01 1.16625209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:234.03, Y:2.16, Z:1.17 [[ 9.98433082e-01 -5.57300716e-02 -5.05371754e-03 2.34030597e+02] [ 5.57310281e-02 9.98445817e-01 4.85306040e-05 2.15963675e+00] [ 5.04315853e-03 -3.30103435e-04 9.99987229e-01 1.16647452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:234.06, Y:2.16, Z:1.17 [[ 9.98401031e-01 -5.63013507e-02 -5.05371147e-03 2.34062813e+02] [ 5.63023176e-02 9.98413765e-01 4.91548856e-05 2.16008442e+00] [ 5.04292761e-03 -3.33611957e-04 9.99987229e-01 1.16621000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:234.10, Y:2.16, Z:1.17 [[ 9.98394942e-01 -5.64092147e-02 -5.05370128e-03 2.34095751e+02] [ 5.64101882e-02 9.98407676e-01 5.01809436e-05 2.16102525e+00] [ 5.04282349e-03 -3.35180641e-04 9.99987229e-01 1.16660700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:234.13, Y:2.16, Z:1.17 [[ 9.98479839e-01 -5.48859788e-02 -5.05369503e-03 2.34128093e+02] [ 5.48869360e-02 9.98492575e-01 5.08031819e-05 2.16334348e+00] [ 5.04328858e-03 -3.28107788e-04 9.99987229e-01 1.16607485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:234.16, Y:2.16, Z:1.17 [[ 9.98563582e-01 -5.33407187e-02 -5.05368980e-03 2.34159908e+02] [ 5.33416588e-02 9.98576319e-01 5.13176070e-05 2.16472853e+00] [ 5.04375764e-03 -3.20816090e-04 9.99987229e-01 1.16622071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:234.19, Y:2.17, Z:1.17 [[ 9.98768074e-01 -4.93638980e-02 -5.05368464e-03 2.34192278e+02] [ 4.93647899e-02 9.98780814e-01 5.18216038e-05 2.16854563e+00] [ 5.04496514e-03 -3.01231843e-04 9.99987229e-01 1.16665281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:234.23, Y:2.17, Z:1.17 [[ 9.98893331e-01 -4.67608119e-02 -5.05367947e-03 2.34225167e+02] [ 4.67616731e-02 9.98906073e-01 5.23205100e-05 2.17030680e+00] [ 5.04570457e-03 -2.88581116e-04 9.99987229e-01 1.16729801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:234.26, Y:2.17, Z:1.17 [[ 9.99003346e-01 -4.43483485e-02 -5.05367308e-03 2.34256630e+02] [ 4.43491820e-02 9.99016090e-01 5.29306037e-05 2.17219208e+00] [ 5.04635333e-03 -2.77004118e-04 9.99987229e-01 1.16713024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:234.29, Y:2.18, Z:1.17 [[ 9.99213838e-01 -3.93213166e-02 -5.05366991e-03 2.34289184e+02] [ 3.93220874e-02 9.99226586e-01 5.32320892e-05 2.17678225e+00] [ 5.04766817e-03 -2.51911090e-04 9.99987229e-01 1.16710046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:234.32, Y:2.18, Z:1.17 [[ 9.99296006e-01 -3.71746232e-02 -5.05366578e-03 2.34320907e+02] [ 3.71753687e-02 9.99308756e-01 5.36208644e-05 2.17911565e+00] [ 5.04817913e-03 -2.41455004e-04 9.99987229e-01 1.16770820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:234.35, Y:2.18, Z:1.17 [[ 9.99386906e-01 -3.46449625e-02 -5.05366151e-03 2.34352035e+02] [ 3.46456777e-02 9.99399657e-01 5.40205707e-05 2.18112206e+00] [ 5.04875604e-03 -2.29074979e-04 9.99987229e-01 1.16702392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:234.38, Y:2.19, Z:1.17 [[ 9.99540837e-01 -2.98759894e-02 -5.05365831e-03 2.34383536e+02] [ 2.98766453e-02 9.99553592e-01 5.43178527e-05 2.18637991e+00] [ 5.04977952e-03 -2.05279269e-04 9.99987229e-01 1.16812298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:234.42, Y:2.19, Z:1.17 [[ 9.99613764e-01 -2.73273458e-02 -5.05365526e-03 2.34415499e+02] [ 2.73279706e-02 9.99626520e-01 5.46006037e-05 2.18901238e+00] [ 5.05027573e-03 -1.92685657e-04 9.99987229e-01 1.16993475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.294391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:234.45, Y:2.19, Z:1.17 [[ 9.99681131e-01 -2.47406059e-02 -5.05365076e-03 2.34446321e+02] [ 2.47411998e-02 9.99693888e-01 5.50138513e-05 2.19130929e+00] [ 5.05074270e-03 -1.80029692e-04 9.99987229e-01 1.17029963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.324391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:234.48, Y:2.20, Z:1.17 [[ 9.99801293e-01 -1.92830317e-02 -5.05364740e-03 2.34478723e+02] [ 1.92835575e-02 9.99814053e-01 5.53211181e-05 2.19636398e+00] [ 5.05164093e-03 -1.52762425e-04 9.99987229e-01 1.17140340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.354391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:234.51, Y:2.20, Z:1.17 [[ 9.99847031e-01 -1.67444318e-02 -5.05364291e-03 2.34509530e+02] [ 1.67449272e-02 9.99859792e-01 5.57282023e-05 2.19879852e+00] [ 5.05200121e-03 -1.40342560e-04 9.99987229e-01 1.17140080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.384391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:234.54, Y:2.20, Z:1.17 [[ 9.99922692e-01 -1.13609384e-02 -5.05363955e-03 2.34541369e+02] [ 1.13613666e-02 9.99935456e-01 5.60312078e-05 2.20322047e+00] [ 5.05267680e-03 -1.13443128e-04 9.99987229e-01 1.17246414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:234.57, Y:2.21, Z:1.17 [[ 9.99944757e-01 -9.21646554e-03 -5.05363501e-03 2.34572364e+02] [ 9.21686842e-03 9.99957522e-01 5.64372834e-05 2.20544568e+00] [ 5.05290019e-03 -1.03012855e-04 9.99987229e-01 1.17274352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:234.60, Y:2.21, Z:1.17 [[ 9.99965134e-01 -6.64763977e-03 -5.05363275e-03 2.34603248e+02] [ 6.64801088e-03 9.99977900e-01 5.66394637e-05 2.20731687e+00] [ 5.05314454e-03 -9.02340944e-05 9.99987229e-01 1.17300788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:234.63, Y:2.21, Z:1.17 [[ 9.99983371e-01 -2.77808457e-03 -5.05362909e-03 2.34633282e+02] [ 2.77840791e-03 9.99996139e-01 5.69635733e-05 2.21089457e+00] [ 5.05345133e-03 -7.10036691e-05 9.99987229e-01 1.17353639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504391418 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:234.66, Y:2.21, Z:1.18 [[ 9.99986200e-01 -1.43523646e-03 -5.05363024e-03 2.34661911e+02] [ 1.43554215e-03 9.99998968e-01 5.68614963e-05 2.21392380e+00] [ 5.05354342e-03 -6.41154108e-05 9.99987229e-01 1.17536170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:234.69, Y:2.22, Z:1.17 [[ 9.99986462e-01 1.23785803e-03 -5.05402598e-03 2.34691495e+02] [-1.23776890e-03 9.99999234e-01 2.07637201e-05 2.21523007e+00] [ 5.05404781e-03 -1.45077228e-05 9.99987228e-01 1.17324305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:234.72, Y:2.22, Z:1.17 [[ 9.99985469e-01 1.87694961e-03 -5.05363717e-03 2.34719624e+02] [-1.87669103e-03 9.99998237e-01 5.59088966e-05 2.21626483e+00] [ 5.05373320e-03 -4.64239687e-05 9.99987229e-01 1.17420731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59439141800001 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:234.75, Y:2.22, Z:1.17 [[ 9.99984590e-01 2.29779306e-03 -5.05365488e-03 2.34747872e+02] [-2.29754819e-03 9.99997359e-01 5.42590296e-05 2.21705725e+00] [ 5.05376621e-03 -4.26471779e-05 9.99987229e-01 1.17405391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62439141800002 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:234.78, Y:2.22, Z:1.17 [[ 9.99984475e-01 2.34753805e-03 -5.05366030e-03 2.34777151e+02] [-2.34729639e-03 9.99997244e-01 5.37499526e-05 2.21842264e+00] [ 5.05377255e-03 -4.18866796e-05 9.99987229e-01 1.17361227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:234.81, Y:2.22, Z:1.17 [[ 9.99986261e-01 1.39207327e-03 -5.05366458e-03 2.34805660e+02] [-1.39182145e-03 9.99999030e-01 5.33444058e-05 2.21894258e+00] [ 5.05373393e-03 -4.63098741e-05 9.99987229e-01 1.17306331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:234.83, Y:2.22, Z:1.17 [[ 9.99987230e-01 2.33660274e-05 -5.05366887e-03 2.34834897e+02] [-2.30988092e-05 9.99999998e-01 5.29344603e-05 2.21913155e+00] [ 5.05367010e-03 -5.28170506e-05 9.99987229e-01 1.17283812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:234.86, Y:2.22, Z:1.17 [[ 9.99980076e-01 -3.78253484e-03 -5.05367311e-03 2.34864130e+02] [ 3.78284860e-03 9.99992844e-01 5.25266053e-05 2.21921843e+00] [ 5.05343826e-03 -7.16428389e-05 9.99987229e-01 1.17220959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:234.89, Y:2.22, Z:1.17 [[ 9.99973187e-01 -5.29958448e-03 -5.05367733e-03 2.34892290e+02] [ 5.29991554e-03 9.99985954e-01 5.21172464e-05 2.21897178e+00] [ 5.05333015e-03 -7.88999120e-05 9.99987229e-01 1.17246351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:234.92, Y:2.22, Z:1.17 [[ 9.99928799e-01 -1.08099611e-02 -5.05378509e-03 2.34921995e+02] [ 1.08103094e-02 9.99941566e-01 4.15920185e-05 2.21915462e+00] [ 5.05304016e-03 -9.62220374e-05 9.99987229e-01 1.17230388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:234.95, Y:2.22, Z:1.17 [[ 9.99899202e-01 -1.32682438e-02 -5.05367736e-03 2.34953098e+02] [ 1.32686763e-02 9.99911966e-01 5.20510928e-05 2.21886854e+00] [ 5.05254184e-03 -1.19101455e-04 9.99987229e-01 1.17260385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:234.99, Y:2.22, Z:1.17 [[ 9.99867590e-01 -1.54680989e-02 -5.05367527e-03 2.34985644e+02] [ 1.54685604e-02 9.99880353e-01 5.22529434e-05 2.21851477e+00] [ 5.05226236e-03 -1.30419106e-04 9.99987229e-01 1.17323253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:235.02, Y:2.22, Z:1.17 [[ 9.99793587e-01 -1.96784877e-02 -5.05367103e-03 2.35018312e+02] [ 1.96790051e-02 9.99806348e-01 5.26607074e-05 2.21809866e+00] [ 5.05165609e-03 -1.52101055e-04 9.99987229e-01 1.17382446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:235.05, Y:2.22, Z:1.17 [[ 9.99751139e-01 -2.17283264e-02 -5.05366677e-03 2.35049112e+02] [ 2.17288720e-02 9.99763899e-01 5.30661633e-05 2.21777377e+00] [ 5.05132055e-03 -1.62863435e-04 9.99987229e-01 1.17396595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:235.08, Y:2.22, Z:1.17 [[ 9.99708231e-01 -2.36201914e-02 -5.05366358e-03 2.35081468e+02] [ 2.36207626e-02 9.99720989e-01 5.33684263e-05 2.21737203e+00] [ 5.05099298e-03 -1.72724243e-04 9.99987229e-01 1.17449548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:235.11, Y:2.22, Z:1.17 [[ 9.99660523e-01 -2.55597301e-02 -5.05365931e-03 2.35113803e+02] [ 2.55603281e-02 9.99673280e-01 5.37695787e-05 2.21700685e+00] [ 5.05063384e-03 -1.82924515e-04 9.99987229e-01 1.17487451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:235.15, Y:2.22, Z:1.18 [[ 9.99545985e-01 -2.97032813e-02 -5.05365492e-03 2.35146509e+02] [ 2.97039343e-02 9.99558739e-01 5.41784082e-05 2.21658990e+00] [ 5.04981567e-03 -2.04267244e-04 9.99987229e-01 1.17506342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:235.18, Y:2.22, Z:1.18 [[ 9.99485964e-01 -3.16586164e-02 -5.05364823e-03 2.35179916e+02] [ 3.16592974e-02 9.99498717e-01 5.47960941e-05 2.21590369e+00] [ 5.04938015e-03 -2.14762879e-04 9.99987229e-01 1.17528667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.044391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:235.21, Y:2.22, Z:1.18 [[ 9.99407701e-01 -3.40397860e-02 -5.05364139e-03 2.35211934e+02] [ 3.40405006e-02 9.99420453e-01 5.54196009e-05 2.21546725e+00] [ 5.04882609e-03 -2.27415258e-04 9.99987229e-01 1.17514545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.074391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:235.25, Y:2.22, Z:1.18 [[ 9.99230730e-01 -3.88897096e-02 -5.05363568e-03 2.35245012e+02] [ 3.88904886e-02 9.99243477e-01 5.59353810e-05 2.21575669e+00] [ 5.04763718e-03 -2.52430712e-04 9.99987229e-01 1.17544239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.104391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:235.28, Y:2.22, Z:1.18 [[ 9.99152946e-01 -4.08393412e-02 -5.05362869e-03 2.35278501e+02] [ 4.08401482e-02 9.99165692e-01 5.65599517e-05 2.21551899e+00] [ 5.04710253e-03 -2.62902987e-04 9.99987229e-01 1.17573185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.134391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:235.31, Y:2.22, Z:1.18 [[ 9.99031003e-01 -4.37208892e-02 -5.05362165e-03 2.35309407e+02] [ 4.37217362e-02 9.99043746e-01 5.71824782e-05 2.21626274e+00] [ 5.04628903e-03 -2.78080181e-04 9.99987229e-01 1.17521253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:235.34, Y:2.22, Z:1.18 [[ 9.98999721e-01 -4.44299266e-02 -5.05361815e-03 2.35342107e+02] [ 4.44307842e-02 9.99012463e-01 5.74901805e-05 2.21665939e+00] [ 5.04607323e-03 -2.81968891e-04 9.99987229e-01 1.17560823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:235.37, Y:2.22, Z:1.18 [[ 9.98986472e-01 -4.47268368e-02 -5.05361092e-03 2.35374528e+02] [ 4.47277013e-02 9.98999214e-01 5.81184019e-05 2.21720146e+00] [ 5.04595389e-03 -2.84095897e-04 9.99987229e-01 1.17569215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:235.41, Y:2.22, Z:1.18 [[ 9.98998233e-01 -4.44633841e-02 -5.05360488e-03 2.35406605e+02] [ 4.44642479e-02 9.99010975e-01 5.86387287e-05 2.21791211e+00] [ 5.04599946e-03 -2.83284726e-04 9.99987229e-01 1.17543166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:235.44, Y:2.22, Z:1.18 [[ 9.99062604e-01 -4.29927150e-02 -5.05359892e-03 2.35440139e+02] [ 4.29935625e-02 9.99075348e-01 5.91486278e-05 2.21982306e+00] [ 5.04638313e-03 -2.76365403e-04 9.99987229e-01 1.17627174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:235.47, Y:2.22, Z:1.18 [[ 9.99123884e-01 -4.15442715e-02 -5.05359147e-03 2.35472181e+02] [ 4.15451037e-02 9.99136628e-01 5.97780609e-05 2.22048239e+00] [ 5.04674490e-03 -2.69677670e-04 9.99987229e-01 1.17570332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:235.51, Y:2.22, Z:1.18 [[ 9.99244654e-01 -3.85302871e-02 -5.05358525e-03 2.35505551e+02] [ 3.85310835e-02 9.99257400e-01 6.02992055e-05 2.22314442e+00] [ 5.04750912e-03 -2.54973774e-04 9.99987229e-01 1.17615981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34439141800001 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:235.54, Y:2.22, Z:1.18 [[ 9.99329369e-01 -3.62667127e-02 -5.05357787e-03 2.35538491e+02] [ 3.62674834e-02 9.99342117e-01 6.09118256e-05 2.22463515e+00] [ 5.04804413e-03 -2.44151527e-04 9.99987229e-01 1.17612684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37439141800002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:235.57, Y:2.23, Z:1.18 [[ 9.99426572e-01 -3.34811770e-02 -5.05357044e-03 2.35570233e+02] [ 3.34819153e-02 9.99439322e-01 6.15216212e-05 2.22621848e+00] [ 5.04867720e-03 -2.30689560e-04 9.99987229e-01 1.17596422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:235.60, Y:2.23, Z:1.18 [[ 9.99674193e-01 -2.50193755e-02 -5.05356426e-03 2.35600956e+02] [ 2.50200083e-02 9.99686949e-01 6.20256060e-05 2.22999698e+00] [ 5.05043039e-03 -1.88445617e-04 9.99987229e-01 1.17689577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:235.64, Y:2.23, Z:1.18 [[ 9.99734320e-01 -2.24888206e-02 -5.05403208e-03 2.35635349e+02] [ 2.24892333e-02 9.99747085e-01 2.48302877e-05 2.23208218e+00] [ 5.05219543e-03 -1.38484997e-04 9.99987228e-01 1.17843492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:235.67, Y:2.23, Z:1.18 [[ 9.99794119e-01 -1.96514507e-02 -5.05368305e-03 2.35668845e+02] [ 1.96519631e-02 9.99806880e-01 5.17496585e-05 2.23389193e+00] [ 5.05169013e-03 -1.51053797e-04 9.99987229e-01 1.17824503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:235.70, Y:2.24, Z:1.18 [[ 9.99907036e-01 -1.26642158e-02 -5.05349819e-03 2.35701314e+02] [ 1.26647106e-02 9.99919797e-01 6.59211048e-05 2.23740562e+00] [ 5.05225804e-03 -1.29916068e-04 9.99987229e-01 1.17960082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:235.73, Y:2.24, Z:1.18 [[ 9.99945842e-01 -9.09814349e-03 -5.05349276e-03 2.35732269e+02] [ 9.09859486e-03 9.99958605e-01 6.63343396e-05 2.23902477e+00] [ 5.05268005e-03 -1.12310430e-04 9.99987229e-01 1.17993182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:235.76, Y:2.24, Z:1.18 [[ 9.99969798e-01 -5.90465734e-03 -5.05348421e-03 2.35763327e+02] [ 5.90507121e-03 9.99982563e-01 6.69797344e-05 2.24072162e+00] [ 5.05300060e-03 -9.68188956e-05 9.99987229e-01 1.18034108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:235.79, Y:2.24, Z:1.18 [[ 9.99987135e-01 4.37995924e-04 -5.05348151e-03 2.35793612e+02] [-4.37662006e-04 9.99999902e-01 6.71824096e-05 2.24370505e+00] [ 5.05351044e-03 -6.49698284e-05 9.99987229e-01 1.18089632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:235.82, Y:2.24, Z:1.18 [[ 9.99987181e-01 3.17179874e-04 -5.05348151e-03 2.35822061e+02] [-3.16844414e-04 9.99999948e-01 6.71824096e-05 2.24344014e+00] [ 5.05350256e-03 -6.55803810e-05 9.99987229e-01 1.18104011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:235.85, Y:2.24, Z:1.18 [[ 9.99982228e-01 3.16328065e-03 -5.05348956e-03 2.35849826e+02] [-3.16298462e-03 9.99994996e-01 6.65718513e-05 2.24465915e+00] [ 5.05367485e-03 -5.05865584e-05 9.99987229e-01 1.18111808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:235.88, Y:2.25, Z:1.18 [[ 9.99948062e-01 8.85074538e-03 -5.05349615e-03 2.35877905e+02] [-8.85052451e-03 9.99960831e-01 6.60676864e-05 2.24748477e+00] [ 5.05388296e-03 -2.13381635e-05 9.99987229e-01 1.18182665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:235.91, Y:2.25, Z:1.18 [[ 9.99925152e-01 1.11423839e-02 -5.05351719e-03 2.35905184e+02] [-1.11422007e-02 9.99937922e-01 6.44169216e-05 2.24853958e+00] [ 5.05392123e-03 -8.10479747e-06 9.99987229e-01 1.18146041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:235.93, Y:2.25, Z:1.18 [[ 9.99897316e-01 1.34096590e-02 -5.05352619e-03 2.35933618e+02] [-1.34095083e-02 9.99910086e-01 6.37031026e-05 2.24896349e+00] [ 5.05392605e-03 4.06873986e-06 9.99987229e-01 1.18176068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:235.96, Y:2.25, Z:1.18 [[ 9.99852733e-01 1.64004123e-02 -5.05353381e-03 2.35961711e+02] [-1.64003029e-02 9.99865504e-01 6.30925389e-05 2.24975694e+00] [ 5.05388887e-03 1.97962377e-05 9.99987229e-01 1.18179468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.794391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:235.99, Y:2.25, Z:1.18 [[ 9.99842603e-01 1.70068203e-02 -5.05354139e-03 2.35989482e+02] [-1.70067217e-02 9.99855373e-01 6.24797981e-05 2.24975075e+00] [ 5.05387309e-03 2.34742081e-05 9.99987229e-01 1.18177912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.824391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:236.02, Y:2.25, Z:1.18 [[ 9.99842085e-01 1.70372378e-02 -5.05354893e-03 2.36016028e+02] [-1.70371427e-02 9.99854855e-01 6.18635443e-05 2.24949165e+00] [ 5.05386942e-03 2.42442593e-05 9.99987229e-01 1.18134396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.854391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:236.04, Y:2.25, Z:1.18 [[ 9.99865352e-01 1.56121269e-02 -5.05356052e-03 2.36043593e+02] [-1.56120185e-02 9.99878123e-01 6.09022271e-05 2.24864746e+00] [ 5.05389542e-03 1.80022533e-05 9.99987229e-01 1.18065924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.884391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:236.07, Y:2.25, Z:1.18 [[ 9.99885466e-01 1.42659424e-02 -5.05356783e-03 2.36070381e+02] [-1.42658199e-02 9.99898236e-01 6.02891209e-05 2.24773737e+00] [ 5.05391364e-03 1.18110730e-05 9.99987229e-01 1.18013735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:236.10, Y:2.25, Z:1.18 [[ 9.99934003e-01 1.03175237e-02 -5.05357619e-03 2.36099284e+02] [-1.03173544e-02 9.99946773e-01 5.95796697e-05 2.24529521e+00] [ 5.05392192e-03 -7.43620130e-06 9.99987229e-01 1.18031795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:236.13, Y:2.24, Z:1.18 [[ 9.99956241e-01 7.87261072e-03 -5.05358092e-03 2.36126744e+02] [-7.87241219e-03 9.99969010e-01 5.91764112e-05 2.24360063e+00] [ 5.05389018e-03 -1.93899497e-05 9.99987229e-01 1.18053359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:236.16, Y:2.24, Z:1.18 [[ 9.99973739e-01 5.19446095e-03 -5.05358803e-03 2.36155189e+02] [-5.19423133e-03 9.99986508e-01 5.85624243e-05 2.24168317e+00] [ 5.05382405e-03 -3.23113811e-05 9.99987229e-01 1.18029108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:236.18, Y:2.24, Z:1.18 [[ 9.99987077e-01 -5.54578781e-04 -5.05359274e-03 2.36182718e+02] [ 5.54879750e-04 9.99999844e-01 5.81535565e-05 2.23833362e+00] [ 5.05355970e-03 -6.09569412e-05 9.99987229e-01 1.17973391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:236.21, Y:2.24, Z:1.18 [[ 9.99981192e-01 -3.47510660e-03 -5.05359900e-03 2.36211641e+02] [ 3.47544208e-03 9.99993959e-01 5.76039560e-05 2.23668942e+00] [ 5.05336829e-03 -7.51663633e-05 9.99987229e-01 1.17969169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:236.24, Y:2.23, Z:1.18 [[ 9.99968556e-01 -6.11125252e-03 -5.05360362e-03 2.36240339e+02] [ 6.11161959e-03 9.99981322e-01 5.71957182e-05 2.23473887e+00] [ 5.05315969e-03 -8.80796226e-05 9.99987229e-01 1.17920589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09439141800001 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:236.27, Y:2.23, Z:1.18 [[ 9.99948672e-01 -8.78144737e-03 -5.05360704e-03 2.36270409e+02] [ 8.78184700e-03 9.99961437e-01 5.68921556e-05 2.23274170e+00] [ 5.05291256e-03 -1.01269239e-04 9.99987229e-01 1.17944439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12439141800002 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:236.30, Y:2.23, Z:1.18 [[ 9.99904810e-01 -1.28387117e-02 -5.05360704e-03 2.36301736e+02] [ 1.28391631e-02 9.99917573e-01 5.68921556e-05 2.22888043e+00] [ 5.05246006e-03 -1.21770825e-04 9.99987229e-01 1.17953060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:236.33, Y:2.23, Z:1.18 [[ 9.99874338e-01 -1.50256204e-02 -5.05360476e-03 2.36334213e+02] [ 1.50261008e-02 9.99887100e-01 5.70936013e-05 2.22534458e+00] [ 5.05217635e-03 -1.33022401e-04 9.99987229e-01 1.17988658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:236.37, Y:2.22, Z:1.18 [[ 9.99872538e-01 -1.51449323e-02 -5.05360017e-03 2.36365971e+02] [ 1.51454163e-02 9.99885300e-01 5.74976237e-05 2.22355054e+00] [ 5.05214972e-03 -1.34029173e-04 9.99987229e-01 1.17994318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:236.40, Y:2.22, Z:1.18 [[ 9.99882333e-01 -1.44838052e-02 -5.05359555e-03 2.36398238e+02] [ 1.44842827e-02 9.99895096e-01 5.79001789e-05 2.22182636e+00] [ 5.05222680e-03 -1.31091072e-04 9.99987229e-01 1.18029853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:236.43, Y:2.22, Z:1.18 [[ 9.99897010e-01 -1.34324793e-02 -5.05359087e-03 2.36429228e+02] [ 1.34329455e-02 9.99909772e-01 5.83064919e-05 2.22023057e+00] [ 5.05235169e-03 -1.26185097e-04 9.99987229e-01 1.18006361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:236.46, Y:2.22, Z:1.18 [[ 9.99937602e-01 -9.96259323e-03 -5.05358309e-03 2.36460303e+02] [ 9.96301845e-03 9.99950366e-01 5.89727857e-05 2.21786801e+00] [ 5.05274474e-03 -1.09318048e-04 9.99987229e-01 1.17990771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:236.49, Y:2.22, Z:1.18 [[ 9.99959760e-01 -7.41218064e-03 -5.05358071e-03 2.36491305e+02] [ 7.41257432e-03 9.99972525e-01 5.91762074e-05 2.21652060e+00] [ 5.05300324e-03 -9.66338688e-05 9.99987229e-01 1.17973041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:236.52, Y:2.21, Z:1.18 [[ 9.99986595e-01 -1.12778730e-03 -5.05357832e-03 2.36522193e+02] [ 1.12810179e-03 9.99999362e-01 5.93796291e-05 2.21463044e+00] [ 5.05350813e-03 -6.50797838e-05 9.99987229e-01 1.17949538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:236.55, Y:2.21, Z:1.18 [[ 9.99985056e-01 2.08544875e-03 -5.05357832e-03 2.36549673e+02] [-2.08517529e-03 9.99997824e-01 5.93796291e-05 2.21398607e+00] [ 5.05369116e-03 -4.88411451e-05 9.99987229e-01 1.17928100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:236.58, Y:2.21, Z:1.18 [[ 9.99970899e-01 5.71514834e-03 -5.05358730e-03 2.36577348e+02] [-5.71492514e-03 9.99983668e-01 5.86051832e-05 2.21323402e+00] [ 5.05383970e-03 -2.97226046e-05 9.99987229e-01 1.18041467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:236.61, Y:2.21, Z:1.18 [[ 9.99909389e-01 1.24769944e-02 -5.05360573e-03 2.36605149e+02] [-1.24768658e-02 9.99922159e-01 5.69706206e-05 2.21191631e+00] [ 5.05392317e-03 6.08770220e-06 9.99987229e-01 1.18100342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:236.63, Y:2.21, Z:1.18 [[ 9.99866806e-01 1.55187503e-02 -5.05362349e-03 2.36633472e+02] [-1.55186687e-02 9.99879577e-01 5.53485778e-05 2.21068625e+00] [ 5.05387386e-03 2.30843033e-05 9.99987229e-01 1.18171454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:236.66, Y:2.21, Z:1.18 [[ 9.99781554e-01 2.02806361e-02 -5.05363022e-03 2.36661624e+02] [-2.02806186e-02 9.99794326e-01 5.47268916e-05 2.20804909e+00] [ 5.05370072e-03 4.77758102e-05 9.99987229e-01 1.18074856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:236.69, Y:2.21, Z:1.18 [[ 9.99751813e-01 2.16973016e-02 -5.05363572e-03 2.36688588e+02] [-2.16973048e-02 9.99764584e-01 5.42146633e-05 2.20644217e+00] [ 5.05362233e-03 5.54490664e-05 9.99987229e-01 1.17956134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.544391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:236.72, Y:2.20, Z:1.18 [[ 9.99731199e-01 2.26272113e-02 -5.05364570e-03 2.36717001e+02] [-2.26272311e-02 9.99743970e-01 5.32680028e-05 2.20454509e+00] [ 5.05355712e-03 6.10963246e-05 9.99987229e-01 1.17917733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.574391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:236.75, Y:2.20, Z:1.18 [[ 9.99727906e-01 2.27722221e-02 -5.05364997e-03 2.36746119e+02] [-2.27722458e-02 9.99740677e-01 5.28597612e-05 2.20261532e+00] [ 5.05354318e-03 6.22375810e-05 9.99987229e-01 1.17867721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.604391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:236.77, Y:2.20, Z:1.18 [[ 9.99750276e-01 2.17680028e-02 -5.05365418e-03 2.36774045e+02] [-2.17680157e-02 9.99763047e-01 5.24535927e-05 2.19854990e+00] [ 5.05359852e-03 5.75675300e-05 9.99987229e-01 1.17801557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.634391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:236.80, Y:2.20, Z:1.18 [[ 9.99782214e-01 2.02481059e-02 -5.05365935e-03 2.36801862e+02] [-2.02481020e-02 9.99794985e-01 5.19509440e-05 2.19622463e+00] [ 5.05367518e-03 5.03873800e-05 9.99987229e-01 1.17860290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:236.83, Y:2.19, Z:1.18 [[ 9.99861086e-01 1.58829899e-02 -5.05366549e-03 2.36831065e+02] [-1.58829333e-02 9.99873857e-01 5.13465857e-05 2.19116660e+00] [ 5.05384354e-03 2.89275788e-05 9.99987229e-01 1.17968759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:236.86, Y:2.19, Z:1.18 [[ 9.99901104e-01 1.31240913e-02 -5.05366962e-03 2.36858114e+02] [-1.31240015e-02 9.99913875e-01 5.09372275e-05 2.18853294e+00] [ 5.05390288e-03 1.53921775e-05 9.99987229e-01 1.17959369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:236.89, Y:2.19, Z:1.18 [[ 9.99941629e-01 9.54983432e-03 -5.05367796e-03 2.36887058e+02] [-9.54970310e-03 9.99954399e-01 5.00953807e-05 2.18615886e+00] [ 5.05392591e-03 -1.83133241e-06 9.99987229e-01 1.18019461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:236.92, Y:2.18, Z:1.18 [[ 9.99985091e-01 2.06818919e-03 -5.05368183e-03 2.36915374e+02] [-2.06796442e-03 9.99997861e-01 4.97018513e-05 2.18068197e+00] [ 5.05377381e-03 -3.92502761e-05 9.99987229e-01 1.18127074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:236.94, Y:2.18, Z:1.18 [[ 9.99985263e-01 -1.98321855e-03 -5.05368572e-03 2.36944587e+02] [ 1.98349303e-03 9.99998032e-01 4.93028413e-05 2.17772822e+00] [ 5.05357800e-03 -5.93260652e-05 9.99987229e-01 1.18172324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814391418 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:236.97, Y:2.17, Z:1.18 [[ 9.99944887e-01 -9.20239713e-03 -5.05368964e-03 2.36973394e+02] [ 9.20276175e-03 9.99957653e-01 4.88981043e-05 2.17221409e+00] [ 5.05302565e-03 -9.54033110e-05 9.99987229e-01 1.18212379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84439141800001 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:237.00, Y:2.17, Z:1.18 [[ 9.99912315e-01 -1.22402067e-02 -5.05369350e-03 2.37003725e+02] [ 1.22406080e-02 9.99925080e-01 4.84964390e-05 2.16937954e+00] [ 5.05272127e-03 -1.10352468e-04 9.99987229e-01 1.18275729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87439141800002 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:237.03, Y:2.17, Z:1.18 [[ 9.99873269e-01 -1.50965447e-02 -5.05369254e-03 2.37034585e+02] [ 1.50969830e-02 9.99886033e-01 4.85960844e-05 2.16665980e+00] [ 5.05238295e-03 -1.24885436e-04 9.99987229e-01 1.18309935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:237.07, Y:2.16, Z:1.18 [[ 9.99829493e-01 -1.77607886e-02 -5.05369061e-03 2.37067116e+02] [ 1.77612620e-02 9.99842255e-01 4.87957319e-05 2.16389396e+00] [ 5.05202677e-03 -1.38547335e-04 9.99987229e-01 1.18323658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:237.10, Y:2.16, Z:1.18 [[ 9.99731497e-01 -2.26140135e-02 -5.05368666e-03 2.37098344e+02] [ 2.26145509e-02 9.99744257e-01 4.92018116e-05 2.15952762e+00] [ 5.05128156e-03 -1.63475455e-04 9.99987229e-01 1.18264475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:237.13, Y:2.16, Z:1.18 [[ 9.99681949e-01 -2.47075046e-02 -5.05368370e-03 2.37130721e+02] [ 2.47080702e-02 9.99694708e-01 4.95031579e-05 2.15755901e+00] [ 5.05091775e-03 -1.74354185e-04 9.99987229e-01 1.18237336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:237.16, Y:2.15, Z:1.18 [[ 9.99607871e-01 -2.75420437e-02 -5.05367975e-03 2.37162242e+02] [ 2.75426475e-02 9.99620628e-01 4.99033330e-05 2.15450992e+00] [ 5.05038809e-03 -1.89075484e-04 9.99987229e-01 1.18162541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024391418 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:237.19, Y:2.15, Z:1.18 [[ 9.99585280e-01 -2.83500881e-02 -5.05367679e-03 2.37194514e+02] [ 2.83507037e-02 9.99598037e-01 5.02016466e-05 2.15304110e+00] [ 5.05022218e-03 -1.93456120e-04 9.99987229e-01 1.18155233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:237.23, Y:2.15, Z:1.18 [[ 9.99545888e-01 -2.97065391e-02 -5.05367286e-03 2.37226450e+02] [ 2.97071740e-02 9.99558643e-01 5.05936556e-05 2.15157948e+00] [ 5.04993943e-03 -2.00701019e-04 9.99987229e-01 1.18177767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:237.26, Y:2.15, Z:1.18 [[ 9.99537286e-01 -2.99945759e-02 -5.05366876e-03 2.37258628e+02] [ 2.99952165e-02 9.99550041e-01 5.10007919e-05 2.15088321e+00] [ 5.04986507e-03 -2.02563082e-04 9.99987229e-01 1.18162264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:237.29, Y:2.15, Z:1.18 [[ 9.99520141e-01 -3.05605817e-02 -5.05366462e-03 2.37289338e+02] [ 3.05612316e-02 9.99532895e-01 5.14070611e-05 2.15014841e+00] [ 5.04973300e-03 -2.05828608e-04 9.99987229e-01 1.18093017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:237.32, Y:2.15, Z:1.18 [[ 9.99517278e-01 -3.06540505e-02 -5.05366153e-03 2.37321725e+02] [ 3.06547031e-02 9.99530033e-01 5.17091832e-05 2.14892936e+00] [ 5.04970138e-03 -2.06602716e-04 9.99987229e-01 1.18029163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174391418 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:237.35, Y:2.15, Z:1.18 [[ 9.99510098e-01 -3.08873014e-02 -5.05365734e-03 2.37353448e+02] [ 3.08879590e-02 9.99522852e-01 5.21158848e-05 2.14842671e+00] [ 5.04963628e-03 -2.08187514e-04 9.99987229e-01 1.18019218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204391418 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:237.39, Y:2.15, Z:1.18 [[ 9.99486620e-01 -3.16379196e-02 -5.05365313e-03 2.37385754e+02] [ 3.16385888e-02 9.99499373e-01 5.25209093e-05 2.14891670e+00] [ 5.04946148e-03 -2.12384400e-04 9.99987229e-01 1.18044135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234391418 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:237.42, Y:2.15, Z:1.18 [[ 9.99473374e-01 -3.20536320e-02 -5.05364885e-03 2.37417509e+02] [ 3.20543086e-02 9.99486127e-01 5.29297382e-05 2.14915147e+00] [ 5.04935532e-03 -2.14893084e-04 9.99987229e-01 1.17988489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264391418 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:237.45, Y:2.15, Z:1.18 [[ 9.99458429e-01 -3.25162920e-02 -5.05364347e-03 2.37450125e+02] [ 3.25169771e-02 9.99471182e-01 5.34386188e-05 2.14925118e+00] [ 5.04923338e-03 -2.17738887e-04 9.99987229e-01 1.18013583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.294391418 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:237.48, Y:2.15, Z:1.18 [[ 9.99446006e-01 -3.28959232e-02 -5.05363931e-03 2.37482004e+02] [ 3.28966152e-02 9.99458758e-01 5.38285378e-05 2.14925439e+00] [ 5.04913333e-03 -2.20046345e-04 9.99987229e-01 1.18104757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.324391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:237.51, Y:2.15, Z:1.18 [[ 9.99385340e-01 -3.46901102e-02 -5.05363497e-03 2.37513015e+02] [ 3.46908271e-02 9.99398091e-01 5.42329912e-05 2.15036490e+00] [ 5.04871179e-03 -2.29514433e-04 9.99987229e-01 1.18052976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.354391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:237.55, Y:2.15, Z:1.18 [[ 9.99295418e-01 -3.71904367e-02 -5.05363172e-03 2.37545817e+02] [ 3.71911870e-02 9.99308167e-01 5.45341569e-05 2.15167283e+00] [ 5.04810730e-03 -2.42446295e-04 9.99987229e-01 1.18254444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.384391418 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:237.58, Y:2.15, Z:1.18 [[ 9.99256347e-01 -3.82258239e-02 -5.05362499e-03 2.37577031e+02] [ 3.82265905e-02 9.99269095e-01 5.51508803e-05 2.15229350e+00] [ 5.04782309e-03 -2.48292720e-04 9.99987229e-01 1.18316513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:237.61, Y:2.15, Z:1.18 [[ 9.99221023e-01 -3.91383152e-02 -5.05362164e-03 2.37610222e+02] [ 3.91390949e-02 9.99233771e-01 5.54559285e-05 2.15292981e+00] [ 5.04757896e-03 -2.53206907e-04 9.99987229e-01 1.18443455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:237.64, Y:2.15, Z:1.18 [[ 9.99206881e-01 -3.94977314e-02 -5.05361473e-03 2.37642659e+02] [ 3.94985189e-02 9.99219627e-01 5.60792178e-05 2.15347618e+00] [ 5.04745602e-03 -2.55645037e-04 9.99987229e-01 1.18445856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:237.68, Y:2.16, Z:1.19 [[ 9.99174623e-01 -4.03055165e-02 -5.05360355e-03 2.37675786e+02] [ 4.03063193e-02 9.99187369e-01 5.70689936e-05 2.15545569e+00] [ 5.04719664e-03 -2.60714048e-04 9.99987229e-01 1.18509600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:237.71, Y:2.16, Z:1.19 [[ 9.99173260e-01 -4.03392745e-02 -5.05359664e-03 2.37708922e+02] [ 4.03400808e-02 9.99186006e-01 5.76741438e-05 2.15641065e+00] [ 5.04715651e-03 -2.61488959e-04 9.99987229e-01 1.18563797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:237.74, Y:2.16, Z:1.19 [[ 9.99178067e-01 -4.02200442e-02 -5.05358970e-03 2.37742459e+02] [ 4.02208520e-02 9.99190812e-01 5.82766160e-05 2.15590480e+00] [ 5.04715651e-03 -2.61488400e-04 9.99987229e-01 1.18580731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:237.78, Y:2.16, Z:1.19 [[ 9.99172561e-01 -4.03565833e-02 -5.05358267e-03 2.37775578e+02] [ 4.03573959e-02 9.99185307e-01 5.88796455e-05 2.15707536e+00] [ 5.04708937e-03 -2.62780363e-04 9.99987229e-01 1.18609889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59439141800001 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:237.81, Y:2.16, Z:1.19 [[ 9.99178921e-01 -4.01988218e-02 -5.05357538e-03 2.37807391e+02] [ 4.01996355e-02 9.99191666e-01 5.94989565e-05 2.16003013e+00] [ 5.04709862e-03 -2.62601991e-04 9.99987229e-01 1.18737712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62439141800002 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:237.84, Y:2.16, Z:1.19 [[ 9.99213262e-01 -3.93359609e-02 -5.05365465e-03 2.37839268e+02] [ 3.93367296e-02 9.99226010e-01 5.27720780e-05 2.16256681e+00] [ 5.04766733e-03 -2.51524807e-04 9.99987229e-01 1.18683703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:237.87, Y:2.16, Z:1.19 [[ 9.99222992e-01 -3.90880184e-02 -5.05356208e-03 2.37871566e+02] [ 3.90888230e-02 9.99235738e-01 6.05035153e-05 2.16389084e+00] [ 5.04733487e-03 -2.57994297e-04 9.99987229e-01 1.18661646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684391418 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:237.90, Y:2.17, Z:1.19 [[ 9.99267311e-01 -3.79381343e-02 -5.05355590e-03 2.37904220e+02] [ 3.79389268e-02 9.99280058e-01 6.10152273e-05 2.16687360e+00] [ 5.04760283e-03 -2.52697010e-04 9.99987229e-01 1.18763673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:237.94, Y:2.17, Z:1.19 [[ 9.99278219e-01 -3.76497475e-02 -5.05354833e-03 2.37936412e+02] [ 3.76505395e-02 9.99290965e-01 6.16358816e-05 2.16798863e+00] [ 5.04764462e-03 -2.51860215e-04 9.99987229e-01 1.18750995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744391418 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:237.97, Y:2.17, Z:1.19 [[ 9.99297191e-01 -3.71427875e-02 -5.05354202e-03 2.37969475e+02] [ 3.71435756e-02 9.99309937e-01 6.21491803e-05 2.16914493e+00] [ 5.04774637e-03 -2.49812121e-04 9.99987229e-01 1.18793222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774391418 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:238.00, Y:2.17, Z:1.19 [[ 9.99302412e-01 -3.70020512e-02 -5.05353424e-03 2.38002318e+02] [ 3.70028406e-02 9.99315158e-01 6.27753251e-05 2.17028296e+00] [ 5.04775056e-03 -2.49726656e-04 9.99987229e-01 1.18774881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804391418 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:238.03, Y:2.17, Z:1.19 [[ 9.99290820e-01 -3.73137850e-02 -5.05352645e-03 2.38033942e+02] [ 3.73145815e-02 9.99303566e-01 6.33968650e-05 2.17292672e+00] [ 5.04764142e-03 -2.51922130e-04 9.99987229e-01 1.18611673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834391418 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.07, Y:2.17, Z:1.19 [[ 9.99283777e-01 -3.75019326e-02 -5.05352257e-03 2.38067463e+02] [ 3.75027331e-02 9.99296523e-01 6.37041242e-05 2.17384084e+00] [ 5.04757851e-03 -2.53179406e-04 9.99987229e-01 1.18625686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864391418 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.10, Y:2.17, Z:1.19 [[ 9.99270300e-01 -3.78593417e-02 -5.05351480e-03 2.38100645e+02] [ 3.78601499e-02 9.99283045e-01 6.43149318e-05 2.17472357e+00] [ 5.04745674e-03 -2.55594829e-04 9.99987229e-01 1.18625902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:238.13, Y:2.18, Z:1.19 [[ 9.99229114e-01 -3.89312193e-02 -5.05350689e-03 2.38132900e+02] [ 3.89320442e-02 9.99241858e-01 6.49301025e-05 2.17748809e+00] [ 5.04714781e-03 -2.61623403e-04 9.99987229e-01 1.18673665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924391418 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:238.17, Y:2.18, Z:1.19 [[ 9.99208012e-01 -3.94691180e-02 -5.05350031e-03 2.38165600e+02] [ 3.94699523e-02 9.99220756e-01 6.54386619e-05 2.17891075e+00] [ 5.04697959e-03 -2.64848251e-04 9.99987229e-01 1.18780864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:238.20, Y:2.18, Z:1.19 [[ 9.99211263e-01 -3.93867335e-02 -5.05349232e-03 2.38199601e+02] [ 3.93875699e-02 9.99224006e-01 6.60496729e-05 2.18124054e+00] [ 5.04696936e-03 -2.65042359e-04 9.99987229e-01 1.18649726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:238.23, Y:2.18, Z:1.19 [[ 9.99231909e-01 -3.88594564e-02 -5.05322418e-03 2.38230165e+02] [ 3.88603880e-02 9.99244646e-01 8.62618053e-05 2.18225058e+00] [ 5.04605512e-03 -2.82565801e-04 9.99987229e-01 1.18667770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:238.26, Y:2.18, Z:1.19 [[ 9.99159148e-01 -4.06873186e-02 -5.05354362e-03 2.38262709e+02] [ 4.06881522e-02 9.99171892e-01 6.22162863e-05 2.18414619e+00] [ 5.04682733e-03 -2.67783324e-04 9.99987229e-01 1.18894893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.044391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.30, Y:2.19, Z:1.19 [[ 9.99157343e-01 -4.07316436e-02 -5.05346444e-03 2.38295931e+02] [ 4.07325074e-02 9.99170085e-01 6.80927217e-05 2.18687947e+00] [ 5.04649696e-03 -2.73875621e-04 9.99987229e-01 1.18961550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.074391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:238.33, Y:2.19, Z:1.19 [[ 9.99165744e-01 -4.05250483e-02 -5.05345605e-03 2.38329392e+02] [ 4.05259126e-02 9.99178485e-01 6.87094244e-05 2.18815931e+00] [ 5.04652011e-03 -2.73448021e-04 9.99987229e-01 1.19018434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.104391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:238.36, Y:2.19, Z:1.19 [[ 9.99223783e-01 -3.90678201e-02 -5.05344759e-03 2.38361087e+02] [ 3.90686689e-02 9.99236526e-01 6.93262084e-05 2.19137119e+00] [ 5.04688099e-03 -2.66703867e-04 9.99987229e-01 1.19104916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.134391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:238.39, Y:2.19, Z:1.19 [[ 9.99242569e-01 -3.85843465e-02 -5.05343344e-03 2.38393485e+02] [ 3.85851943e-02 9.99255312e-01 7.03427302e-05 2.19297455e+00] [ 5.04695608e-03 -2.65277162e-04 9.99987229e-01 1.19110373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:238.42, Y:2.20, Z:1.19 [[ 9.99226735e-01 -3.89922336e-02 -5.05341939e-03 2.38424550e+02] [ 3.89930917e-02 9.99239478e-01 7.13378398e-05 2.19553024e+00] [ 5.04679453e-03 -2.68331122e-04 9.99987229e-01 1.19222282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:238.46, Y:2.19, Z:1.19 [[ 9.99283031e-01 -3.75217784e-02 -5.05368880e-03 2.38457639e+02] [ 3.75225215e-02 9.99295781e-01 5.22803540e-05 2.19483766e+00] [ 5.04816825e-03 -2.41870018e-04 9.99987229e-01 1.19071633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:238.49, Y:2.20, Z:1.19 [[ 9.99258051e-01 -3.81812984e-02 -5.05339837e-03 2.38490055e+02] [ 3.81821521e-02 9.99270793e-01 7.25188550e-05 2.19732514e+00] [ 5.04694454e-03 -2.65414675e-04 9.99987229e-01 1.18975606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:238.52, Y:2.20, Z:1.19 [[ 9.99236127e-01 -3.87508050e-02 -5.05339260e-03 2.38521899e+02] [ 3.87516679e-02 9.99248869e-01 7.29191931e-05 2.19794956e+00] [ 5.04677116e-03 -2.68690884e-04 9.99987229e-01 1.18922967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:238.55, Y:2.20, Z:1.19 [[ 9.99223643e-01 -3.90714004e-02 -5.05338681e-03 2.38554067e+02] [ 3.90722694e-02 9.99236385e-01 7.33182749e-05 2.19830851e+00] [ 5.04666331e-03 -2.70708644e-04 9.99987229e-01 1.18871464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:238.59, Y:2.20, Z:1.19 [[ 9.99192023e-01 -3.98718504e-02 -5.05338093e-03 2.38585269e+02] [ 3.98727316e-02 9.99204764e-01 7.37208129e-05 2.19959413e+00] [ 5.04642292e-03 -2.75153350e-04 9.99987229e-01 1.18748105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34439141800001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.62, Y:2.20, Z:1.19 [[ 9.99187436e-01 -3.99866441e-02 -5.05337654e-03 2.38616394e+02] [ 3.99875283e-02 9.99200176e-01 7.40205986e-05 2.20029310e+00] [ 5.04637490e-03 -2.76032490e-04 9.99987229e-01 1.18712080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37439141800002 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:238.65, Y:2.20, Z:1.19 [[ 9.99254390e-01 -3.82769865e-02 -5.05337227e-03 2.38649078e+02] [ 3.82778504e-02 9.99267132e-01 7.43111659e-05 2.20216389e+00] [ 5.04682441e-03 -2.67687986e-04 9.99987229e-01 1.18783023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.68, Y:2.20, Z:1.19 [[ 9.99324336e-01 -3.64051541e-02 -5.05336321e-03 2.38681770e+02] [ 3.64059972e-02 9.99337079e-01 7.49219552e-05 2.20292306e+00] [ 5.04728569e-03 -2.58844060e-04 9.99987229e-01 1.18824927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:238.71, Y:2.20, Z:1.19 [[ 9.99400607e-01 -3.42474785e-02 -5.05335408e-03 2.38714520e+02] [ 3.42482971e-02 9.99413352e-01 7.55329494e-05 2.20406169e+00] [ 5.04780273e-03 -2.48556448e-04 9.99987229e-01 1.18873640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:238.75, Y:2.21, Z:1.19 [[ 9.99574478e-01 -2.87284920e-02 -5.05334489e-03 2.38747457e+02] [ 2.87292433e-02 9.99587227e-01 7.61430034e-05 2.20728585e+00] [ 5.04907153e-03 -2.21289378e-04 9.99987229e-01 1.18936523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:238.78, Y:2.21, Z:1.19 [[ 9.99641265e-01 -2.63021921e-02 -5.05333569e-03 2.38778194e+02] [ 2.63029156e-02 9.99654016e-01 7.67484037e-05 2.21078151e+00] [ 5.04956867e-03 -2.09638333e-04 9.99987229e-01 1.18990209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:238.81, Y:2.21, Z:1.19 [[ 9.99818780e-01 -1.83539526e-02 -5.05367647e-03 2.38810683e+02] [ 1.83544617e-02 9.99831541e-01 5.43820070e-05 2.21208945e+00] [ 5.05182701e-03 -1.47129663e-04 9.99987229e-01 1.19175770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:238.84, Y:2.22, Z:1.19 [[ 9.99919002e-01 -1.16813214e-02 -5.05331007e-03 2.38841521e+02] [ 1.16818652e-02 9.99931762e-01 7.80917100e-05 2.21518346e+00] [ 5.05205303e-03 -1.37117472e-04 9.99987229e-01 1.19242878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:238.87, Y:2.22, Z:1.19 [[ 9.99951730e-01 -8.42627582e-03 -5.05330539e-03 2.38872978e+02] [ 8.42677952e-03 9.99964491e-01 7.83936325e-05 2.21629315e+00] [ 5.05246538e-03 -1.20972939e-04 9.99987229e-01 1.19283875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614391418 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:238.90, Y:2.22, Z:1.19 [[ 9.99970299e-01 -5.81947015e-03 -5.05330231e-03 2.38904418e+02] [ 5.81994158e-03 9.99983061e-01 7.85917477e-05 2.21760255e+00] [ 5.05275935e-03 -1.07999338e-04 9.99987229e-01 1.19311878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644391418 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:238.93, Y:2.22, Z:1.19 [[ 9.99981392e-01 -3.41767718e-03 -5.05329921e-03 2.38934645e+02] [ 3.41811896e-03 9.99994155e-01 7.87905501e-05 2.21864918e+00] [ 5.05300039e-03 -9.60618618e-05 9.99987229e-01 1.19360876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:238.96, Y:2.22, Z:1.19 [[ 9.99987186e-01 -3.01814074e-04 -5.05329921e-03 2.38964052e+02] [ 3.02216084e-04 9.99999951e-01 7.87905501e-05 2.22196655e+00] [ 5.05327518e-03 -8.03167288e-05 9.99987229e-01 1.19321169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704391418 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:238.99, Y:2.22, Z:1.19 [[ 9.99985787e-01 1.69889691e-03 -5.05359438e-03 2.38992569e+02] [-1.69861659e-03 9.99998556e-01 5.97603245e-05 2.22112749e+00] [ 5.05368860e-03 -5.11753559e-05 9.99987229e-01 1.19271818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:239.02, Y:2.22, Z:1.19 [[ 9.99984271e-01 2.43358494e-03 -5.05330407e-03 2.39020934e+02] [-2.43321952e-03 9.99997037e-01 7.84582620e-05 2.22155993e+00] [ 5.05348003e-03 -6.61612298e-05 9.99987229e-01 1.19281548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764391418 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:239.05, Y:2.22, Z:1.19 [[ 9.99982849e-01 2.96075564e-03 -5.05332825e-03 2.39049887e+02] [-2.96040499e-03 9.99995615e-01 7.68690731e-05 2.22199505e+00] [ 5.05353368e-03 -6.19078565e-05 9.99987229e-01 1.19332551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.794391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:239.08, Y:2.22, Z:1.19 [[ 9.99983078e-01 2.88244347e-03 -5.05333443e-03 2.39079029e+02] [-2.88209388e-03 9.99995844e-01 7.64606157e-05 2.22304943e+00] [ 5.05353382e-03 -6.18951376e-05 9.99987229e-01 1.19395483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.824391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:239.11, Y:2.22, Z:1.19 [[ 9.99984572e-01 2.30661905e-03 -5.05334059e-03 2.39106917e+02] [-2.30626418e-03 9.99997338e-01 7.60512842e-05 2.22294768e+00] [ 5.05350255e-03 -6.43957724e-05 9.99987229e-01 1.19397190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.854391418 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:239.13, Y:2.22, Z:1.19 [[ 9.99986319e-01 1.35092501e-03 -5.05334880e-03 2.39134241e+02] [-1.35056072e-03 9.99999085e-01 7.55015784e-05 2.22240262e+00] [ 5.05344617e-03 -6.86756911e-05 9.99987229e-01 1.19443614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.884391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:239.16, Y:2.22, Z:1.19 [[ 9.99986576e-01 -1.14551589e-03 -5.05335615e-03 2.39162715e+02] [ 1.14590955e-03 9.99999341e-01 7.50064842e-05 2.22156108e+00] [ 5.05326690e-03 -8.07961663e-05 9.99987229e-01 1.19497508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:239.19, Y:2.22, Z:1.20 [[ 9.99983441e-01 -2.75335095e-03 -5.05336192e-03 2.39191782e+02] [ 2.75376316e-03 9.99996206e-01 7.46155280e-05 2.22078127e+00] [ 5.05313730e-03 -8.85300543e-05 9.99987229e-01 1.19561389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:239.22, Y:2.22, Z:1.19 [[ 9.99968355e-01 -6.14425928e-03 -5.05336773e-03 2.39220918e+02] [ 6.14471277e-03 9.99981118e-01 7.42198944e-05 2.21904059e+00] [ 5.05281629e-03 -1.05269039e-04 9.99987229e-01 1.19469770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:239.25, Y:2.22, Z:1.19 [[ 9.99955516e-01 -7.96432364e-03 -5.05337061e-03 2.39250910e+02] [ 7.96479937e-03 9.99968278e-01 7.40237345e-05 2.21751683e+00] [ 5.05262075e-03 -1.14269525e-04 9.99987229e-01 1.19433045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:239.28, Y:2.22, Z:1.19 [[ 9.99935095e-01 -1.02112039e-02 -5.05337061e-03 2.39281340e+02] [ 1.02117083e-02 9.99947856e-01 7.40237345e-05 2.21614456e+00] [ 5.05235123e-03 -1.25622476e-04 9.99987229e-01 1.19336844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034391418 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:239.31, Y:2.21, Z:1.19 [[ 9.99876599e-01 -1.48744869e-02 -5.05336913e-03 2.39312527e+02] [ 1.48750514e-02 9.99889358e-01 7.41244826e-05 2.21238261e+00] [ 5.05170745e-03 -1.49284461e-04 9.99987229e-01 1.19145754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:239.35, Y:2.21, Z:1.19 [[ 9.99783086e-01 -2.02050838e-02 -5.05336622e-03 2.39345130e+02] [ 2.02057172e-02 9.99795841e-01 7.43223260e-05 2.20846077e+00] [ 5.05083284e-03 -1.76413093e-04 9.99987229e-01 1.19079252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09439141800001 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:239.38, Y:2.21, Z:1.19 [[ 9.99726493e-01 -2.28342575e-02 -5.05336038e-03 2.39376967e+02] [ 2.28349265e-02 9.99739246e-01 7.47168748e-05 2.20643423e+00] [ 5.05033660e-03 -1.90089552e-04 9.99987229e-01 1.19115144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12439141800002 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:239.41, Y:2.20, Z:1.19 [[ 9.99662969e-01 -2.54639540e-02 -5.05335448e-03 2.39410142e+02] [ 2.54646585e-02 9.99675720e-01 7.51140209e-05 2.20463712e+00] [ 5.04980308e-03 -2.03770651e-04 9.99987229e-01 1.19207116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:239.44, Y:2.20, Z:1.19 [[ 9.99605002e-01 -2.76460472e-02 -5.05334509e-03 2.39442502e+02] [ 2.76467827e-02 9.99617752e-01 7.57408298e-05 2.20251016e+00] [ 5.04931952e-03 -2.15419646e-04 9.99987229e-01 1.19245724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:239.47, Y:2.20, Z:1.19 [[ 9.99480049e-01 -3.18448588e-02 -5.05333725e-03 2.39474716e+02] [ 3.18456505e-02 9.99492796e-01 7.62598164e-05 2.19927394e+00] [ 5.04834570e-03 -2.37146977e-04 9.99987229e-01 1.19363142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:239.51, Y:2.20, Z:1.19 [[ 9.99430514e-01 -3.33633124e-02 -5.05333113e-03 2.39506805e+02] [ 3.33641255e-02 9.99443260e-01 7.66637681e-05 2.19714162e+00] [ 5.04795998e-03 -2.45220083e-04 9.99987229e-01 1.19420397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:239.54, Y:2.20, Z:1.20 [[ 9.99384892e-01 -3.47030455e-02 -5.05332343e-03 2.39539363e+02] [ 3.47038782e-02 9.99397636e-01 7.71674281e-05 2.19518032e+00] [ 5.04760155e-03 -2.52489883e-04 9.99987229e-01 1.19517180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:239.57, Y:2.19, Z:1.20 [[ 9.99316381e-01 -3.66228704e-02 -5.05331713e-03 2.39571828e+02] [ 3.66237297e-02 9.99329123e-01 7.75782785e-05 2.19201622e+00] [ 5.04708583e-03 -2.62596565e-04 9.99987229e-01 1.19568008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:239.60, Y:2.19, Z:1.20 [[ 9.99293841e-01 -3.72328165e-02 -5.05330922e-03 2.39604490e+02] [ 3.72336861e-02 9.99306583e-01 7.80899656e-05 2.19042715e+00] [ 5.04689766e-03 -2.66188151e-04 9.99987229e-01 1.19652655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:239.64, Y:2.19, Z:1.20 [[ 9.99258113e-01 -3.81796748e-02 -5.05329957e-03 2.39636158e+02] [ 3.81805596e-02 9.99270854e-01 7.87096203e-05 2.18757114e+00] [ 5.04660987e-03 -2.71589032e-04 9.99987229e-01 1.19661442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:239.67, Y:2.19, Z:1.20 [[ 9.99243303e-01 -3.85653373e-02 -5.05329153e-03 2.39668695e+02] [ 3.85662296e-02 9.99256043e-01 7.92226517e-05 2.18588031e+00] [ 5.04647685e-03 -2.74049106e-04 9.99987229e-01 1.19638485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:239.70, Y:2.18, Z:1.20 [[ 9.99245300e-01 -3.85135595e-02 -5.05328207e-03 2.39701384e+02] [ 3.85144542e-02 9.99258040e-01 7.98210993e-05 2.18403807e+00] [ 5.04645854e-03 -2.74385259e-04 9.99987229e-01 1.19655210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:239.73, Y:2.18, Z:1.20 [[ 9.99250050e-01 -3.83901215e-02 -5.05327213e-03 2.39734929e+02] [ 3.83910178e-02 9.99262790e-01 8.04453265e-05 2.18338883e+00] [ 5.04645851e-03 -2.74385257e-04 9.99987229e-01 1.19672144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:239.77, Y:2.18, Z:1.19 [[ 9.99250610e-01 -3.83755590e-02 -5.05326212e-03 2.39766102e+02] [ 3.83764582e-02 9.99263349e-01 8.10695525e-05 2.18098527e+00] [ 5.04642854e-03 -2.74935102e-04 9.99987229e-01 1.19466133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:239.80, Y:2.18, Z:1.19 [[ 9.99290163e-01 -3.73314265e-02 -5.05324902e-03 2.39798704e+02] [ 3.73323165e-02 9.99302903e-01 8.18783554e-05 2.17905993e+00] [ 5.04666977e-03 -2.70469727e-04 9.99987229e-01 1.19446829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:239.83, Y:2.18, Z:1.19 [[ 9.99378362e-01 -3.48906100e-02 -5.05323925e-03 2.39830119e+02] [ 3.48914719e-02 9.99391104e-01 8.24765229e-05 2.17667607e+00] [ 5.04728470e-03 -2.58740208e-04 9.99987229e-01 1.19367814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.544391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:239.86, Y:2.17, Z:1.19 [[ 9.99493581e-01 -3.14173067e-02 -5.05323440e-03 2.39864108e+02] [ 3.14181258e-02 9.99506325e-01 8.27727204e-05 2.17442451e+00] [ 5.04813925e-03 -2.41493957e-04 9.99987229e-01 1.19214252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.574391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:239.89, Y:2.18, Z:1.19 [[ 9.99535579e-01 -3.00515536e-02 -5.05274896e-03 2.39893296e+02] [ 3.00525027e-02 9.99548315e-01 1.11998193e-04 2.17514669e+00] [ 5.04710099e-03 -2.63793930e-04 9.99987229e-01 1.19485744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.604391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:239.93, Y:2.18, Z:1.20 [[ 9.99721152e-01 -2.30669075e-02 -5.05322279e-03 2.39925482e+02] [ 2.30676224e-02 9.99733904e-01 8.32307178e-05 2.17509397e+00] [ 5.04995827e-03 -1.99773344e-04 9.99987229e-01 1.19705571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.634391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:239.96, Y:2.17, Z:1.20 [[ 9.99807432e-01 -1.89621632e-02 -5.05321606e-03 2.39957519e+02] [ 1.89628278e-02 9.99820186e-01 8.36371423e-05 2.17495647e+00] [ 5.05072148e-03 -1.79444302e-04 9.99987229e-01 1.19849518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:239.99, Y:2.17, Z:1.20 [[ 9.99883720e-01 -1.43879068e-02 -5.05320924e-03 2.39989386e+02] [ 1.43885152e-02 9.99896476e-01 8.40473979e-05 2.17476198e+00] [ 5.05147685e-03 -1.56745803e-04 9.99987229e-01 1.19943765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:240.02, Y:2.17, Z:1.20 [[ 9.99938856e-01 -9.83608396e-03 -5.05320242e-03 2.40020674e+02] [ 9.83663627e-03 9.99951616e-01 8.44551240e-05 2.17441274e+00] [ 5.05212722e-03 -1.34156474e-04 9.99987229e-01 1.20020319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:240.05, Y:2.17, Z:1.20 [[ 9.99987177e-01 3.31792261e-04 -5.05319733e-03 2.40050868e+02] [-3.31368189e-04 9.99999942e-01 8.47586044e-05 2.17344595e+00] [ 5.05322516e-03 -8.30830487e-05 9.99987229e-01 1.20164894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:240.08, Y:2.17, Z:1.20 [[ 9.99979114e-01 4.02908508e-03 -5.05352971e-03 2.40080044e+02] [-4.02880854e-03 9.99991882e-01 6.48993021e-05 2.17327385e+00] [ 5.05375017e-03 -4.45382430e-05 9.99987229e-01 1.20125749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:240.11, Y:2.17, Z:1.20 [[ 9.99903219e-01 1.29622023e-02 -5.05320115e-03 2.40106489e+02] [-1.29619405e-02 9.99915987e-01 8.45385668e-05 2.17299111e+00] [ 5.05387242e-03 -1.90310921e-05 9.99987229e-01 1.20125317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:240.14, Y:2.17, Z:1.20 [[ 9.99865795e-01 1.55837451e-02 -5.05355737e-03 2.40135486e+02] [-1.55836270e-02 9.99878566e-01 6.27458686e-05 2.17241363e+00] [ 5.05392151e-03 1.60153051e-05 9.99987229e-01 1.20014604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84439141800001 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:240.16, Y:2.17, Z:1.20 [[ 9.99752847e-01 2.16496896e-02 -5.05323469e-03 2.40162401e+02] [-2.16495491e-02 9.99765618e-01 8.25084549e-05 2.17074048e+00] [ 5.05383658e-03 2.69121898e-05 9.99987229e-01 1.19948178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87439141800002 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:240.19, Y:2.17, Z:1.20 [[ 9.99698160e-01 2.40427307e-02 -5.05324552e-03 2.40189249e+02] [-2.40426242e-02 9.99710931e-01 8.18397192e-05 2.16946726e+00] [ 5.05375243e-03 3.96782660e-05 9.99987229e-01 1.19930184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:240.22, Y:2.17, Z:1.20 [[ 9.99652166e-01 2.58845719e-02 -5.05325610e-03 2.40216057e+02] [-2.58844922e-02 9.99664937e-01 8.11810825e-05 2.16811180e+00] [ 5.05366428e-03 4.96481229e-05 9.99987229e-01 1.19901224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:240.24, Y:2.17, Z:1.20 [[ 9.99592244e-01 2.81035494e-02 -5.05326648e-03 2.40242721e+02] [-2.81035014e-02 9.99605015e-01 8.05299234e-05 2.16514419e+00] [ 5.05353369e-03 6.15173944e-05 9.99987229e-01 1.19874533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:240.27, Y:2.16, Z:1.20 [[ 9.99596464e-01 2.79530456e-02 -5.05328124e-03 2.40271006e+02] [-2.79530004e-02 9.99609235e-01 7.95926212e-05 2.16357201e+00] [ 5.05353145e-03 6.16938696e-05 9.99987229e-01 1.19895042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:240.30, Y:2.16, Z:1.20 [[ 9.99620589e-01 2.70766075e-02 -5.05328978e-03 2.40299152e+02] [-2.70765538e-02 9.99633360e-01 7.90465179e-05 2.16181411e+00] [ 5.05357735e-03 5.78091458e-05 9.99987229e-01 1.19937877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:240.33, Y:2.16, Z:1.20 [[ 9.99708783e-01 2.35968999e-02 -5.05329822e-03 2.40326888e+02] [-2.35968045e-02 9.99721554e-01 7.85031186e-05 2.15720902e+00] [ 5.05374358e-03 4.07614332e-05 9.99987229e-01 1.20012840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:240.35, Y:2.15, Z:1.20 [[ 9.99769652e-01 2.08592175e-02 -5.05330745e-03 2.40354049e+02] [-2.08590902e-02 9.99782422e-01 7.79045532e-05 2.15441677e+00] [ 5.05383299e-03 2.75207877e-05 9.99987229e-01 1.19946328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:240.38, Y:2.15, Z:1.20 [[ 9.99830039e-01 1.77301155e-02 -5.05331805e-03 2.40381824e+02] [-1.77299517e-02 9.99842809e-01 7.72107557e-05 2.15145928e+00] [ 5.05389267e-03 1.23974523e-05 9.99987229e-01 1.19995221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:240.41, Y:2.15, Z:1.20 [[ 9.99924708e-01 1.11821985e-02 -5.05332704e-03 2.40409674e+02] [-1.11819541e-02 9.99937477e-01 7.66181684e-05 2.14602801e+00] [ 5.05386785e-03 -2.01063290e-05 9.99987229e-01 1.19999217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:240.44, Y:2.14, Z:1.20 [[ 9.99953203e-01 8.24964080e-03 -5.05333441e-03 2.40438185e+02] [-8.24936141e-03 9.99965971e-01 7.61284883e-05 2.14297819e+00] [ 5.05379048e-03 -3.44381437e-05 9.99987229e-01 1.19982605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:240.47, Y:2.14, Z:1.20 [[ 9.99972130e-01 5.49576797e-03 -5.05334022e-03 2.40467237e+02] [-5.49545539e-03 9.99984897e-01 7.57407942e-05 2.14022620e+00] [ 5.05368016e-03 -4.79682776e-05 9.99987229e-01 1.20011491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:240.50, Y:2.14, Z:1.20 [[ 9.99982671e-01 3.02001778e-03 -5.05334597e-03 2.40496029e+02] [-3.01967553e-03 9.99995438e-01 7.53553590e-05 2.13724739e+00] [ 5.05355049e-03 -6.00945880e-05 9.99987229e-01 1.20018013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:240.52, Y:2.13, Z:1.20 [[ 9.99986483e-01 -1.22380216e-03 -5.05335168e-03 2.40523451e+02] [ 1.22419664e-03 9.99999248e-01 7.49702696e-05 2.13160033e+00] [ 5.05325614e-03 -8.11555523e-05 9.99987229e-01 1.20016366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264391418 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:240.55, Y:2.13, Z:1.20 [[ 9.99982815e-01 -2.97225066e-03 -5.05335906e-03 2.40552023e+02] [ 2.97266493e-03 9.99995579e-01 7.44698792e-05 2.12843829e+00] [ 5.05311537e-03 -8.94905427e-05 9.99987229e-01 1.20001862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.294391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:240.58, Y:2.13, Z:1.20 [[ 9.99976234e-01 -4.68980121e-03 -5.05336455e-03 2.40581124e+02] [ 4.69023551e-03 9.99988998e-01 7.40953547e-05 2.12552472e+00] [ 5.05296146e-03 -9.77950636e-05 9.99987229e-01 1.20042193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.324391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:240.61, Y:2.12, Z:1.20 [[ 9.99958629e-01 -7.56328995e-03 -5.05336999e-03 2.40609267e+02] [ 7.56375904e-03 9.99971392e-01 7.37222512e-05 2.12042596e+00] [ 5.05266784e-03 -1.11941674e-04 9.99987229e-01 1.19989656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.354391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:240.64, Y:2.12, Z:1.20 [[ 9.99965725e-01 -6.55830326e-03 -5.05337404e-03 2.40638738e+02] [ 6.55875812e-03 9.99978488e-01 7.34439806e-05 2.11730671e+00] [ 5.05278366e-03 -1.06585321e-04 9.99987229e-01 1.20059701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.384391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:240.67, Y:2.12, Z:1.20 [[ 9.99938105e-01 -9.91177909e-03 -5.05394946e-03 2.40668678e+02] [ 9.91207331e-03 9.99950874e-01 3.31701908e-05 2.11531738e+00] [ 5.05337240e-03 -8.32632553e-05 9.99987228e-01 1.19984825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:240.70, Y:2.11, Z:1.20 [[ 9.99928890e-01 -1.08017574e-02 -5.05336895e-03 2.40698779e+02] [ 1.08022653e-02 9.99941651e-01 7.32297300e-05 2.11288484e+00] [ 5.05228308e-03 -1.27812355e-04 9.99987229e-01 1.20004301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:240.74, Y:2.10, Z:1.20 [[ 9.99956759e-01 -7.80668660e-03 -5.05336895e-03 2.40735009e+02] [ 7.80715631e-03 9.99969521e-01 7.32297300e-05 2.10239783e+00] [ 5.05264325e-03 -1.12679005e-04 9.99987229e-01 1.19755347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:240.76, Y:2.11, Z:1.20 [[ 9.99901368e-01 -1.31047876e-02 -5.05165545e-03 2.40757625e+02] [ 1.31058971e-02 9.99914097e-01 1.86583995e-04 2.10561008e+00] [ 5.04877636e-03 -2.52772068e-04 9.99987223e-01 1.20006745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:240.79, Y:2.10, Z:1.20 [[ 9.99867505e-01 -1.54736738e-02 -5.05341588e-03 2.40788515e+02] [ 1.54741924e-02 9.99880266e-01 6.35503927e-05 2.10136474e+00] [ 5.05182745e-03 -1.41739502e-04 9.99987229e-01 1.19873527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:240.82, Y:2.10, Z:1.20 [[ 9.99850416e-01 -1.65411392e-02 -5.05328403e-03 2.40820578e+02] [ 1.65417178e-02 9.99863174e-01 7.27135179e-05 2.09917371e+00] [ 5.05138984e-03 -1.56292640e-04 9.99987229e-01 1.19840902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:240.85, Y:2.10, Z:1.20 [[ 9.99814127e-01 -1.86058109e-02 -5.05327825e-03 2.40851838e+02] [ 1.86064178e-02 9.99826883e-01 7.31128239e-05 2.09515405e+00] [ 5.05104312e-03 -1.67122641e-04 9.99987229e-01 1.19834446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59439141800001 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:240.88, Y:2.09, Z:1.20 [[ 9.99794280e-01 -1.96433907e-02 -5.05327393e-03 2.40884057e+02] [ 1.96440124e-02 9.99807035e-01 7.34102197e-05 2.09275998e+00] [ 5.05085680e-03 -1.72661693e-04 9.99987229e-01 1.19842481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62439141800002 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:240.92, Y:2.09, Z:1.20 [[ 9.99777928e-01 -2.04587222e-02 -5.05326798e-03 2.40915635e+02] [ 2.04593563e-02 9.99790683e-01 7.38172736e-05 2.09074016e+00] [ 5.05070004e-03 -1.77187491e-04 9.99987229e-01 1.19868047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:240.95, Y:2.09, Z:1.20 [[ 9.99762759e-01 -2.11870524e-02 -5.05326354e-03 2.40948179e+02] [ 2.11876974e-02 9.99775513e-01 7.41202566e-05 2.08856695e+00] [ 5.05055876e-03 -1.81169691e-04 9.99987229e-01 1.19840322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:240.98, Y:2.08, Z:1.20 [[ 9.99750547e-01 -2.17556505e-02 -5.05325770e-03 2.40980563e+02] [ 2.17563047e-02 9.99763301e-01 7.45163410e-05 2.08497420e+00] [ 5.05044045e-03 -1.84437967e-04 9.99987229e-01 1.19841597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:241.01, Y:2.08, Z:1.20 [[ 9.99751773e-01 -2.16992292e-02 -5.05325181e-03 2.41012414e+02] [ 2.16998846e-02 9.99764527e-01 7.49138452e-05 2.08324936e+00] [ 5.05043633e-03 -1.84550231e-04 9.99987229e-01 1.19905010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:241.04, Y:2.08, Z:1.20 [[ 9.99759125e-01 -2.13578137e-02 -5.05324593e-03 2.41044439e+02] [ 2.13584668e-02 9.99771879e-01 7.53079776e-05 2.08177529e+00] [ 5.05048477e-03 -1.83219423e-04 9.99987229e-01 1.19961724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:241.08, Y:2.08, Z:1.20 [[ 9.99782011e-01 -2.02582088e-02 -5.05324005e-03 2.41076376e+02] [ 2.02588498e-02 9.99794766e-01 7.57004024e-05 2.07913120e+00] [ 5.05066940e-03 -1.78056732e-04 9.99987229e-01 1.20006296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804391418 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:241.11, Y:2.08, Z:1.20 [[ 9.99796553e-01 -1.95273407e-02 -5.05323382e-03 2.41108314e+02] [ 1.95279746e-02 9.99809308e-01 7.61142623e-05 2.07729134e+00] [ 5.05078390e-03 -1.74778199e-04 9.99987229e-01 1.19979461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:241.14, Y:2.08, Z:1.20 [[ 9.99815114e-01 -1.85527207e-02 -5.05322753e-03 2.41139720e+02] [ 1.85533442e-02 9.99827869e-01 7.65296203e-05 2.07570045e+00] [ 5.05093788e-03 -1.70269741e-04 9.99987229e-01 1.19993598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:241.17, Y:2.07, Z:1.20 [[ 9.99849932e-01 -1.65704348e-02 -5.05322283e-03 2.41170893e+02] [ 1.65710346e-02 9.99862688e-01 7.68387364e-05 2.07313080e+00] [ 5.05125571e-03 -1.60564336e-04 9.99987229e-01 1.20008996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:241.20, Y:2.07, Z:1.20 [[ 9.99869110e-01 -1.53697234e-02 -5.05321975e-03 2.41203212e+02] [ 1.53703089e-02 9.99881867e-01 7.70408048e-05 2.07176680e+00] [ 5.05143870e-03 -1.54700269e-04 9.99987229e-01 1.20056624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:241.23, Y:2.07, Z:1.20 [[ 9.99901205e-01 -1.31166269e-02 -5.05321349e-03 2.41232978e+02] [ 1.31171856e-02 9.99913963e-01 7.74493545e-05 2.07052023e+00] [ 5.05176285e-03 -1.43725642e-04 9.99987229e-01 1.20113788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954391418 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:241.26, Y:2.07, Z:1.20 [[ 9.99926674e-01 -1.10049576e-02 -5.05354628e-03 2.41264959e+02] [ 1.10053789e-02 9.99939437e-01 5.55631954e-05 2.06890696e+00] [ 5.05262875e-03 -1.11175313e-04 9.99987229e-01 1.20111060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:241.30, Y:2.07, Z:1.20 [[ 9.99946960e-01 -8.97451758e-03 -5.05321585e-03 2.41295313e+02] [ 8.97502220e-03 9.99959721e-01 7.71936202e-05 2.06761267e+00] [ 5.05231953e-03 -1.22542250e-04 9.99987229e-01 1.20112625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:241.33, Y:2.07, Z:1.20 [[ 9.99976652e-01 -4.59995941e-03 -5.05321432e-03 2.41325348e+02] [ 4.60040872e-03 9.99989415e-01 7.72937552e-05 2.06634348e+00] [ 5.05280528e-03 -1.00538802e-04 9.99987229e-01 1.20049210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.044391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:241.35, Y:2.07, Z:1.20 [[ 9.99985594e-01 -1.80999371e-03 -5.05321432e-03 2.41353950e+02] [ 1.81040740e-03 9.99998358e-01 7.72937552e-05 2.06589918e+00] [ 5.05306612e-03 -8.64410183e-05 9.99987229e-01 1.20060788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.074391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:241.38, Y:2.07, Z:1.20 [[ 9.99986842e-01 8.84009220e-04 -5.05321902e-03 2.41383130e+02] [-8.83631478e-04 9.99999607e-01 7.69848726e-05 2.06539969e+00] [ 5.05328509e-03 -7.25186762e-05 9.99987229e-01 1.20107324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.104391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:241.41, Y:2.07, Z:1.20 [[ 9.99979841e-01 3.84490843e-03 -5.05324075e-03 2.41411356e+02] [-3.84457583e-03 9.99992607e-01 7.55312642e-05 2.06519738e+00] [ 5.05349380e-03 -5.61021743e-05 9.99987229e-01 1.20139038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.134391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:241.44, Y:2.06, Z:1.20 [[ 9.99964219e-01 6.78416745e-03 -5.05324835e-03 2.41439214e+02] [-6.78387496e-03 9.99976986e-01 7.50193788e-05 2.06476573e+00] [ 5.05364100e-03 -4.07360896e-05 9.99987229e-01 1.20235170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:241.47, Y:2.06, Z:1.20 [[ 9.99913279e-01 1.21613820e-02 -5.05327210e-03 2.41467418e+02] [-1.21611665e-02 9.99926048e-01 7.33839987e-05 2.06456742e+00] [ 5.05379085e-03 -1.19239515e-05 9.99987229e-01 1.20333112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:241.50, Y:2.06, Z:1.20 [[ 9.99884412e-01 1.43396891e-02 -5.05329513e-03 2.41495200e+02] [-1.43395096e-02 9.99897181e-01 7.17620612e-05 2.06402601e+00] [ 5.05380460e-03 7.08007448e-07 9.99987229e-01 1.20399996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:241.52, Y:2.06, Z:1.20 [[ 9.99843986e-01 1.69253708e-02 -5.05330376e-03 2.41522937e+02] [-1.69252273e-02 9.99856756e-01 7.11489871e-05 2.06235097e+00] [ 5.05378413e-03 1.43904281e-05 9.99987229e-01 1.20437969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:241.55, Y:2.06, Z:1.20 [[ 9.99839886e-01 1.71658666e-02 -5.05331236e-03 2.41550444e+02] [-1.71657294e-02 9.99852656e-01 7.05327622e-05 2.06107687e+00] [ 5.05377854e-03 1.62223237e-05 9.99987229e-01 1.20411273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:241.58, Y:2.06, Z:1.20 [[ 9.99849468e-01 1.65983723e-02 -5.05332081e-03 2.41578283e+02] [-1.65982309e-02 9.99862237e-01 6.99222939e-05 2.05946822e+00] [ 5.05378525e-03 1.39644172e-05 9.99987229e-01 1.20384239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:241.61, Y:2.06, Z:1.20 [[ 9.99899559e-01 1.32414374e-02 -5.05332918e-03 2.41605745e+02] [-1.32412562e-02 9.99912328e-01 6.93120449e-05 2.05615739e+00] [ 5.05380394e-03 -2.39265682e-06 9.99987229e-01 1.20338826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34439141800001 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:241.63, Y:2.06, Z:1.20 [[ 9.99901151e-01 1.31206425e-02 -5.05333745e-03 2.41634207e+02] [-1.31204628e-02 9.99913921e-01 6.87036658e-05 2.05588444e+00] [ 5.05380390e-03 -2.39474825e-06 9.99987229e-01 1.20353226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37439141800002 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:241.66, Y:2.05, Z:1.20 [[ 9.99932013e-01 1.05086831e-02 -5.05334568e-03 2.41662820e+02] [-1.05084732e-02 9.99944782e-01 6.80931945e-05 2.05400596e+00] [ 5.05378221e-03 -1.49856175e-05 9.99987229e-01 1.20321674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:241.69, Y:2.05, Z:1.20 [[ 9.99979569e-01 3.91481245e-03 -5.05335115e-03 2.41691506e+02] [-3.91452040e-03 9.99992336e-01 6.76842994e-05 2.05011330e+00] [ 5.05357740e-03 -4.79014703e-05 9.99987229e-01 1.20307461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:241.72, Y:2.05, Z:1.20 [[ 9.99987192e-01 2.81464662e-04 -5.05335656e-03 2.41718795e+02] [-2.81128268e-04 9.99999958e-01 6.72785393e-05 2.04797820e+00] [ 5.05337528e-03 -6.58570362e-05 9.99987229e-01 1.20310266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:241.75, Y:2.05, Z:1.20 [[ 9.99981237e-01 -3.46263648e-03 -5.05336091e-03 2.41747990e+02] [ 3.46301901e-03 9.99994001e-01 6.69501026e-05 2.04600896e+00] [ 5.05309877e-03 -8.44487313e-05 9.99987229e-01 1.20363195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:241.78, Y:2.04, Z:1.20 [[ 9.99964586e-01 -6.72975629e-03 -5.05336621e-03 2.41776980e+02] [ 6.73017849e-03 9.99977350e-01 6.65474295e-05 2.04434241e+00] [ 5.05280390e-03 -1.00555129e-04 9.99987229e-01 1.20413606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:241.81, Y:2.04, Z:1.20 [[ 9.99902747e-01 -1.29984719e-02 -5.05337145e-03 2.41806523e+02] [ 1.29989721e-02 9.99915508e-01 6.61468184e-05 2.04134702e+00] [ 5.05208468e-03 -1.31829020e-04 9.99987229e-01 1.20358170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:241.84, Y:2.04, Z:1.20 [[ 9.99871600e-01 -1.52068217e-02 -5.05336997e-03 2.41838084e+02] [ 1.52073506e-02 9.99884359e-01 6.62600757e-05 2.03954609e+00] [ 5.05177799e-03 -1.43099937e-04 9.99987229e-01 1.20346262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:241.87, Y:2.04, Z:1.20 [[ 9.99839513e-01 -1.71875339e-02 -5.05336738e-03 2.41868292e+02] [ 1.71880891e-02 9.99852272e-01 6.64567210e-05 2.03730082e+00] [ 5.05147863e-03 -1.53303784e-04 9.99987229e-01 1.20290045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:241.90, Y:2.04, Z:1.20 [[ 9.99813973e-01 -1.86140068e-02 -5.05362153e-03 2.41899835e+02] [ 1.86144822e-02 9.99826734e-01 4.70416696e-05 2.03579873e+00] [ 5.05187028e-03 -1.41103467e-04 9.99987229e-01 1.20369423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:241.93, Y:2.03, Z:1.20 [[ 9.99808947e-01 -1.88820576e-02 -5.05335870e-03 2.41931926e+02] [ 1.88826367e-02 9.99821705e-01 6.68966194e-05 2.03468808e+00] [ 5.05119456e-03 -1.62304575e-04 9.99987229e-01 1.20375877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:241.96, Y:2.03, Z:1.20 [[ 9.99812123e-01 -1.87131523e-02 -5.05335346e-03 2.41961913e+02] [ 1.87137312e-02 9.99824881e-01 6.72897685e-05 2.03377035e+00] [ 5.05120932e-03 -1.61844224e-04 9.99987229e-01 1.20368371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:241.99, Y:2.03, Z:1.20 [[ 9.99820307e-01 -1.82706690e-02 -5.05335216e-03 2.41993428e+02] [ 1.82712427e-02 9.99833065e-01 6.73870074e-05 2.03294817e+00] [ 5.05127737e-03 -1.59705922e-04 9.99987229e-01 1.20370571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:242.02, Y:2.03, Z:1.20 [[ 9.99823128e-01 -1.81156370e-02 -5.05334959e-03 2.42024495e+02] [ 1.81162097e-02 9.99835886e-01 6.75796431e-05 2.03225826e+00] [ 5.05129601e-03 -1.59115231e-04 9.99987229e-01 1.20455176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:242.06, Y:2.03, Z:1.20 [[ 9.99831502e-01 -1.76474121e-02 -5.05334694e-03 2.42056896e+02] [ 1.76479799e-02 9.99844260e-01 6.77773725e-05 2.03151010e+00] [ 5.05136383e-03 -1.56947317e-04 9.99987229e-01 1.20473224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.794391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:242.09, Y:2.03, Z:1.20 [[ 9.99843779e-01 -1.69375788e-02 -5.05334135e-03 2.42089243e+02] [ 1.69381396e-02 9.99856537e-01 6.81910428e-05 2.03016379e+00] [ 5.05146139e-03 -1.53774591e-04 9.99987229e-01 1.20431578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.824391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:242.12, Y:2.03, Z:1.20 [[ 9.99849374e-01 -1.66040281e-02 -5.05333566e-03 2.42120902e+02] [ 1.66045867e-02 9.99862132e-01 6.86104127e-05 2.02963443e+00] [ 5.05149976e-03 -1.52508628e-04 9.99987229e-01 1.20379945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.854391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:242.15, Y:2.03, Z:1.20 [[ 9.99852755e-01 -1.63991344e-02 -5.05333140e-03 2.42151986e+02] [ 1.63996920e-02 9.99865514e-01 6.89224923e-05 2.02939085e+00] [ 5.05152153e-03 -1.51785423e-04 9.99987229e-01 1.20344388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.884391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:242.18, Y:2.03, Z:1.20 [[ 9.99861731e-01 -1.58424246e-02 -5.05332869e-03 2.42183622e+02] [ 1.58429761e-02 9.99874490e-01 6.91211116e-05 2.02904405e+00] [ 5.05159940e-03 -1.49171320e-04 9.99987229e-01 1.20340590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:242.21, Y:2.03, Z:1.20 [[ 9.99865697e-01 -1.55900907e-02 -5.05332590e-03 2.42214904e+02] [ 1.55906400e-02 9.99878456e-01 6.93239954e-05 2.02875132e+00] [ 5.05163093e-03 -1.48099270e-04 9.99987229e-01 1.20292833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:242.25, Y:2.03, Z:1.20 [[ 9.99869094e-01 -1.53706900e-02 -5.05332173e-03 2.42245823e+02] [ 1.53712381e-02 9.99881853e-01 6.96269819e-05 2.02851258e+00] [ 5.05165448e-03 -1.47293679e-04 9.99987229e-01 1.20270522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:242.27, Y:2.03, Z:1.20 [[ 9.99883562e-01 -1.43988482e-02 -5.05331885e-03 2.42274869e+02] [ 1.43993849e-02 9.99896321e-01 6.98354222e-05 2.02840397e+00] [ 5.05178937e-03 -1.42591974e-04 9.99987229e-01 1.20037673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:242.31, Y:2.03, Z:1.20 [[ 9.99863816e-01 -1.57101880e-02 -5.05357740e-03 2.42305052e+02] [ 1.57106452e-02 9.99876579e-01 5.07900579e-05 2.02967032e+00] [ 5.05215576e-03 -1.30178103e-04 9.99987229e-01 1.20018339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:242.34, Y:2.03, Z:1.20 [[ 9.99851313e-01 -1.64868260e-02 -5.05332399e-03 2.42336238e+02] [ 1.64873865e-02 9.99864071e-01 6.92750804e-05 2.03036978e+00] [ 5.05149498e-03 -1.52580886e-04 9.99987229e-01 1.20140308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:242.37, Y:2.03, Z:1.20 [[ 9.99807170e-01 -1.89759584e-02 -5.05332118e-03 2.42368010e+02] [ 1.89765517e-02 9.99819927e-01 6.94799461e-05 2.03141623e+00] [ 5.05109276e-03 -1.65361159e-04 9.99987229e-01 1.20210157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09439141800001 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:242.40, Y:2.03, Z:1.20 [[ 9.99782900e-01 -2.02142745e-02 -5.05331832e-03 2.42400190e+02] [ 2.02148846e-02 9.99795656e-01 6.96867571e-05 2.03125160e+00] [ 5.05087704e-03 -1.71823875e-04 9.99987229e-01 1.20294913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12439141800002 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:242.43, Y:2.03, Z:1.20 [[ 9.99758605e-01 -2.13821344e-02 -5.05331257e-03 2.42431205e+02] [ 2.13827616e-02 9.99771360e-01 7.01014710e-05 2.03096619e+00] [ 5.05065826e-03 -1.78138327e-04 9.99987229e-01 1.20304687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:242.46, Y:2.03, Z:1.21 [[ 9.99724469e-01 -2.29226955e-02 -5.05330828e-03 2.42463057e+02] [ 2.29233438e-02 9.99737223e-01 7.04091937e-05 2.03171417e+00] [ 5.05036642e-03 -1.86228517e-04 9.99987229e-01 1.20588387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:242.50, Y:2.03, Z:1.21 [[ 9.99726908e-01 -2.28160789e-02 -5.05330261e-03 2.42495434e+02] [ 2.28167279e-02 9.99739662e-01 7.08137607e-05 2.03223216e+00] [ 5.05037136e-03 -1.86094253e-04 9.99987229e-01 1.20669487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:242.53, Y:2.03, Z:1.21 [[ 9.99745557e-01 -2.19837529e-02 -5.05329697e-03 2.42527289e+02] [ 2.19843934e-02 9.99758311e-01 7.12140912e-05 2.03454660e+00] [ 5.05051010e-03 -1.82289640e-04 9.99987229e-01 1.20783308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:242.56, Y:2.03, Z:1.21 [[ 9.99761694e-01 -2.12372373e-02 -5.05329112e-03 2.42558633e+02] [ 2.12378702e-02 9.99774448e-01 7.16273095e-05 2.03499381e+00] [ 5.05063017e-03 -1.78931381e-04 9.99987229e-01 1.20798965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:242.59, Y:2.04, Z:1.21 [[ 9.99775100e-01 -2.05964692e-02 -5.05328208e-03 2.42590763e+02] [ 2.05970972e-02 9.99787855e-01 7.22592739e-05 2.03513047e+00] [ 5.05072176e-03 -1.76325965e-04 9.99987229e-01 1.20806572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:242.62, Y:2.03, Z:1.21 [[ 9.99783571e-01 -2.01810615e-02 -5.05327624e-03 2.42623453e+02] [ 2.01816862e-02 9.99796326e-01 7.26650798e-05 2.03495314e+00] [ 5.05078057e-03 -1.74632989e-04 9.99987229e-01 1.20817484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:242.66, Y:2.03, Z:1.21 [[ 9.99798277e-01 -1.94388940e-02 -5.05327036e-03 2.42655285e+02] [ 1.94395114e-02 9.99811032e-01 7.30721841e-05 2.03449204e+00] [ 5.05089501e-03 -1.71290550e-04 9.99987229e-01 1.20804292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:242.69, Y:2.03, Z:1.21 [[ 9.99811918e-01 -1.87241438e-02 -5.05326731e-03 2.42686152e+02] [ 1.87247531e-02 9.99824674e-01 7.32819443e-05 2.03415927e+00] [ 5.05100920e-03 -1.67889344e-04 9.99987229e-01 1.20788607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:242.73, Y:2.03, Z:1.21 [[ 9.99917573e-01 -1.18030451e-02 -5.05326275e-03 2.42725359e+02] [ 1.18035676e-02 9.99930333e-01 7.35954583e-05 2.02925185e+00] [ 5.05204205e-03 -1.33235921e-04 9.99987229e-01 1.20516715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:242.75, Y:2.04, Z:1.21 [[ 9.99859274e-01 -1.59975091e-02 -5.05083806e-03 2.42746589e+02] [ 1.59988918e-02 9.99871982e-01 2.33465675e-04 2.03658824e+00] [ 5.04645660e-03 -3.14240633e-04 9.99987217e-01 1.20841620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:242.78, Y:2.04, Z:1.21 [[ 9.99884205e-01 -1.43541501e-02 -5.05313566e-03 2.42777983e+02] [ 1.43546963e-02 9.99896963e-01 7.18237551e-05 2.03736953e+00] [ 5.05158403e-03 -1.44351666e-04 9.99987230e-01 1.20864127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:242.81, Y:2.04, Z:1.21 [[ 9.99912294e-01 -1.22421168e-02 -5.05313273e-03 2.42808824e+02] [ 1.22426370e-02 9.99925054e-01 7.20289545e-05 2.03764715e+00] [ 5.05187223e-03 -1.33886307e-04 9.99987230e-01 1.20825769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:242.84, Y:2.04, Z:1.21 [[ 9.99958579e-01 -7.57007990e-03 -5.05313128e-03 2.42840544e+02] [ 7.57054101e-03 9.99971340e-01 7.21307353e-05 2.03850315e+00] [ 5.05244043e-03 -1.10382685e-04 9.99987230e-01 1.20828785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.544391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:242.87, Y:2.04, Z:1.21 [[ 9.99974671e-01 -5.01225329e-03 -5.05312841e-03 2.42870432e+02] [ 5.01268277e-03 9.99987434e-01 7.23314563e-05 2.03866630e+00] [ 5.05270237e-03 -9.76593540e-05 9.99987230e-01 1.20837534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.574391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:242.90, Y:2.04, Z:1.21 [[ 9.99982844e-01 -2.96267552e-03 -5.05313127e-03 2.42899924e+02] [ 2.96307783e-03 9.99995607e-01 7.21310537e-05 2.03907390e+00] [ 5.05289537e-03 -8.71026374e-05 9.99987230e-01 1.20844323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.604391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:242.93, Y:2.04, Z:1.21 [[ 9.99987219e-01 1.66255369e-04 -5.05313410e-03 2.42928388e+02] [-1.65894005e-04 9.99999984e-01 7.19318802e-05 2.04060679e+00] [ 5.05314598e-03 -7.10926762e-05 9.99987230e-01 1.20845899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.634391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:242.96, Y:2.04, Z:1.21 [[ 9.99987109e-01 4.97727728e-04 -5.05313958e-03 2.42956671e+02] [-4.97372548e-04 9.99999874e-01 7.15454468e-05 2.04111521e+00] [ 5.05317455e-03 -6.90312316e-05 9.99987230e-01 1.20843479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:242.99, Y:2.04, Z:1.21 [[ 9.99987193e-01 2.82434115e-04 -5.05316119e-03 2.42985790e+02] [-2.82084071e-04 9.99999958e-01 6.99848607e-05 2.04108632e+00] [ 5.05318074e-03 -6.85585481e-05 9.99987230e-01 1.20809264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:243.01, Y:2.04, Z:1.21 [[ 9.99984673e-01 -2.26268627e-03 -5.05316653e-03 2.43014212e+02] [ 2.26306684e-03 9.99997437e-01 6.95971380e-05 2.04050013e+00] [ 5.05299610e-03 -8.10317249e-05 9.99987230e-01 1.20750567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:243.04, Y:2.04, Z:1.21 [[ 9.99976496e-01 -4.63381526e-03 -5.05317191e-03 2.43042589e+02] [ 4.63422412e-03 9.99989260e-01 6.92042327e-05 2.03975000e+00] [ 5.05279696e-03 -9.26201373e-05 9.99987230e-01 1.20738500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:243.07, Y:2.04, Z:1.21 [[ 9.99959339e-01 -7.46901627e-03 -5.05317478e-03 2.43071896e+02] [ 7.46946025e-03 9.99972101e-01 6.89942760e-05 2.03884181e+00] [ 5.05251848e-03 -1.06735959e-04 9.99987230e-01 1.20751161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:243.10, Y:2.04, Z:1.21 [[ 9.99883372e-01 -1.44120979e-02 -5.05317746e-03 2.43101752e+02] [ 1.44126295e-02 9.99896130e-01 6.87971563e-05 2.03936407e+00] [ 5.05166108e-03 -1.41618707e-04 9.99987230e-01 1.20900147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:243.13, Y:2.04, Z:1.21 [[ 9.99837090e-01 -1.73278478e-02 -5.05363076e-03 2.43132797e+02] [ 1.73282481e-02 9.99849854e-01 3.54352821e-05 2.03661680e+00] [ 5.05225796e-03 -1.23000077e-04 9.99987230e-01 1.20809888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84439141800001 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:243.16, Y:2.04, Z:1.21 [[ 9.99694195e-01 -2.42070560e-02 -5.05315159e-03 2.43164565e+02] [ 2.42077187e-02 9.99706948e-01 7.00170247e-05 2.03540508e+00] [ 5.04997585e-03 -1.92320885e-04 9.99987230e-01 1.20779568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87439141800002 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:243.20, Y:2.03, Z:1.21 [[ 9.99611985e-01 -2.73924279e-02 -5.05314618e-03 2.43196509e+02] [ 2.73931332e-02 9.99624735e-01 7.04055393e-05 2.03421638e+00] [ 5.04932133e-03 -2.08799727e-04 9.99987230e-01 1.20740339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:243.23, Y:2.03, Z:1.21 [[ 9.99522915e-01 -3.04698029e-02 -5.05314073e-03 2.43228313e+02] [ 3.04705495e-02 9.99535663e-01 7.07944494e-05 2.03320718e+00] [ 5.04863727e-03 -2.24732649e-04 9.99987230e-01 1.20699824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:243.26, Y:2.03, Z:1.21 [[ 9.99437797e-01 -3.31444532e-02 -5.05313525e-03 2.43259376e+02] [ 3.31452357e-02 9.99450543e-01 7.11835345e-05 2.03227446e+00] [ 5.04799943e-03 -2.38630874e-04 9.99987230e-01 1.20634688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:243.29, Y:2.03, Z:1.21 [[ 9.99264482e-01 -3.80126490e-02 -5.05312610e-03 2.43290536e+02] [ 3.80134969e-02 9.99277223e-01 7.18268383e-05 2.03162758e+00] [ 5.04674349e-03 -2.63861002e-04 9.99987230e-01 1.20591922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:243.32, Y:2.03, Z:1.21 [[ 9.99190913e-01 -3.98996876e-02 -5.05312204e-03 2.43322487e+02] [ 3.99005610e-02 9.99203653e-01 7.21115548e-05 2.03165040e+00] [ 5.04622077e-03 -2.73675614e-04 9.99987230e-01 1.20618878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:243.35, Y:2.03, Z:1.21 [[ 9.99123907e-01 -4.15437739e-02 -5.05311664e-03 2.43354751e+02] [ 4.15446702e-02 9.99136645e-01 7.24882800e-05 2.03211223e+00] [ 5.04574257e-03 -2.82354838e-04 9.99987230e-01 1.20696545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:243.39, Y:2.03, Z:1.21 [[ 9.99045714e-01 -4.33834991e-02 -5.05311123e-03 2.43386071e+02] [ 4.33844207e-02 9.99058450e-01 7.28629135e-05 2.03402585e+00] [ 5.04519243e-03 -2.92019685e-04 9.99987230e-01 1.20813028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:243.42, Y:2.03, Z:1.21 [[ 9.99039997e-01 -4.35149497e-02 -5.05310719e-03 2.43418453e+02] [ 4.35158744e-02 9.99052733e-01 7.31420543e-05 2.03476622e+00] [ 5.04513778e-03 -2.92962216e-04 9.99987230e-01 1.20853786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:243.45, Y:2.04, Z:1.21 [[ 9.99070969e-01 -4.27979643e-02 -5.05310184e-03 2.43450918e+02] [ 4.27988817e-02 9.99083705e-01 7.35103869e-05 2.03757633e+00] [ 5.04532561e-03 -2.89709201e-04 9.99987230e-01 1.21041222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:243.48, Y:2.04, Z:1.21 [[ 9.99098062e-01 -4.21607382e-02 -5.05309578e-03 2.43482530e+02] [ 4.21616496e-02 9.99110800e-01 7.39240371e-05 2.03906606e+00] [ 5.04548588e-03 -2.86904216e-04 9.99987230e-01 1.21068644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:243.51, Y:2.04, Z:1.21 [[ 9.99141558e-01 -4.11170795e-02 -5.05308819e-03 2.43514434e+02] [ 4.11179802e-02 9.99154295e-01 7.44394462e-05 2.04045650e+00] [ 5.04575404e-03 -2.82148324e-04 9.99987230e-01 1.21094504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:243.55, Y:2.04, Z:1.21 [[ 9.99244777e-01 -3.85271582e-02 -5.05308200e-03 2.43546209e+02] [ 3.85280279e-02 9.99257517e-01 7.48574169e-05 2.04419081e+00] [ 5.04644613e-03 -2.69486167e-04 9.99987230e-01 1.20990708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:243.58, Y:2.04, Z:1.21 [[ 9.99249518e-01 -3.84039907e-02 -5.05307583e-03 2.43579744e+02] [ 3.84048610e-02 9.99262258e-01 7.52714624e-05 2.04357535e+00] [ 5.04645724e-03 -2.69277647e-04 9.99987230e-01 1.21007646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:243.61, Y:2.05, Z:1.21 [[ 9.99318298e-01 -3.65705663e-02 -5.05306648e-03 2.43611133e+02] [ 3.65714163e-02 9.99331039e-01 7.58943021e-05 2.04513956e+00] [ 5.04691068e-03 -2.60640363e-04 9.99987230e-01 1.20970241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.294391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:243.64, Y:2.05, Z:1.21 [[ 9.99436223e-01 -3.31919100e-02 -5.05306183e-03 2.43643632e+02] [ 3.31927185e-02 9.99448967e-01 7.62021559e-05 2.04859068e+00] [ 5.04774814e-03 -2.43884054e-04 9.99987230e-01 1.20916382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.324391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:243.68, Y:2.05, Z:1.21 [[ 9.99493805e-01 -3.14102033e-02 -5.05305558e-03 2.43675700e+02] [ 3.14109912e-02 9.99506550e-01 7.66149078e-05 2.05016965e+00] [ 5.04815566e-03 -2.35297610e-04 9.99987230e-01 1.20887272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.354391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:243.71, Y:2.05, Z:1.21 [[ 9.99550240e-01 -2.95598522e-02 -5.05304934e-03 2.43707203e+02] [ 2.95606185e-02 9.99562986e-01 7.70238315e-05 2.05222547e+00] [ 5.04856428e-03 -2.26360453e-04 9.99987230e-01 1.20895030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.384391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:243.74, Y:2.06, Z:1.21 [[ 9.99672317e-01 -2.50943300e-02 -5.05304469e-03 2.43739835e+02] [ 2.50950409e-02 9.99685067e-01 7.73280527e-05 2.05685195e+00] [ 5.04951282e-03 -2.04109077e-04 9.99987230e-01 1.20949329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:243.77, Y:2.06, Z:1.21 [[ 9.99727403e-01 -2.27944611e-02 -5.05303831e-03 2.43771180e+02] [ 2.27951448e-02 9.99740154e-01 7.77427963e-05 2.05894529e+00] [ 5.04995319e-03 -1.92906344e-04 9.99987230e-01 1.20937057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:243.80, Y:2.06, Z:1.21 [[ 9.99781484e-01 -2.02842665e-02 -5.05303354e-03 2.43802873e+02] [ 2.02849197e-02 9.99794237e-01 7.80514200e-05 2.06087529e+00] [ 5.05041060e-03 -1.80534744e-04 9.99987230e-01 1.20940521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:243.83, Y:2.06, Z:1.21 [[ 9.99829049e-01 -1.77859241e-02 -5.05302884e-03 2.43834733e+02] [ 1.77865470e-02 9.99841804e-01 7.83542475e-05 2.06282155e+00] [ 5.05083587e-03 -1.68216788e-04 9.99987230e-01 1.20970605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:243.87, Y:2.07, Z:1.21 [[ 9.99912204e-01 -1.22495444e-02 -5.05302273e-03 2.43866599e+02] [ 1.22500986e-02 9.99924962e-01 7.87466554e-05 2.06697145e+00] [ 5.05167895e-03 -1.40639768e-04 9.99987230e-01 1.21126700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:243.90, Y:2.07, Z:1.21 [[ 9.99942595e-01 -9.44848255e-03 -5.05301661e-03 2.43898326e+02] [ 9.44900302e-03 9.99955354e-01 7.91371017e-05 2.06883850e+00] [ 5.05204329e-03 -1.26878528e-04 9.99987230e-01 1.21264388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:243.93, Y:2.07, Z:1.21 [[ 9.99978907e-01 -4.08070361e-03 -5.05301347e-03 2.43928483e+02] [ 4.08115659e-03 9.99991669e-01 7.93376303e-05 2.07335742e+00] [ 5.05264761e-03 -9.99580961e-05 9.99987230e-01 1.21341001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59439141800001 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:243.96, Y:2.08, Z:1.21 [[ 9.99986140e-01 -1.47911470e-03 -5.05301347e-03 2.43957408e+02] [ 1.47953448e-03 9.99998902e-01 7.93376303e-05 2.07538307e+00] [ 5.05289057e-03 -8.68126383e-05 9.99987230e-01 1.21347628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62439141800002 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:243.99, Y:2.08, Z:1.21 [[ 9.99987073e-01 5.66671393e-04 -5.05301826e-03 2.43985909e+02] [-5.66279276e-04 9.99999837e-01 7.90309993e-05 2.07753076e+00] [ 5.05306222e-03 -7.61685582e-05 9.99987230e-01 1.21416009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:244.01, Y:2.08, Z:1.21 [[ 9.99984216e-01 2.45634698e-03 -5.05304076e-03 2.44013824e+02] [-2.45598639e-03 9.99996981e-01 7.75651815e-05 2.07951879e+00] [ 5.05321603e-03 -6.51537580e-05 9.99987230e-01 1.21437225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:244.04, Y:2.08, Z:1.21 [[ 9.99971677e-01 5.57780434e-03 -5.05304866e-03 2.44041166e+02] [-5.57748621e-03 9.99984443e-01 7.70473995e-05 2.08260506e+00] [ 5.05339980e-03 -4.88619081e-05 9.99987230e-01 1.21435732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:244.07, Y:2.08, Z:1.21 [[ 9.99966461e-01 6.44541527e-03 -5.05306561e-03 2.44069511e+02] [-6.44511392e-03 9.99979227e-01 7.59190016e-05 2.08390686e+00] [ 5.05344997e-03 -4.33488718e-05 9.99987230e-01 1.21460039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:244.10, Y:2.08, Z:1.21 [[ 9.99961819e-01 7.12931350e-03 -5.05307170e-03 2.44097447e+02] [-7.12902294e-03 9.99974585e-01 7.55116292e-05 2.08492063e+00] [ 5.05348162e-03 -3.94852820e-05 9.99987230e-01 1.21475954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:244.13, Y:2.09, Z:1.22 [[ 9.99960464e-01 7.31693753e-03 -5.05308073e-03 2.44125526e+02] [-7.31665245e-03 9.99973230e-01 7.49023470e-05 2.08652946e+00] [ 5.05349351e-03 -3.79277502e-05 9.99987230e-01 1.21546017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:244.15, Y:2.09, Z:1.22 [[ 9.99964452e-01 6.74988938e-03 -5.05308814e-03 2.44152961e+02] [-6.74959960e-03 9.99977218e-01 7.43989902e-05 2.08691087e+00] [ 5.05347521e-03 -4.02900238e-05 9.99987230e-01 1.21530973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:244.18, Y:2.09, Z:1.22 [[ 9.99975522e-01 4.83964855e-03 -5.05309532e-03 2.44181424e+02] [-4.83933686e-03 9.99988288e-01 7.39083826e-05 2.08766889e+00] [ 5.05339382e-03 -4.94529430e-05 9.99987230e-01 1.21548725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:244.21, Y:2.09, Z:1.22 [[ 9.99981266e-01 3.45442033e-03 -5.05310112e-03 2.44209863e+02] [-3.45409297e-03 9.99994032e-01 7.35096044e-05 2.08749435e+00] [ 5.05332489e-03 -5.60543462e-05 9.99987230e-01 1.21578234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:244.24, Y:2.09, Z:1.22 [[ 9.99985377e-01 1.92684080e-03 -5.05310706e-03 2.44237253e+02] [-1.92649601e-03 9.99998142e-01 7.30988718e-05 2.08722858e+00] [ 5.05323852e-03 -6.33630122e-05 9.99987230e-01 1.21579034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:244.27, Y:2.09, Z:1.22 [[ 9.99987128e-01 4.58040809e-04 -5.05311536e-03 2.44266131e+02] [-4.57680195e-04 9.99999893e-01 7.25208087e-05 2.08688416e+00] [ 5.05314803e-03 -7.02071644e-05 9.99987230e-01 1.21540805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:244.29, Y:2.09, Z:1.22 [[ 9.99986780e-01 -9.51331199e-04 -5.05312113e-03 2.44293766e+02] [ 9.51707759e-04 9.99999545e-01 7.21161172e-05 2.08638795e+00] [ 5.05305022e-03 -7.69242584e-05 9.99987230e-01 1.21630792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:244.32, Y:2.09, Z:1.22 [[ 9.99980007e-01 -3.80084607e-03 -5.05357729e-03 2.44324746e+02] [ 3.80109581e-03 9.99992775e-01 3.98147268e-05 2.08623054e+00] [ 5.05338945e-03 -5.90230622e-05 9.99987230e-01 1.21502648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:244.35, Y:2.09, Z:1.22 [[ 9.99971762e-01 -5.56252110e-03 -5.05310711e-03 2.44353673e+02] [ 5.56295875e-03 9.99984524e-01 7.25590331e-05 2.08586380e+00] [ 5.05262529e-03 -1.00667211e-04 9.99987230e-01 1.21505814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.044391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:244.38, Y:2.09, Z:1.21 [[ 9.99941465e-01 -9.56722645e-03 -5.05311137e-03 2.44383372e+02] [ 9.56771370e-03 9.99954226e-01 7.22605233e-05 2.08564899e+00] [ 5.05218874e-03 -1.20603017e-04 9.99987230e-01 1.21482941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.074391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:244.41, Y:2.09, Z:1.21 [[ 9.99917812e-01 -1.17828076e-02 -5.05311431e-03 2.44414328e+02] [ 1.17833220e-02 9.99930572e-01 7.20548474e-05 2.08520854e+00] [ 5.05191447e-03 -1.31591399e-04 9.99987230e-01 1.21473914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.104391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:244.45, Y:2.08, Z:1.21 [[ 9.99862846e-01 -1.57719934e-02 -5.05311139e-03 2.44445444e+02] [ 1.57725598e-02 9.99875603e-01 7.22591928e-05 2.08400992e+00] [ 5.05134312e-03 -1.51949784e-04 9.99987230e-01 1.21361616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.134391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:244.48, Y:2.08, Z:1.21 [[ 9.99836016e-01 -1.73898757e-02 -5.05310700e-03 2.44477187e+02] [ 1.73904643e-02 9.99848772e-01 7.25648235e-05 2.08318151e+00] [ 5.05108093e-03 -1.60428801e-04 9.99987230e-01 1.21394958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:244.51, Y:2.08, Z:1.21 [[ 9.99805293e-01 -1.90746600e-02 -5.05310117e-03 2.44509569e+02] [ 1.90752721e-02 9.99818048e-01 7.29681410e-05 2.08263901e+00] [ 5.05078991e-03 -1.69343213e-04 9.99987230e-01 1.21384207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:244.54, Y:2.08, Z:1.21 [[ 9.99742188e-01 -2.21364622e-02 -5.05309527e-03 2.44541385e+02] [ 2.21371154e-02 9.99754941e-01 7.33745558e-05 2.08263557e+00] [ 5.05023271e-03 -1.85216592e-04 9.99987230e-01 1.21400122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:244.57, Y:2.08, Z:1.21 [[ 9.99715323e-01 -2.33182298e-02 -5.05308932e-03 2.44572814e+02] [ 2.33189002e-02 9.99728075e-01 7.37824656e-05 2.08247140e+00] [ 5.04999478e-03 -1.91593947e-04 9.99987230e-01 1.21344692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:244.61, Y:2.08, Z:1.21 [[ 9.99692174e-01 -2.42903856e-02 -5.05308486e-03 2.44605243e+02] [ 2.42910699e-02 9.99704926e-01 7.40863659e-05 2.08205050e+00] [ 5.04979424e-03 -1.96808398e-04 9.99987230e-01 1.21387321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:244.64, Y:2.08, Z:1.21 [[ 9.99644865e-01 -2.61650716e-02 -5.05307912e-03 2.44636401e+02] [ 2.61657818e-02 9.99657615e-01 7.44758894e-05 2.08209218e+00] [ 5.04940035e-03 -2.06667206e-04 9.99987230e-01 1.21436871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:244.67, Y:2.08, Z:1.22 [[ 9.99624474e-01 -2.69328496e-02 -5.05307483e-03 2.44668143e+02] [ 2.69335710e-02 9.99637223e-01 7.47660148e-05 2.08198594e+00] [ 5.04922802e-03 -2.10835288e-04 9.99987230e-01 1.21569764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34439141800001 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:244.70, Y:2.08, Z:1.22 [[ 9.99606832e-01 -2.75798640e-02 -5.05306877e-03 2.44700347e+02] [ 2.75805957e-02 9.99619580e-01 7.51732950e-05 2.08206806e+00] [ 5.04907321e-03 -2.14510386e-04 9.99987230e-01 1.21674030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37439141800002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:244.73, Y:2.08, Z:1.22 [[ 9.99585661e-01 -2.83367832e-02 -5.05306265e-03 2.44732414e+02] [ 2.83375267e-02 9.99598409e-01 7.55824644e-05 2.08265594e+00] [ 5.04889162e-03 -2.18742445e-04 9.99987230e-01 1.21726091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:244.77, Y:2.08, Z:1.22 [[ 9.99575107e-01 -2.87066499e-02 -5.05305498e-03 2.44765123e+02] [ 2.87074007e-02 9.99587855e-01 7.60918311e-05 2.08299609e+00] [ 5.04878804e-03 -2.21119574e-04 9.99987230e-01 1.21772390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:244.80, Y:2.08, Z:1.22 [[ 9.99583920e-01 -2.83981259e-02 -5.05304568e-03 2.44796681e+02] [ 2.83988758e-02 9.99596668e-01 7.67040987e-05 2.08303982e+00] [ 5.04882937e-03 -2.20173000e-04 9.99987230e-01 1.21732638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:244.83, Y:2.09, Z:1.22 [[ 9.99552000e-01 -2.95002873e-02 -5.05303795e-03 2.44826529e+02] [ 2.95010538e-02 9.99564746e-01 7.72103451e-05 2.08657548e+00] [ 5.04856087e-03 -2.26245699e-04 9.99987230e-01 1.21611110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:244.86, Y:2.08, Z:1.22 [[ 9.99631844e-01 -2.66578027e-02 -5.05355747e-03 2.44859906e+02] [ 2.66583620e-02 9.99644602e-01 4.33455809e-05 2.08398598e+00] [ 5.05060594e-03 -1.78049188e-04 9.99987230e-01 1.21627878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:244.89, Y:2.08, Z:1.22 [[ 9.99653575e-01 -2.58301588e-02 -5.05299263e-03 2.44892274e+02] [ 2.58308892e-02 9.99666324e-01 7.93256170e-05 2.08438820e+00] [ 5.04925757e-03 -2.09821429e-04 9.99987230e-01 1.21613191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:244.92, Y:2.09, Z:1.22 [[ 9.99704940e-01 -2.37592055e-02 -5.05298625e-03 2.44924564e+02] [ 2.37599115e-02 9.99717690e-01 7.97299691e-05 2.08653144e+00] [ 5.04966542e-03 -1.99764950e-04 9.99987230e-01 1.21544799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:244.96, Y:2.09, Z:1.22 [[ 9.99738286e-01 -2.23120379e-02 -5.05297990e-03 2.44956604e+02] [ 2.23127275e-02 9.99751037e-01 8.01304604e-05 2.08747379e+00] [ 5.04993402e-03 -1.92855253e-04 9.99987230e-01 1.21603188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:244.99, Y:2.09, Z:1.22 [[ 9.99776953e-01 -2.05063856e-02 -5.05297338e-03 2.44988172e+02] [ 2.05070542e-02 9.99789705e-01 8.05396226e-05 2.08835009e+00] [ 5.05025918e-03 -1.84143258e-04 9.99987230e-01 1.21514735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:245.02, Y:2.09, Z:1.22 [[ 9.99813487e-01 -1.86402457e-02 -5.05296850e-03 2.45019920e+02] [ 1.86408920e-02 9.99826240e-01 8.08440202e-05 2.08914443e+00] [ 5.05058355e-03 -1.75020782e-04 9.99987230e-01 1.21696708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:245.05, Y:2.09, Z:1.22 [[ 9.99888796e-01 -1.40307866e-02 -5.05296201e-03 2.45050931e+02] [ 1.40313762e-02 9.99901552e-01 8.12479424e-05 2.09129282e+00] [ 5.05132458e-03 -1.52138918e-04 9.99987230e-01 1.21821047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:245.08, Y:2.09, Z:1.22 [[ 9.99920071e-01 -1.15896389e-02 -5.05295129e-03 2.45082604e+02] [ 1.15902006e-02 9.99932828e-01 8.19093646e-05 2.09212800e+00] [ 5.05166257e-03 -1.40467537e-04 9.99987230e-01 1.21883553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:245.12, Y:2.09, Z:1.22 [[ 9.99949554e-01 -8.68089055e-03 -5.05294811e-03 2.45115277e+02] [ 8.68141621e-03 9.99962312e-01 8.21050312e-05 2.09291470e+00] [ 5.05204493e-03 -1.25967635e-04 9.99987230e-01 1.21959740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:245.15, Y:2.10, Z:1.22 [[ 9.99984258e-01 -2.43941215e-03 -5.05294172e-03 2.45146216e+02] [ 2.43986014e-03 9.99997020e-01 8.24964498e-05 2.09500025e+00] [ 5.05272542e-03 -9.48236223e-05 9.99987230e-01 1.22088028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.794391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:245.18, Y:2.10, Z:1.22 [[ 9.99987016e-01 6.60142149e-04 -5.05293855e-03 2.45175247e+02] [-6.59732741e-04 9.99999779e-01 8.26901984e-05 2.09590997e+00] [ 5.05299202e-03 -7.93555357e-05 9.99987230e-01 1.22181369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.824391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:245.20, Y:2.10, Z:1.22 [[ 9.99979964e-01 3.81293941e-03 -5.05296076e-03 2.45203260e+02] [-3.81257721e-03 9.99992729e-01 8.13099770e-05 2.09667281e+00] [ 5.05323405e-03 -6.20435449e-05 9.99987230e-01 1.22214731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.854391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:245.23, Y:2.10, Z:1.22 [[ 9.99937781e-01 9.94495801e-03 -5.05297248e-03 2.45230708e+02] [-9.94467781e-03 9.99950547e-01 8.05747218e-05 2.09795450e+00] [ 5.05352391e-03 -3.03195252e-05 9.99987230e-01 1.22392513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.884391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:245.26, Y:2.10, Z:1.22 [[ 9.99902763e-01 1.29974135e-02 -5.05299689e-03 2.45258630e+02] [-1.29971802e-02 9.99915530e-01 7.90137647e-05 2.09815126e+00] [ 5.05359704e-03 -1.33313706e-05 9.99987230e-01 1.22388804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:245.29, Y:2.10, Z:1.23 [[ 9.99821246e-01 1.82193016e-02 -5.05300438e-03 2.45287911e+02] [-1.82191374e-02 9.99834015e-01 7.85319636e-05 2.09904439e+00] [ 5.05359645e-03 1.35434552e-05 9.99987230e-01 1.22517830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:245.32, Y:2.10, Z:1.23 [[ 9.99778982e-01 2.04072110e-02 -5.05301068e-03 2.45316588e+02] [-2.04070768e-02 9.99791751e-01 7.81241620e-05 2.09915986e+00] [ 5.05355270e-03 2.50102817e-05 9.99987230e-01 1.22526319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:245.35, Y:2.10, Z:1.22 [[ 9.99740417e-01 2.22163291e-02 -5.05301702e-03 2.45345090e+02] [-2.22162201e-02 9.99753186e-01 7.77123553e-05 2.09909750e+00] [ 5.05349635e-03 3.45667557e-05 9.99987230e-01 1.22498113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:245.37, Y:2.10, Z:1.22 [[ 9.99709288e-01 2.35755278e-02 -5.05302330e-03 2.45373312e+02] [-2.35754382e-02 9.99722058e-01 7.73018262e-05 2.09888033e+00] [ 5.05344128e-03 4.18478848e-05 9.99987230e-01 1.22455356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:245.40, Y:2.10, Z:1.22 [[ 9.99664260e-01 2.54132800e-02 -5.05303101e-03 2.45401749e+02] [-2.54132164e-02 9.99677029e-01 7.67946149e-05 2.09810970e+00] [ 5.05335063e-03 5.16449387e-05 9.99987230e-01 1.22408265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:245.42, Y:2.10, Z:1.23 [[ 9.99721421e-01 2.30552977e-02 -5.05303711e-03 2.45424794e+02] [-2.30552060e-02 9.99734191e-01 7.63911645e-05 2.10219871e+00] [ 5.05345518e-03 4.01289281e-05 9.99987230e-01 1.22514458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09439141800001 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:245.46, Y:2.10, Z:1.22 [[ 9.99660594e-01 2.55567968e-02 -5.05444817e-03 2.45458790e+02] [-2.55572310e-02 9.99673360e-01 -2.13165472e-05 2.09574326e+00] [ 5.05225240e-03 1.50487011e-04 9.99987226e-01 1.22388286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12439141800002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:245.49, Y:2.10, Z:1.22 [[ 9.99678703e-01 2.48386561e-02 -5.05299327e-03 2.45485260e+02] [-2.48385905e-02 9.99691472e-01 7.57438355e-05 2.09518031e+00] [ 5.05331565e-03 4.97897313e-05 9.99987231e-01 1.22402440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:245.51, Y:2.09, Z:1.22 [[ 9.99681572e-01 2.47229127e-02 -5.05300769e-03 2.45513709e+02] [-2.47228505e-02 9.99694341e-01 7.47692482e-05 2.09487604e+00] [ 5.05331170e-03 5.01793142e-05 9.99987231e-01 1.22416852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:245.54, Y:2.09, Z:1.22 [[ 9.99708176e-01 2.36226670e-02 -5.05301628e-03 2.45541910e+02] [-2.36225938e-02 9.99720945e-01 7.41842252e-05 2.09441514e+00] [ 5.05335864e-03 4.52027744e-05 9.99987231e-01 1.22354275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:245.57, Y:2.09, Z:1.22 [[ 9.99735924e-01 2.24175921e-02 -5.05302644e-03 2.45570878e+02] [-2.24175070e-02 9.99748693e-01 7.34857806e-05 2.09373045e+00] [ 5.05340395e-03 3.98098807e-05 9.99987231e-01 1.22408917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:245.60, Y:2.09, Z:1.23 [[ 9.99792435e-01 1.97370949e-02 -5.05303166e-03 2.45599645e+02] [-1.97369773e-02 9.99805204e-01 7.31250672e-05 2.09145721e+00] [ 5.05349062e-03 2.66216823e-05 9.99987231e-01 1.22732931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:245.63, Y:2.09, Z:1.23 [[ 9.99822545e-01 1.81478753e-02 -5.05303743e-03 2.45627534e+02] [-1.81477396e-02 9.99835314e-01 7.27236873e-05 2.08973502e+00] [ 5.05352505e-03 1.89904252e-05 9.99987231e-01 1.22678045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:245.66, Y:2.09, Z:1.23 [[ 9.99858623e-01 1.60374685e-02 -5.05304454e-03 2.45655992e+02] [-1.60373082e-02 9.99871392e-01 7.22263902e-05 2.08817503e+00] [ 5.05355300e-03 8.82105383e-06 9.99987231e-01 1.22851614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:245.68, Y:2.08, Z:1.23 [[ 9.99905982e-01 1.27472976e-02 -5.05305041e-03 2.45684196e+02] [-1.27470975e-02 9.99918750e-01 7.18130957e-05 2.08437645e+00] [ 5.05355528e-03 -7.39461759e-06 9.99987231e-01 1.22809027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:245.71, Y:2.08, Z:1.23 [[ 9.99925557e-01 1.11061647e-02 -5.05305764e-03 2.45712520e+02] [-1.11059462e-02 9.99938325e-01 7.13011707e-05 2.08239277e+00] [ 5.05353787e-03 -1.51768765e-05 9.99987231e-01 1.22788656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:245.74, Y:2.08, Z:1.23 [[ 9.99939632e-01 9.75700336e-03 -5.05306312e-03 2.45741471e+02] [-9.75676960e-03 9.99952399e-01 7.09108145e-05 2.08034264e+00] [ 5.05351446e-03 -2.16049612e-05 9.99987231e-01 1.22786677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:245.77, Y:2.08, Z:1.23 [[ 9.99956731e-01 7.81037327e-03 -5.05306853e-03 2.45769273e+02] [-7.81011662e-03 9.99969498e-01 7.05225724e-05 2.07619361e+00] [ 5.05346521e-03 -3.10544665e-05 9.99987231e-01 1.22635413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:245.80, Y:2.07, Z:1.23 [[ 9.99963767e-01 6.85062155e-03 -5.05307670e-03 2.45798092e+02] [-6.85035563e-03 9.99976534e-01 6.99323863e-05 2.07412632e+00] [ 5.05343720e-03 -3.53144800e-05 9.99987231e-01 1.22746006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:245.83, Y:2.07, Z:1.23 [[ 9.99967852e-01 6.22589217e-03 -5.05308228e-03 2.45827190e+02] [-6.22562032e-03 9.99980618e-01 6.95268403e-05 2.07197960e+00] [ 5.05341721e-03 -3.80660334e-05 9.99987231e-01 1.22765704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:245.86, Y:2.07, Z:1.23 [[ 9.99963553e-01 6.88180251e-03 -5.05308782e-03 2.45855167e+02] [-6.88154108e-03 9.99976320e-01 6.91223425e-05 2.06804394e+00] [ 5.05344384e-03 -3.43467918e-05 9.99987231e-01 1.22798476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.544391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:245.88, Y:2.07, Z:1.23 [[ 9.99965074e-01 6.65688217e-03 -5.05333335e-03 2.45884227e+02] [-6.65670989e-03 9.99977843e-01 5.09100634e-05 2.06581065e+00] [ 5.05356028e-03 -1.72697113e-05 9.99987231e-01 1.22743963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.574391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:245.91, Y:2.06, Z:1.23 [[ 9.99959176e-01 7.49082199e-03 -5.05309846e-03 2.45913389e+02] [-7.49057254e-03 9.99971943e-01 6.82908022e-05 2.06422033e+00] [ 5.05346823e-03 -3.04374138e-05 9.99987231e-01 1.22792743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.604391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:245.94, Y:2.06, Z:1.23 [[ 9.99929832e-01 1.07143257e-02 -5.05310374e-03 2.45942107e+02] [-1.07141194e-02 9.99942600e-01 6.78975416e-05 2.06130713e+00] [ 5.05354117e-03 -1.37532204e-05 9.99987231e-01 1.22855865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.634391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:245.97, Y:2.06, Z:1.23 [[ 9.99901742e-01 1.30756813e-02 -5.05310898e-03 2.45969727e+02] [-1.30755072e-02 9.99914510e-01 6.75056255e-05 2.05928007e+00] [ 5.05355966e-03 -1.42702992e-06 9.99987231e-01 1.22770455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:246.00, Y:2.06, Z:1.23 [[ 9.99878651e-01 1.47359569e-02 -5.05311676e-03 2.45998888e+02] [-1.47358069e-02 9.99891420e-01 6.69180563e-05 2.05800100e+00] [ 5.05355419e-03 7.55181692e-06 9.99987231e-01 1.22945252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:246.03, Y:2.05, Z:1.23 [[ 9.99804175e-01 1.91331338e-02 -5.05312189e-03 2.46026949e+02] [-1.91330420e-02 9.99816944e-01 6.65279158e-05 2.05464050e+00] [ 5.05346978e-03 3.01667052e-05 9.99987231e-01 1.22932893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:246.05, Y:2.05, Z:1.23 [[ 9.99761685e-01 2.12376791e-02 -5.05312947e-03 2.46054840e+02] [-2.12376171e-02 9.99774454e-01 6.59472232e-05 2.05255390e+00] [ 5.05339033e-03 4.13849216e-05 9.99987231e-01 1.22953200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:246.08, Y:2.05, Z:1.23 [[ 9.99717978e-01 2.32041002e-02 -5.05313740e-03 2.46082948e+02] [-2.32040664e-02 9.99730747e-01 6.53339470e-05 2.05042861e+00] [ 5.05329284e-03 5.19378143e-05 9.99987231e-01 1.22926203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:246.11, Y:2.05, Z:1.23 [[ 9.99631816e-01 2.66589122e-02 -5.05314534e-03 2.46112050e+02] [-2.66589256e-02 9.99644586e-01 6.47141903e-05 2.04650229e+00] [ 5.05307459e-03 7.00210619e-05 9.99987231e-01 1.22831567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:246.14, Y:2.04, Z:1.23 [[ 9.99601546e-01 2.77707391e-02 -5.05315056e-03 2.46140111e+02] [-2.77707688e-02 9.99614316e-01 6.43036508e-05 2.04457314e+00] [ 5.05298740e-03 7.60518471e-05 9.99987231e-01 1.22797868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84439141800001 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:246.17, Y:2.04, Z:1.23 [[ 9.99572123e-01 2.88103426e-02 -5.05315827e-03 2.46166550e+02] [-2.88103887e-02 9.99584893e-01 6.36921919e-05 2.04063801e+00] [ 5.05289566e-03 8.19185144e-05 9.99987231e-01 1.22822191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87439141800002 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:246.19, Y:2.04, Z:1.23 [[ 9.99583469e-01 2.84139894e-02 -5.05316707e-03 2.46193546e+02] [-2.84140339e-02 9.99596238e-01 6.29857114e-05 2.03820263e+00] [ 5.05291647e-03 8.06213849e-05 9.99987231e-01 1.22814732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:246.22, Y:2.04, Z:1.23 [[ 9.99603123e-01 2.77139196e-02 -5.05317570e-03 2.46221292e+02] [-2.77139588e-02 9.99615893e-01 6.22859658e-05 2.03543118e+00] [ 5.05296093e-03 7.77822573e-05 9.99987231e-01 1.22943439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:246.25, Y:2.03, Z:1.23 [[ 9.99644286e-01 2.61871416e-02 -5.05318315e-03 2.46248424e+02] [-2.61871644e-02 9.99657056e-01 6.16757344e-05 2.03252507e+00] [ 5.05306530e-03 7.06747422e-05 9.99987231e-01 1.22914438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:246.28, Y:2.03, Z:1.23 [[ 9.99741008e-01 2.21896800e-02 -5.05319498e-03 2.46276211e+02] [-2.21896567e-02 9.99753777e-01 6.06902419e-05 2.02709883e+00] [ 5.05329747e-03 5.14541383e-05 9.99987231e-01 1.23002481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:246.30, Y:2.02, Z:1.23 [[ 9.99796355e-01 1.95374765e-02 -5.05320091e-03 2.46304975e+02] [-1.95374218e-02 9.99809125e-01 6.01926985e-05 2.02428492e+00] [ 5.05341239e-03 3.85460771e-05 9.99987231e-01 1.23033945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:246.33, Y:2.02, Z:1.23 [[ 9.99902802e-01 1.29942822e-02 -5.05320555e-03 2.46334076e+02] [-1.29941459e-02 9.99915571e-01 5.98007749e-05 2.01903326e+00] [ 5.05355598e-03 5.86712765e-06 9.99987231e-01 1.23180301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:246.36, Y:2.02, Z:1.23 [[ 9.99945622e-01 9.12239228e-03 -5.05321039e-03 2.46362845e+02] [-9.12220864e-03 9.99958390e-01 5.93889050e-05 2.01613494e+00] [ 5.05354189e-03 -1.32892361e-05 9.99987231e-01 1.23180301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:246.39, Y:2.01, Z:1.23 [[ 9.99975914e-01 4.75776605e-03 -5.05321518e-03 2.46391857e+02] [-4.75752876e-03 9.99988681e-01 5.89781164e-05 2.01326554e+00] [ 5.05343859e-03 -3.49358793e-05 9.99987231e-01 1.23173414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:246.42, Y:2.01, Z:1.23 [[ 9.99978151e-01 -4.26168773e-03 -5.05321995e-03 2.46420255e+02] [ 4.26203809e-03 9.99990916e-01 5.85666885e-05 2.00755898e+00] [ 5.05292445e-03 -8.01024248e-05 9.99987231e-01 1.23113425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:246.45, Y:2.00, Z:1.23 [[ 9.99947517e-01 -8.91228046e-03 -5.05322466e-03 2.46448456e+02] [ 8.91268811e-03 9.99960280e-01 5.81578505e-05 2.00461751e+00] [ 5.05250562e-03 -1.03192613e-04 9.99987231e-01 1.23109761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:246.48, Y:2.00, Z:1.23 [[ 9.99889991e-01 -1.39452832e-02 -5.05322815e-03 2.46478875e+02] [ 1.39457535e-02 9.99902752e-01 5.78529112e-05 2.00217037e+00] [ 5.05192996e-03 -1.28317621e-04 9.99987231e-01 1.23171736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:246.51, Y:2.00, Z:1.23 [[ 9.99816785e-01 -1.84624232e-02 -5.05322815e-03 2.46509736e+02] [ 1.84629512e-02 9.99829544e-01 5.78529112e-05 1.99973988e+00] [ 5.05129869e-03 -1.51139817e-04 9.99987231e-01 1.23222148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:246.54, Y:2.00, Z:1.23 [[ 9.99615099e-01 -2.72785515e-02 -5.05322578e-03 2.46542049e+02] [ 2.72791930e-02 9.99627852e-01 5.80587531e-05 1.99605893e+00] [ 5.04976148e-03 -1.95884328e-04 9.99987231e-01 1.23287798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:246.57, Y:1.99, Z:1.23 [[ 9.99503233e-01 -3.11087322e-02 -5.05320767e-03 2.46572770e+02] [ 3.11094303e-02 9.99515983e-01 5.95946162e-05 1.99439631e+00] [ 5.04890792e-03 -2.16767424e-04 9.99987231e-01 1.23235682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.294391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:246.60, Y:1.99, Z:1.23 [[ 9.99395075e-01 -3.44085755e-02 -5.05320406e-03 2.46604775e+02] [ 3.44093173e-02 9.99407822e-01 5.98994574e-05 1.99323176e+00] [ 5.04815061e-03 -2.33740524e-04 9.99987231e-01 1.23208327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.324391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:246.64, Y:1.99, Z:1.23 [[ 9.99235310e-01 -3.87719008e-02 -5.05319922e-03 2.46637112e+02] [ 3.87727002e-02 9.99248054e-01 6.03046357e-05 1.99198445e+00] [ 5.04706137e-03 -2.56184700e-04 9.99987231e-01 1.23182985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.354391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:246.67, Y:1.99, Z:1.23 [[ 9.99193678e-01 -3.98303741e-02 -5.05319421e-03 2.46668757e+02] [ 3.98311892e-02 9.99206421e-01 6.07213518e-05 1.99142152e+00] [ 5.04676555e-03 -2.61947125e-04 9.99987231e-01 1.23053061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.384391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:246.70, Y:1.99, Z:1.23 [[ 9.99178229e-01 -4.02160684e-02 -5.05319047e-03 2.46700737e+02] [ 4.02168900e-02 9.99190972e-01 6.10317687e-05 1.99108762e+00] [ 5.04664783e-03 -2.64205220e-04 9.99987231e-01 1.23115376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:246.73, Y:1.99, Z:1.23 [[ 9.99181314e-01 -4.01393459e-02 -5.05318535e-03 2.46731692e+02] [ 4.01401686e-02 9.99194057e-01 6.14522012e-05 1.99134129e+00] [ 5.04664612e-03 -2.64237603e-04 9.99987231e-01 1.23041708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:246.76, Y:1.99, Z:1.23 [[ 9.99244290e-01 -3.85397721e-02 -5.05318153e-03 2.46763551e+02] [ 3.85405760e-02 9.99257034e-01 6.17649138e-05 1.99288255e+00] [ 5.04704678e-03 -2.56470764e-04 9.99987231e-01 1.23058496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:246.80, Y:1.99, Z:1.23 [[ 9.99302226e-01 -3.70071264e-02 -5.05317651e-03 2.46795606e+02] [ 3.70079128e-02 9.99314971e-01 6.21732167e-05 1.99375705e+00] [ 5.04741408e-03 -2.49137349e-04 9.99987231e-01 1.23104997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:246.83, Y:1.99, Z:1.23 [[ 9.99364689e-01 -3.52800640e-02 -5.05317143e-03 2.46827992e+02] [ 3.52808304e-02 9.99377436e-01 6.25827833e-05 1.99492149e+00] [ 5.04781759e-03 -2.40823108e-04 9.99987231e-01 1.23209763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:246.86, Y:2.00, Z:1.23 [[ 9.99491125e-01 -3.14953577e-02 -5.05316622e-03 2.46859433e+02] [ 3.14960780e-02 9.99503873e-01 6.30012723e-05 1.99812755e+00] [ 5.04867496e-03 -2.22124130e-04 9.99987231e-01 1.23373235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:246.89, Y:2.00, Z:1.23 [[ 9.99560603e-01 -2.92073090e-02 -5.05316231e-03 2.46891217e+02] [ 2.92080017e-02 9.99573353e-01 6.33128112e-05 1.99964333e+00] [ 5.04915720e-03 -2.10877765e-04 9.99987231e-01 1.23489669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59439141800001 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:246.92, Y:2.00, Z:1.24 [[ 9.99686830e-01 -2.45093305e-02 -5.05315715e-03 2.46923855e+02] [ 2.45099653e-02 9.99699584e-01 6.37219883e-05 2.00354002e+00] [ 5.05007732e-03 -1.87554739e-04 9.99987231e-01 1.23681464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62439141800002 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:246.96, Y:2.01, Z:1.24 [[ 9.99745216e-01 -2.19993101e-02 -5.05315192e-03 2.46955813e+02] [ 2.19999149e-02 9.99757971e-01 6.41345508e-05 2.00526319e+00] [ 5.05051799e-03 -1.75287123e-04 9.99987231e-01 1.23768981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:246.99, Y:2.01, Z:1.24 [[ 9.99791771e-01 -1.97706881e-02 -5.05314667e-03 2.46988431e+02] [ 1.97712666e-02 9.99804527e-01 6.45452428e-05 2.00702624e+00] [ 5.05088282e-03 -1.64438913e-04 9.99987231e-01 1.23828120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:247.02, Y:2.01, Z:1.24 [[ 9.99838797e-01 -1.72292339e-02 -5.05314140e-03 2.47019489e+02] [ 1.72297821e-02 9.99851554e-01 6.49552978e-05 2.00846450e+00] [ 5.05127215e-03 -1.52009352e-04 9.99987231e-01 1.23819718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:247.05, Y:2.01, Z:1.24 [[ 9.99908349e-01 -1.25602408e-02 -5.05313746e-03 2.47051540e+02] [ 1.25607308e-02 9.99921109e-01 6.52601734e-05 2.01220820e+00] [ 5.05191913e-03 -1.28725292e-04 9.99987231e-01 1.23842584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:247.08, Y:2.01, Z:1.24 [[ 9.99935218e-01 -1.01992585e-02 -5.05313213e-03 2.47083282e+02] [ 1.01997206e-02 9.99947979e-01 6.56708133e-05 2.01370915e+00] [ 5.05219947e-03 -1.17207095e-04 9.99987231e-01 1.23851516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:247.11, Y:2.02, Z:1.24 [[ 9.99955121e-01 -8.01380003e-03 -5.05312948e-03 2.47114894e+02] [ 8.01423519e-03 9.99967883e-01 6.58738814e-05 2.01522734e+00] [ 5.05243929e-03 -1.06367893e-04 9.99987231e-01 1.23861996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:247.15, Y:2.02, Z:1.24 [[ 9.99979246e-01 -3.99675474e-03 -5.05312682e-03 2.47145228e+02] [ 3.99713966e-03 9.99992009e-01 6.60769495e-05 2.01841061e+00] [ 5.05282235e-03 -8.62736317e-05 9.99987231e-01 1.23913211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:247.17, Y:2.02, Z:1.24 [[ 9.99984987e-01 -2.11930755e-03 -5.05312682e-03 2.47173551e+02] [ 2.11966850e-03 9.99997751e-01 6.60769495e-05 2.01977467e+00] [ 5.05297542e-03 -7.67869112e-05 9.99987231e-01 1.23857077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864391418 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:247.20, Y:2.02, Z:1.24 [[ 9.99985993e-01 1.57441806e-03 -5.05313187e-03 2.47201899e+02] [-1.57410622e-03 9.99998759e-01 6.56886360e-05 2.02306508e+00] [ 5.05322902e-03 -5.77335497e-05 9.99987231e-01 1.23951320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:247.23, Y:2.02, Z:1.24 [[ 9.99981533e-01 3.37627058e-03 -5.05315033e-03 2.47229494e+02] [-3.37598908e-03 9.99994299e-01 6.42369552e-05 2.02445577e+00] [ 5.05333840e-03 -4.71763886e-05 9.99987231e-01 1.23930578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:247.26, Y:2.03, Z:1.24 [[ 9.99975696e-01 4.80343265e-03 -5.05315679e-03 2.47257860e+02] [-4.80317196e-03 9.99988463e-01 6.37242265e-05 2.02559792e+00] [ 5.05340459e-03 -3.94514968e-05 9.99987231e-01 1.24012313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954391418 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:247.29, Y:2.03, Z:1.24 [[ 9.99965896e-01 6.53239905e-03 -5.05317700e-03 2.47285834e+02] [-6.53216874e-03 9.99978663e-01 6.20791746e-05 2.02796856e+00] [ 5.05347471e-03 -2.90688526e-05 9.99987231e-01 1.23998457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:247.31, Y:2.03, Z:1.24 [[ 9.99964041e-01 6.81041344e-03 -5.05318319e-03 2.47314174e+02] [-6.81018925e-03 9.99976809e-01 6.15712268e-05 2.02847680e+00] [ 5.05348532e-03 -2.71558789e-05 9.99987231e-01 1.24111922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:247.34, Y:2.03, Z:1.24 [[ 9.99966995e-01 6.36186160e-03 -5.05318815e-03 2.47341601e+02] [-6.36163376e-03 9.99979763e-01 6.11615162e-05 2.02859854e+00] [ 5.05347499e-03 -2.90129653e-05 9.99987231e-01 1.24098377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.044391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:247.37, Y:2.03, Z:1.24 [[ 9.99967484e-01 6.28453227e-03 -5.05319424e-03 2.47370904e+02] [-6.28430600e-03 9.99980252e-01 6.06543463e-05 2.02832552e+00] [ 5.05347563e-03 -2.88965552e-05 9.99987231e-01 1.24113202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.074391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:247.40, Y:2.03, Z:1.24 [[ 9.99978061e-01 4.28282640e-03 -5.05319890e-03 2.47398876e+02] [-4.28257655e-03 9.99990828e-01 6.02635810e-05 2.02843118e+00] [ 5.05341065e-03 -3.86215477e-05 9.99987231e-01 1.24162021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.104391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:247.43, Y:2.03, Z:1.24 [[ 9.99984686e-01 2.25694239e-03 -5.05320463e-03 2.47427569e+02] [-2.25666912e-03 9.99997452e-01 5.97793745e-05 2.02833452e+00] [ 5.05332667e-03 -4.83750482e-05 9.99987231e-01 1.24260167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.134391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:247.46, Y:2.03, Z:1.24 [[ 9.99987232e-01 1.31937792e-05 -5.05320933e-03 2.47456571e+02] [-1.28938886e-05 9.99999998e-01 5.93791504e-05 2.02785270e+00] [ 5.05321010e-03 -5.93132367e-05 9.99987231e-01 1.24291681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:247.48, Y:2.03, Z:1.24 [[ 9.99974032e-01 -5.13821983e-03 -5.05321399e-03 2.47484853e+02] [ 5.13858346e-03 9.99986796e-01 5.89795304e-05 2.02673934e+00] [ 5.05284422e-03 -8.49443606e-05 9.99987231e-01 1.24225381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:247.51, Y:2.03, Z:1.24 [[ 9.99958720e-01 -7.55136255e-03 -5.05321972e-03 2.47514572e+02] [ 7.55175448e-03 9.99971483e-01 5.84844495e-05 2.02602209e+00] [ 5.05263398e-03 -9.66427099e-05 9.99987231e-01 1.24247445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:247.55, Y:2.02, Z:1.24 [[ 9.99922125e-01 -1.14109095e-02 -5.05322207e-03 2.47545360e+02] [ 1.14113496e-02 9.99934887e-01 5.82809604e-05 2.02468367e+00] [ 5.05222800e-03 -1.15940506e-04 9.99987231e-01 1.24183306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:247.58, Y:2.02, Z:1.24 [[ 9.99908220e-01 -1.25704777e-02 -5.05322207e-03 2.47577017e+02] [ 1.25709326e-02 9.99920981e-01 5.82809604e-05 2.02379946e+00] [ 5.05209015e-03 -1.21799326e-04 9.99987231e-01 1.24148728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:247.61, Y:2.02, Z:1.24 [[ 9.99899917e-01 -1.32144351e-02 -5.05321970e-03 2.47608057e+02] [ 1.32148993e-02 9.99912678e-01 5.84855053e-05 2.02324639e+00] [ 5.05200559e-03 -1.25257441e-04 9.99987231e-01 1.24134623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314391418 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:247.64, Y:2.02, Z:1.24 [[ 9.99900965e-01 -1.31348690e-02 -5.05321730e-03 2.47639302e+02] [ 1.31353333e-02 9.99913726e-01 5.86926120e-05 2.02298530e+00] [ 5.05201042e-03 -1.25062493e-04 9.99987231e-01 1.24112693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34439141800001 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:247.67, Y:2.02, Z:1.24 [[ 9.99927045e-01 -1.09713488e-02 -5.05321368e-03 2.47670107e+02] [ 1.09717870e-02 9.99939806e-01 5.90022495e-05 2.02309605e+00] [ 5.05226218e-03 -1.14440729e-04 9.99987231e-01 1.24091753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37439141800002 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:247.70, Y:2.02, Z:1.24 [[ 9.99946630e-01 -9.01126567e-03 -5.05321015e-03 2.47701927e+02] [ 9.01168037e-03 9.99959392e-01 5.93034275e-05 2.02301336e+00] [ 5.05247055e-03 -1.04838177e-04 9.99987231e-01 1.24091799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:247.73, Y:2.02, Z:1.24 [[ 9.99965600e-01 -6.57749511e-03 -5.05320776e-03 2.47731826e+02] [ 6.57787977e-03 9.99978364e-01 5.95056862e-05 2.02304647e+00] [ 5.05270703e-03 -9.27430324e-05 9.99987231e-01 1.24068611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434391418 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:247.76, Y:2.02, Z:1.24 [[ 9.99987217e-01 -1.75422964e-04 -5.05320658e-03 2.47762340e+02] [ 1.75726408e-04 9.99999983e-01 5.96057743e-05 2.02348563e+00] [ 5.05319604e-03 -6.04929942e-05 9.99987231e-01 1.24087606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:247.79, Y:2.02, Z:1.24 [[ 9.99982271e-01 3.15002432e-03 -5.05320658e-03 2.47791550e+02] [-3.14976333e-03 9.99995038e-01 5.96057743e-05 2.02372987e+00] [ 5.05336927e-03 -4.36883128e-05 9.99987231e-01 1.24127299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494391418 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:247.82, Y:2.02, Z:1.24 [[ 9.99926643e-01 1.10078526e-02 -5.05322316e-03 2.47818205e+02] [-1.10076992e-02 9.99939412e-01 5.81657342e-05 2.02478446e+00] [ 5.05355727e-03 -2.53710660e-06 9.99987231e-01 1.24151701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:247.85, Y:2.03, Z:1.24 [[ 9.99876152e-01 1.49045400e-02 -5.05323124e-03 2.47846240e+02] [-1.49044400e-02 9.99888921e-01 5.74552428e-05 2.02503451e+00] [ 5.05352627e-03 1.78674547e-05 9.99987231e-01 1.24197664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:247.87, Y:2.03, Z:1.24 [[ 9.99757594e-01 2.14293770e-02 -5.05323791e-03 2.47873964e+02] [-2.14293633e-02 9.99770363e-01 5.68623928e-05 2.02517256e+00] [ 5.05329603e-03 5.14390620e-05 9.99987231e-01 1.24137363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:247.90, Y:2.02, Z:1.24 [[ 9.99701861e-01 2.38883439e-02 -5.05325525e-03 2.47901713e+02] [-2.38883696e-02 9.99714631e-01 5.52769162e-05 2.02480154e+00] [ 5.05313368e-03 6.54535930e-05 9.99987231e-01 1.24098041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:247.93, Y:2.02, Z:1.24 [[ 9.99661403e-01 2.55253622e-02 -5.05326177e-03 2.47929328e+02] [-2.55254119e-02 9.99674172e-01 5.46740910e-05 2.02430420e+00] [ 5.05301086e-03 7.43310095e-05 9.99987231e-01 1.24036124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:247.96, Y:2.02, Z:1.24 [[ 9.99637269e-01 2.64536510e-02 -5.05326817e-03 2.47957525e+02] [-2.64537155e-02 9.99650038e-01 5.40764317e-05 2.02347676e+00] [ 5.05293024e-03 7.96209023e-05 9.99987231e-01 1.23995215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674391418 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:247.99, Y:2.02, Z:1.24 [[ 9.99644508e-01 2.61786686e-02 -5.05327469e-03 2.47985062e+02] [-2.61787327e-02 9.99657277e-01 5.34602114e-05 2.02096546e+00] [ 5.05294233e-03 7.88471209e-05 9.99987231e-01 1.23823030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704391418 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:248.01, Y:2.02, Z:1.24 [[ 9.99679167e-01 2.48198870e-02 -5.05328002e-03 2.48011642e+02] [-2.48199364e-02 9.99691937e-01 5.29514144e-05 2.01942005e+00] [ 5.05303754e-03 7.24876629e-05 9.99987231e-01 1.23729982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:248.04, Y:2.02, Z:1.24 [[ 9.99722652e-01 2.30018130e-02 -5.05328730e-03 2.48039500e+02] [-2.30018427e-02 9.99735421e-01 5.22478068e-05 2.01774834e+00] [ 5.05315210e-03 6.40016034e-05 9.99987231e-01 1.23742845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764391418 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:248.07, Y:2.01, Z:1.24 [[ 9.99821182e-01 1.82227589e-02 -5.05329349e-03 2.48066636e+02] [-1.82227307e-02 9.99833951e-01 5.16412925e-05 2.01434203e+00] [ 5.05339545e-03 4.04527482e-05 9.99987231e-01 1.23731578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.794391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:248.10, Y:2.01, Z:1.24 [[ 9.99874931e-01 1.49862446e-02 -5.05330057e-03 2.48095047e+02] [-1.49861785e-02 9.99887700e-01 5.09390795e-05 2.01240536e+00] [ 5.05349647e-03 2.47969558e-05 9.99987231e-01 1.23807117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.824391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:248.12, Y:2.01, Z:1.24 [[ 9.99959443e-01 7.45500667e-03 -5.05330674e-03 2.48122322e+02] [-7.45484757e-03 9.99972211e-01 5.03196730e-05 2.00831727e+00] [ 5.05354145e-03 -1.26460007e-05 9.99987231e-01 1.23861349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.854391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:248.15, Y:2.01, Z:1.24 [[ 9.99983453e-01 2.74908751e-03 -5.05331179e-03 2.48147675e+02] [-2.74887091e-03 9.99996221e-01 4.98072327e-05 2.00799205e+00] [ 5.05342962e-03 -3.59155068e-05 9.99987231e-01 1.24044450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.884391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:248.18, Y:2.00, Z:1.24 [[ 9.99986382e-01 -1.30151714e-03 -5.05380305e-03 2.48178738e+02] [ 1.30152174e-03 9.99999153e-01 -2.37866140e-06 2.00377075e+00] [ 5.05380187e-03 -4.19900554e-06 9.99987229e-01 1.24033627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:248.21, Y:2.00, Z:1.24 [[ 9.99969478e-01 -5.95886309e-03 -5.05330817e-03 2.48207353e+02] [ 5.95918593e-03 9.99982243e-01 4.88330366e-05 2.00166005e+00] [ 5.05292745e-03 -7.89451491e-05 9.99987231e-01 1.24112462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:248.24, Y:2.00, Z:1.24 [[ 9.99859448e-01 -1.59859042e-02 -5.05331205e-03 2.48237389e+02] [ 1.59863530e-02 9.99872209e-01 4.84283298e-05 1.99777686e+00] [ 5.05189211e-03 -1.29205553e-04 9.99987231e-01 1.24205170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:248.27, Y:2.00, Z:1.24 [[ 9.99763825e-01 -2.11366377e-02 -5.05331401e-03 2.48268517e+02] [ 2.11371512e-02 9.99776584e-01 4.82230634e-05 1.99576615e+00] [ 5.05116575e-03 -1.55024337e-04 9.99987231e-01 1.24215688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:248.30, Y:1.99, Z:1.24 [[ 9.99698879e-01 -2.40128230e-02 -5.05331106e-03 2.48302483e+02] [ 2.40133748e-02 9.99711636e-01 4.85306011e-05 1.99075286e+00] [ 5.05068851e-03 -1.69863040e-04 9.99987231e-01 1.24128268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:248.33, Y:1.99, Z:1.24 [[ 9.99474024e-01 -3.20335334e-02 -5.05254972e-03 2.48328855e+02] [ 3.20345811e-02 9.99486753e-01 1.26537823e-04 1.99201322e+00] [ 5.04590307e-03 -2.88327581e-04 9.99987228e-01 1.24192045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:248.36, Y:1.99, Z:1.24 [[ 9.99112419e-01 -4.18191184e-02 -5.05328995e-03 2.48362164e+02] [ 4.18198900e-02 9.99125165e-01 4.70675949e-05 1.98876798e+00] [ 5.04690082e-03 -2.58353848e-04 9.99987231e-01 1.24103874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09439141800001 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:248.39, Y:1.99, Z:1.24 [[ 9.98943808e-01 -4.56698133e-02 -5.05328408e-03 2.48394452e+02] [ 4.56706371e-02 9.98956551e-01 4.76891051e-05 1.98718767e+00] [ 5.04583328e-03 -2.78425439e-04 9.99987231e-01 1.24127779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12439141800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:248.43, Y:1.99, Z:1.24 [[ 9.98672135e-01 -5.12682228e-02 -5.05327917e-03 2.48427895e+02] [ 5.12691206e-02 9.98684873e-01 4.82042896e-05 1.98654410e+00] [ 5.04416211e-03 -3.07217460e-04 9.99987231e-01 1.24117185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:248.46, Y:1.99, Z:1.24 [[ 9.98613446e-01 -5.23989473e-02 -5.05327318e-03 2.48461460e+02] [ 5.23998627e-02 9.98626182e-01 4.88239411e-05 1.98682070e+00] [ 5.04377258e-03 -3.13547065e-04 9.99987231e-01 1.24086432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:248.49, Y:1.99, Z:1.24 [[ 9.98628582e-01 -5.21096804e-02 -5.05326433e-03 2.48494523e+02] [ 5.21105966e-02 9.98641319e-01 4.97230780e-05 1.98867302e+00] [ 5.04380750e-03 -3.12983506e-04 9.99987231e-01 1.23965010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:248.52, Y:1.99, Z:1.24 [[ 9.98723725e-01 -5.02532198e-02 -5.05325812e-03 2.48524994e+02] [ 5.02541154e-02 9.98736462e-01 5.03463233e-05 1.98967239e+00] [ 5.04434308e-03 -3.04229085e-04 9.99987231e-01 1.24016204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:248.56, Y:1.99, Z:1.24 [[ 9.98762818e-01 -4.94701510e-02 -5.05343700e-03 2.48559545e+02] [ 4.94709464e-02 9.98775563e-01 3.24492003e-05 1.99092755e+00] [ 5.04564412e-03 -2.82407366e-04 9.99987231e-01 1.23884043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:248.59, Y:1.99, Z:1.24 [[ 9.98868783e-01 -4.72823371e-02 -5.05323843e-03 2.48592135e+02] [ 4.72832023e-02 9.98881523e-01 5.18147041e-05 1.99223117e+00] [ 5.04513658e-03 -2.90689386e-04 9.99987231e-01 1.23839444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:248.63, Y:2.00, Z:1.24 [[ 9.99078854e-01 -4.26134679e-02 -5.05323199e-03 2.48625015e+02] [ 4.26142766e-02 9.99091598e-01 5.24356153e-05 1.99605642e+00] [ 5.04640716e-03 -2.67727140e-04 9.99987231e-01 1.23799061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:248.66, Y:2.00, Z:1.24 [[ 9.99180121e-01 -4.01690188e-02 -5.05322552e-03 2.48658273e+02] [ 4.01697994e-02 9.99192866e-01 5.30519982e-05 1.99808295e+00] [ 5.04701585e-03 -2.55995558e-04 9.99987231e-01 1.23791443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:248.69, Y:2.00, Z:1.24 [[ 9.99279048e-01 -3.76277749e-02 -5.05321901e-03 2.48690607e+02] [ 3.76285263e-02 9.99291795e-01 5.36652328e-05 2.00034168e+00] [ 5.04762099e-03 -2.43771727e-04 9.99987231e-01 1.23785851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:248.72, Y:2.01, Z:1.24 [[ 9.99437367e-01 -3.31574140e-02 -5.05321357e-03 2.48723555e+02] [ 3.31581109e-02 9.99450117e-01 5.41722045e-05 2.00547843e+00] [ 5.04863869e-03 -2.21696742e-04 9.99987231e-01 1.23855500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:248.75, Y:2.01, Z:1.24 [[ 9.99518190e-01 -3.06243747e-02 -5.05320687e-03 2.48754617e+02] [ 3.06250424e-02 9.99530942e-01 5.47908819e-05 2.00761738e+00] [ 5.04915868e-03 -2.09519158e-04 9.99987231e-01 1.23880640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454391418 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:248.79, Y:2.01, Z:1.24 [[ 9.99587618e-01 -2.82676206e-02 -5.05319960e-03 2.48787061e+02] [ 2.82682616e-02 9.99600371e-01 5.54526683e-05 2.00951592e+00] [ 5.04961268e-03 -1.98274969e-04 9.99987231e-01 1.23927416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:248.82, Y:2.01, Z:1.24 [[ 9.99699409e-01 -2.39907502e-02 -5.05319511e-03 2.48818285e+02] [ 2.39913386e-02 9.99712165e-01 5.58588997e-05 2.01365306e+00] [ 5.05040053e-03 -1.77075024e-04 9.99987231e-01 1.24042011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:248.85, Y:2.02, Z:1.24 [[ 9.99747173e-01 -2.19101759e-02 -5.05318762e-03 2.48850383e+02] [ 2.19107412e-02 9.99759929e-01 5.65288958e-05 2.01547963e+00] [ 5.05073594e-03 -1.67233690e-04 9.99987231e-01 1.24120204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.544391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:248.88, Y:2.02, Z:1.24 [[ 9.99824495e-01 -1.80400668e-02 -5.05318296e-03 2.48882703e+02] [ 1.80405848e-02 9.99837254e-01 5.69423031e-05 2.02014500e+00] [ 5.05133333e-03 -1.48094685e-04 9.99987231e-01 1.24241214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.574391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:248.92, Y:2.02, Z:1.24 [[ 9.99863611e-01 -1.57233620e-02 -5.05317826e-03 2.48915056e+02] [ 1.57238525e-02 9.99876371e-01 5.73562102e-05 2.02203283e+00] [ 5.05165171e-03 -1.36803817e-04 9.99987231e-01 1.24303732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.604391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:248.95, Y:2.02, Z:1.24 [[ 9.99894308e-01 -1.36322633e-02 -5.05317357e-03 2.48946603e+02] [ 1.36327292e-02 9.99907068e-01 5.77669044e-05 2.02374174e+00] [ 5.05191647e-03 -1.26649346e-04 9.99987231e-01 1.24264164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.634391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:248.98, Y:2.03, Z:1.24 [[ 9.99922379e-01 -1.13886582e-02 -5.05317006e-03 2.48976885e+02] [ 1.13890970e-02 9.99935140e-01 5.80722125e-05 2.02512822e+00] [ 5.05218095e-03 -1.15618749e-04 9.99987231e-01 1.24220507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:249.01, Y:2.03, Z:1.24 [[ 9.99962886e-01 -6.97804041e-03 -5.05316616e-03 2.49008725e+02] [ 6.97842464e-03 9.99975649e-01 5.84097061e-05 2.02826388e+00] [ 5.05263552e-03 -9.36706774e-05 9.99987231e-01 1.24242682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:249.04, Y:2.03, Z:1.24 [[ 9.99976487e-01 -4.63589727e-03 -5.05316374e-03 2.49037801e+02] [ 4.63625265e-03 9.99989251e-01 5.86175618e-05 2.02961810e+00] [ 5.05283768e-03 -8.20439273e-05 9.99987231e-01 1.24198604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:249.07, Y:2.03, Z:1.24 [[ 9.99985533e-01 -1.84351005e-03 -5.05316494e-03 2.49067470e+02] [ 1.84382927e-03 9.99998298e-01 5.85147005e-05 2.03087083e+00] [ 5.05304847e-03 -6.78310274e-05 9.99987231e-01 1.24220791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:249.10, Y:2.03, Z:1.24 [[ 9.99980544e-01 3.65753841e-03 -5.05316732e-03 2.49096384e+02] [-3.65729046e-03 9.99993310e-01 5.83084563e-05 2.03479794e+00] [ 5.05334678e-03 -3.98264212e-05 9.99987231e-01 1.24269339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:249.12, Y:2.04, Z:1.24 [[ 9.99968554e-01 6.11200691e-03 -5.05318355e-03 2.49122894e+02] [-6.11179758e-03 9.99981321e-01 5.68654402e-05 2.03658274e+00] [ 5.05343673e-03 -2.59796169e-05 9.99987231e-01 1.24330686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:249.15, Y:2.04, Z:1.24 [[ 9.99916766e-01 1.18712640e-02 -5.05319604e-03 2.49151122e+02] [-1.18711340e-02 9.99929534e-01 5.57338158e-05 2.03881934e+00] [ 5.05350159e-03 4.25799019e-06 9.99987231e-01 1.24216508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84439141800001 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:249.18, Y:2.04, Z:1.24 [[ 9.99917118e-01 1.18414402e-02 -5.05337895e-03 2.49179484e+02] [-1.18413955e-02 9.99929887e-01 3.87798242e-05 2.03930130e+00] [ 5.05348385e-03 2.10624485e-05 9.99987231e-01 1.24394209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87439141800002 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:249.21, Y:2.04, Z:1.24 [[ 9.99911336e-01 1.23200936e-02 -5.05321106e-03 2.49207126e+02] [-1.23199761e-02 9.99924105e-01 5.43802143e-05 2.03945723e+00] [ 5.05349752e-03 7.88004683e-06 9.99987231e-01 1.24424132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:249.24, Y:2.04, Z:1.24 [[ 9.99915841e-01 1.19488497e-02 -5.05321737e-03 2.49235195e+02] [-1.19487304e-02 9.99928610e-01 5.37882510e-05 2.03925169e+00] [ 5.05349932e-03 6.59580778e-06 9.99987231e-01 1.24416269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:249.26, Y:2.04, Z:1.24 [[ 9.99917225e-01 1.18325262e-02 -5.05322356e-03 2.49263649e+02] [-1.18324084e-02 9.99929993e-01 5.32000673e-05 2.03906975e+00] [ 5.05349929e-03 6.59614125e-06 9.99987231e-01 1.24430669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:249.29, Y:2.04, Z:1.24 [[ 9.99948723e-01 8.77590748e-03 -5.05322968e-03 2.49292026e+02] [-8.77575367e-03 9.99961491e-01 5.26122163e-05 2.03858034e+00] [ 5.05349680e-03 -8.26361963e-06 9.99987231e-01 1.24463789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:249.32, Y:2.04, Z:1.24 [[ 9.99965306e-01 6.62202858e-03 -5.05323396e-03 2.49319808e+02] [-6.62184935e-03 9.99978074e-01 5.21975632e-05 2.03780714e+00] [ 5.05346882e-03 -1.87339982e-05 9.99987231e-01 1.24452227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:249.35, Y:2.04, Z:1.24 [[ 9.99986887e-01 8.31469016e-04 -5.05323921e-03 2.49347425e+02] [-8.31218456e-04 9.99999653e-01 5.16840300e-05 2.03631522e+00] [ 5.05328044e-03 -4.74830065e-05 9.99987231e-01 1.24430198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:249.38, Y:2.03, Z:1.24 [[ 9.99984637e-01 -2.27815662e-03 -5.05324476e-03 2.49376016e+02] [ 2.27844411e-03 9.99997403e-01 5.11356382e-05 2.03496714e+00] [ 5.05311515e-03 -6.26483884e-05 9.99987231e-01 1.24409483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:249.41, Y:2.03, Z:1.24 [[ 9.99971724e-01 -5.56922757e-03 -5.05324880e-03 2.49405102e+02] [ 5.56955504e-03 9.99984489e-01 5.07332088e-05 2.03383618e+00] [ 5.05288788e-03 -7.88761216e-05 9.99987231e-01 1.24407003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:249.43, Y:2.03, Z:1.24 [[ 9.99916249e-01 -1.19146920e-02 -5.05325179e-03 2.49434941e+02] [ 1.19150989e-02 9.99929011e-01 5.04336504e-05 2.03072527e+00] [ 5.05229217e-03 -1.10639421e-04 9.99987231e-01 1.24283629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:249.47, Y:2.03, Z:1.24 [[ 9.99882364e-01 -1.44818435e-02 -5.05325083e-03 2.49465891e+02] [ 1.44822837e-02 9.99895125e-01 5.05300658e-05 2.02870795e+00] [ 5.05198910e-03 -1.23706734e-04 9.99987231e-01 1.24206182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:249.50, Y:2.03, Z:1.24 [[ 9.99796785e-01 -1.95154809e-02 -5.05324886e-03 2.49498504e+02] [ 1.95159864e-02 9.99809544e-01 5.07258548e-05 2.02650315e+00] [ 5.05129650e-03 -1.49334683e-04 9.99987231e-01 1.24238741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:249.53, Y:2.03, Z:1.24 [[ 9.99762410e-01 -2.12035141e-02 -5.05324472e-03 2.49529392e+02] [ 2.12040431e-02 9.99775168e-01 5.11350390e-05 2.02533731e+00] [ 5.05102435e-03 -1.58272109e-04 9.99987231e-01 1.24206190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:249.56, Y:2.02, Z:1.24 [[ 9.99719321e-01 -2.31461554e-02 -5.05323774e-03 2.49560652e+02] [ 2.31467126e-02 9.99732078e-01 5.18160066e-05 2.02356116e+00] [ 5.05068452e-03 -1.68767305e-04 9.99987231e-01 1.24188531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:249.59, Y:2.02, Z:1.24 [[ 9.99709058e-01 -2.35852573e-02 -5.05323084e-03 2.49592641e+02] [ 2.35858235e-02 9.99721814e-01 5.24800889e-05 2.02326648e+00] [ 5.05058735e-03 -1.71649431e-04 9.99987231e-01 1.24221171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.294391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:249.62, Y:2.02, Z:1.24 [[ 9.99706759e-01 -2.36824894e-02 -5.05322669e-03 2.49623618e+02] [ 2.36830589e-02 9.99719516e-01 5.28765824e-05 2.02325279e+00] [ 5.05055709e-03 -1.72536942e-04 9.99987231e-01 1.24217159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.324391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:249.66, Y:2.02, Z:1.24 [[ 9.99711627e-01 -2.34761217e-02 -5.05322359e-03 2.49655883e+02] [ 2.34766900e-02 9.99724383e-01 5.31717633e-05 2.02307080e+00] [ 5.05058257e-03 -1.71789394e-04 9.99987231e-01 1.24251708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.354391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:249.69, Y:2.02, Z:1.24 [[ 9.99728444e-01 -2.27486878e-02 -5.05321942e-03 2.49687848e+02] [ 2.27492489e-02 9.99741201e-01 5.35647694e-05 2.02336678e+00] [ 5.05069313e-03 -1.68507170e-04 9.99987231e-01 1.24270867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.384391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:249.72, Y:2.02, Z:1.24 [[ 9.99735007e-01 -2.24584449e-02 -5.05321522e-03 2.49719206e+02] [ 2.24590042e-02 9.99747763e-01 5.39583598e-05 2.02359444e+00] [ 5.05072879e-03 -1.67434243e-04 9.99987231e-01 1.24246532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:249.75, Y:2.02, Z:1.24 [[ 9.99734752e-01 -2.24697624e-02 -5.05321207e-03 2.49751844e+02] [ 2.24703233e-02 9.99747509e-01 5.42514932e-05 2.02390878e+00] [ 5.05071716e-03 -1.67784412e-04 9.99987231e-01 1.24311719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:249.78, Y:2.02, Z:1.24 [[ 9.99736896e-01 -2.23741865e-02 -5.05320764e-03 2.49783494e+02] [ 2.23747482e-02 9.99749652e-01 5.46613081e-05 2.02463797e+00] [ 5.05071958e-03 -1.67711175e-04 9.99987231e-01 1.24197398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:249.82, Y:2.02, Z:1.24 [[ 9.99732485e-01 -2.25704059e-02 -5.05320432e-03 2.49815909e+02] [ 2.25709717e-02 9.99745242e-01 5.49661493e-05 2.02491265e+00] [ 5.05067637e-03 -1.69007177e-04 9.99987231e-01 1.24183504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:249.85, Y:2.03, Z:1.24 [[ 9.99726469e-01 -2.28353312e-02 -5.05319998e-03 2.49848109e+02] [ 2.28359024e-02 9.99739225e-01 5.53626880e-05 2.02508199e+00] [ 5.05061801e-03 -1.70741926e-04 9.99987231e-01 1.24145203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:249.88, Y:2.03, Z:1.24 [[ 9.99720032e-01 -2.31154100e-02 -5.05319560e-03 2.49880227e+02] [ 2.31159867e-02 9.99732788e-01 5.57591791e-05 2.02578385e+00] [ 5.05055644e-03 -1.72553171e-04 9.99987231e-01 1.24068711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:249.91, Y:2.03, Z:1.24 [[ 9.99723515e-01 -2.29643115e-02 -5.05319124e-03 2.49912724e+02] [ 2.29648884e-02 9.99736271e-01 5.61521366e-05 2.02611448e+00] [ 5.05056907e-03 -1.72182584e-04 9.99987231e-01 1.24085833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59439141800001 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:249.94, Y:2.03, Z:1.24 [[ 9.99760105e-01 -2.13118931e-02 -5.05318675e-03 2.49943951e+02] [ 2.13124509e-02 9.99772862e-01 5.65530650e-05 2.02770133e+00] [ 5.05083373e-03 -1.64235293e-04 9.99987231e-01 1.24076253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62439141800002 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:249.97, Y:2.03, Z:1.24 [[ 9.99795431e-01 -1.95847260e-02 -5.05318339e-03 2.49974831e+02] [ 1.95852632e-02 9.99808189e-01 5.68516610e-05 2.02839068e+00] [ 5.05110071e-03 -1.55807958e-04 9.99987231e-01 1.24105216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:250.01, Y:2.03, Z:1.24 [[ 9.99836702e-01 -1.73503782e-02 -5.05318005e-03 2.50007070e+02] [ 1.73508885e-02 9.99849460e-01 5.71470096e-05 2.02921617e+00] [ 5.05142783e-03 -1.44814841e-04 9.99987231e-01 1.24178546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:250.04, Y:2.03, Z:1.24 [[ 9.99920805e-01 -1.15260031e-02 -5.05317561e-03 2.50039517e+02] [ 1.15264409e-02 9.99933567e-01 5.75366709e-05 2.03132999e+00] [ 5.05217675e-03 -1.15777245e-04 9.99987231e-01 1.24356577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:250.07, Y:2.03, Z:1.24 [[ 9.99954197e-01 -8.12824797e-03 -5.05317100e-03 2.50071355e+02] [ 8.12864451e-03 9.99966960e-01 5.79390045e-05 2.03211247e+00] [ 5.05253310e-03 -9.90117815e-05 9.99987231e-01 1.24429290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:250.10, Y:2.03, Z:1.24 [[ 9.99986020e-01 -1.55703307e-03 -5.05316869e-03 2.50101894e+02] [ 1.55734674e-03 9.99998786e-01 5.81397271e-05 2.03420135e+00] [ 5.05307203e-03 -6.60084501e-05 9.99987231e-01 1.24498693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:250.13, Y:2.03, Z:1.25 [[ 9.99985559e-01 -1.82929732e-03 -5.05316755e-03 2.50131117e+02] [ 1.82961497e-03 9.99998325e-01 5.82391661e-05 2.03397280e+00] [ 5.05305254e-03 -6.74836761e-05 9.99987231e-01 1.24513457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:250.16, Y:2.04, Z:1.25 [[ 9.99981289e-01 3.44766639e-03 -5.05318303e-03 2.50160353e+02] [-3.44742306e-03 9.99994056e-01 5.68633253e-05 2.03570837e+00] [ 5.05334904e-03 -3.94418017e-05 9.99987231e-01 1.24589025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:250.19, Y:2.04, Z:1.25 [[ 9.99973891e-01 5.16548430e-03 -5.05319837e-03 2.50188542e+02] [-5.16526997e-03 9.99986658e-01 5.54653330e-05 2.03609478e+00] [ 5.05341746e-03 -2.93627510e-05 9.99987231e-01 1.24595795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:250.22, Y:2.04, Z:1.25 [[ 9.99964798e-01 6.69837714e-03 -5.05321525e-03 2.50216052e+02] [-6.69819037e-03 9.99977565e-01 5.38822407e-05 2.03621217e+00] [ 5.05346281e-03 -2.00329461e-05 9.99987231e-01 1.24611465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:250.24, Y:2.04, Z:1.25 [[ 9.99957539e-01 7.70623833e-03 -5.05322152e-03 2.50241952e+02] [-7.70606744e-03 9.99970306e-01 5.32884400e-05 2.03873174e+00] [ 5.05348212e-03 -1.43457115e-05 9.99987231e-01 1.24694822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:250.27, Y:2.04, Z:1.25 [[ 9.99948902e-01 8.75514190e-03 -5.05377896e-03 2.50273196e+02] [-8.75526348e-03 9.99961672e-01 -1.93250775e-06 2.03635259e+00] [ 5.05356834e-03 4.61795754e-05 9.99987230e-01 1.24545551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:250.30, Y:2.04, Z:1.24 [[ 9.99948052e-01 8.85204957e-03 -5.05321562e-03 2.50301563e+02] [-8.85189781e-03 9.99960820e-01 5.23972209e-05 2.03557143e+00] [ 5.05348146e-03 -7.66395070e-06 9.99987231e-01 1.24499708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:250.33, Y:2.04, Z:1.24 [[ 9.99950820e-01 8.53359846e-03 -5.05321978e-03 2.50328122e+02] [-8.53344468e-03 9.99963588e-01 5.19927584e-05 2.03582652e+00] [ 5.05347947e-03 -8.86882993e-06 9.99987231e-01 1.24480033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:250.36, Y:2.03, Z:1.24 [[ 9.99957517e-01 7.70882668e-03 -5.05350365e-03 2.50357012e+02] [-7.70880657e-03 9.99970286e-01 2.34593233e-05 2.03418460e+00] [ 5.05353434e-03 1.54981554e-05 9.99987231e-01 1.24423887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.044391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:250.39, Y:2.03, Z:1.24 [[ 9.99975494e-01 4.84516276e-03 -5.05330474e-03 2.50385829e+02] [-4.84500508e-03 9.99988262e-01 4.34445931e-05 2.03274568e+00] [ 5.05345592e-03 -1.89602413e-05 9.99987231e-01 1.24467962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.074391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:250.41, Y:2.03, Z:1.24 [[ 9.99982509e-01 3.07351847e-03 -5.05323645e-03 2.50414401e+02] [-3.07330351e-03 9.99995276e-01 5.03043120e-05 2.03168419e+00] [ 5.05336719e-03 -3.47733028e-05 9.99987231e-01 1.24443887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.104391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:250.44, Y:2.03, Z:1.24 [[ 9.99986451e-01 1.25024271e-03 -5.05324046e-03 2.50442375e+02] [-1.25000652e-03 9.99999218e-01 4.98983690e-05 2.03050226e+00] [ 5.05329889e-03 -4.35811094e-05 9.99987231e-01 1.24423860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.134391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:250.47, Y:2.03, Z:1.25 [[ 9.99981668e-01 -3.33605099e-03 -5.05324538e-03 2.50471175e+02] [ 3.33634318e-03 9.99994433e-01 4.93949965e-05 2.02823828e+00] [ 5.05305247e-03 -6.62534517e-05 9.99987231e-01 1.24508878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:250.50, Y:2.03, Z:1.25 [[ 9.99968956e-01 -6.04573060e-03 -5.05324934e-03 2.50500337e+02] [ 6.04605532e-03 9.99981721e-01 4.89863513e-05 2.02682657e+00] [ 5.05286082e-03 -7.95370557e-05 9.99987231e-01 1.24540125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:250.53, Y:2.03, Z:1.25 [[ 9.99946663e-01 -9.00750062e-03 -5.05325134e-03 2.50529490e+02] [ 9.00786210e-03 9.99959427e-01 4.87799049e-05 2.02525978e+00] [ 5.05260693e-03 -9.42962944e-05 9.99987231e-01 1.24575046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:250.56, Y:2.02, Z:1.25 [[ 9.99912318e-01 -1.22401070e-02 -5.05325232e-03 2.50560081e+02] [ 1.22405092e-02 9.99925081e-01 4.86776895e-05 2.02376114e+00] [ 5.05227792e-03 -1.10527803e-04 9.99987231e-01 1.24603005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:250.59, Y:2.02, Z:1.25 [[ 9.99866018e-01 -1.55695377e-02 -5.05325135e-03 2.50592251e+02] [ 1.55699829e-02 9.99878779e-01 4.87786480e-05 2.02210349e+00] [ 5.05187933e-03 -1.27451150e-04 9.99987231e-01 1.24671473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:250.62, Y:2.02, Z:1.25 [[ 9.99721516e-01 -2.30511288e-02 -5.05324740e-03 2.50624048e+02] [ 2.30516715e-02 9.99734274e-01 4.91845014e-05 2.01915261e+00] [ 5.05077086e-03 -1.65656604e-04 9.99987231e-01 1.24629756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:250.66, Y:2.02, Z:1.25 [[ 9.99617269e-01 -2.71988917e-02 -5.05323227e-03 2.50656403e+02] [ 2.71994950e-02 9.99630024e-01 5.06919614e-05 2.01719087e+00] [ 5.04998393e-03 -1.88117926e-04 9.99987231e-01 1.24616668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34439141800001 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:250.69, Y:2.02, Z:1.25 [[ 9.99525217e-01 -3.03941550e-02 -5.05322813e-03 2.50688169e+02] [ 3.03948012e-02 9.99537970e-01 5.11022186e-05 2.01500399e+00] [ 5.04934017e-03 -2.04669820e-04 9.99987231e-01 1.24608134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37439141800002 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:250.72, Y:2.01, Z:1.25 [[ 9.99259619e-01 -3.81402393e-02 -5.05338077e-03 2.50721523e+02] [ 3.81409078e-02 9.99272370e-01 3.59519249e-05 2.01189803e+00] [ 5.04833257e-03 -2.28665837e-04 9.99987231e-01 1.24537970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:250.75, Y:2.01, Z:1.25 [[ 9.99160374e-01 -4.06572405e-02 -5.05322517e-03 2.50754359e+02] [ 4.06580185e-02 9.99173120e-01 5.12836165e-05 2.01019328e+00] [ 5.04696171e-03 -2.56694680e-04 9.99987231e-01 1.24540191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:250.79, Y:2.01, Z:1.25 [[ 9.99084398e-01 -4.24833033e-02 -5.05321873e-03 2.50786132e+02] [ 4.24841078e-02 9.99097141e-01 5.19110987e-05 2.00879877e+00] [ 5.04645103e-03 -2.66545058e-04 9.99987231e-01 1.24555316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:250.82, Y:2.01, Z:1.25 [[ 9.98978838e-01 -4.48970589e-02 -5.05321334e-03 2.50819132e+02] [ 4.48978967e-02 9.98991580e-01 5.24300727e-05 2.00741898e+00] [ 5.04576362e-03 -2.79255184e-04 9.99987231e-01 1.24514687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:250.85, Y:2.01, Z:1.24 [[ 9.98981475e-01 -4.48383604e-02 -5.05320690e-03 2.50851541e+02] [ 4.48392006e-02 9.98994216e-01 5.30442548e-05 2.00702182e+00] [ 5.04574604e-03 -2.79571986e-04 9.99987231e-01 1.24462926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:250.88, Y:2.01, Z:1.24 [[ 9.99047798e-01 -4.33354698e-02 -5.05320152e-03 2.50883882e+02] [ 4.33362934e-02 9.99060540e-01 5.35520722e-05 2.00735891e+00] [ 5.04613353e-03 -2.72488103e-04 9.99987231e-01 1.24423560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:250.92, Y:2.01, Z:1.24 [[ 9.99116674e-01 -4.17173424e-02 -5.05319716e-03 2.50916149e+02] [ 4.17181474e-02 9.99129418e-01 5.39601836e-05 2.00756140e+00] [ 5.04654686e-03 -2.64722543e-04 9.99987231e-01 1.24389248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:250.95, Y:2.01, Z:1.24 [[ 9.99211658e-01 -3.93767434e-02 -5.05319277e-03 2.50947821e+02] [ 3.93775206e-02 9.99224403e-01 5.43683450e-05 2.00784686e+00] [ 5.04713268e-03 -2.53307686e-04 9.99987231e-01 1.24360705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:250.98, Y:2.01, Z:1.24 [[ 9.99416938e-01 -3.37675929e-02 -5.05318169e-03 2.50980148e+02] [ 3.37683037e-02 9.99429687e-01 5.53786061e-05 2.00986332e+00] [ 5.04842980e-03 -2.25983691e-04 9.99987231e-01 1.24346240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:251.01, Y:2.01, Z:1.24 [[ 9.99524861e-01 -3.04058685e-02 -5.05317618e-03 2.51012807e+02] [ 3.04065389e-02 9.99537613e-01 5.58774627e-05 2.01069364e+00] [ 5.04914065e-03 -2.09500511e-04 9.99987231e-01 1.24403310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:251.04, Y:2.01, Z:1.24 [[ 9.99635559e-01 -2.65181889e-02 -5.05317174e-03 2.51043944e+02] [ 2.65188117e-02 9.99648313e-01 5.62759743e-05 2.01166139e+00] [ 5.04990227e-03 -1.90259575e-04 9.99987231e-01 1.24427409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:251.07, Y:2.01, Z:1.24 [[ 9.99739969e-01 -2.22364764e-02 -5.05316842e-03 2.51074829e+02] [ 2.22370461e-02 9.99752725e-01 5.65727829e-05 2.01281350e+00] [ 5.05066091e-03 -1.68925611e-04 9.99987231e-01 1.24479563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:251.11, Y:2.02, Z:1.25 [[ 9.99905650e-01 -1.27732888e-02 -5.05316513e-03 2.51107419e+02] [ 1.27737392e-02 9.99918411e-01 5.68644889e-05 2.01618531e+00] [ 5.05202650e-03 -1.21406937e-04 9.99987231e-01 1.24501855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:251.14, Y:2.02, Z:1.25 [[ 9.99957858e-01 -7.66472369e-03 -5.05316071e-03 2.51138925e+02] [ 7.66511085e-03 9.99970621e-01 5.72553002e-05 2.01749328e+00] [ 5.05257340e-03 -9.59859243e-05 9.99987231e-01 1.24514245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.794391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:251.17, Y:2.02, Z:1.25 [[ 9.99984398e-01 -2.38114356e-03 -5.05315852e-03 2.51168964e+02] [ 2.38146425e-03 9.99997163e-01 5.74477556e-05 2.01879140e+00] [ 5.05300739e-03 -6.94807756e-05 9.99987231e-01 1.24605536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.824391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:251.20, Y:2.02, Z:1.25 [[ 9.99953739e-01 8.18442112e-03 -5.05315852e-03 2.51198207e+02] [-8.18423532e-03 9.99966507e-01 5.74477556e-05 2.02124131e+00] [ 5.05345945e-03 -1.60888596e-05 9.99987231e-01 1.24641974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.854391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:251.22, Y:2.02, Z:1.25 [[ 9.99899509e-01 1.32452551e-02 -5.05317423e-03 2.51224789e+02] [-1.32451411e-02 9.99912278e-01 5.60305133e-05 2.02215287e+00] [ 5.05347310e-03 1.09051228e-05 9.99987231e-01 1.24601502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.884391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:251.25, Y:2.02, Z:1.25 [[ 9.99901039e-01 1.31292765e-02 -5.05318190e-03 2.51253242e+02] [-1.31291645e-02 9.99913807e-01 5.53301134e-05 2.02195858e+00] [ 5.05347280e-03 1.10194186e-05 9.99987231e-01 1.24615906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:251.28, Y:2.03, Z:1.24 [[ 9.99821404e-01 1.82105673e-02 -5.05318825e-03 2.51276118e+02] [-1.82105232e-02 9.99834173e-01 5.47440036e-05 2.02938866e+00] [ 5.05334722e-03 3.72869751e-05 9.99987231e-01 1.24450583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:251.30, Y:2.03, Z:1.24 [[ 9.99816425e-01 1.84816594e-02 -5.05418160e-03 2.51304538e+02] [-1.84821179e-02 9.99829190e-01 -4.40173004e-05 2.02899225e+00] [ 5.05250478e-03 1.37421200e-04 9.99987227e-01 1.24468440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:251.34, Y:2.03, Z:1.25 [[ 9.99559837e-01 2.92333313e-02 -5.05420969e-03 2.51338048e+02] [-2.92339411e-02 9.99572596e-01 -4.68065880e-05 2.02521270e+00] [ 5.05068119e-03 1.94540454e-04 9.99987226e-01 1.24596066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:251.37, Y:2.03, Z:1.25 [[ 9.99471724e-01 3.21051359e-02 -5.05313476e-03 2.51367262e+02] [-3.21052734e-02 9.99484491e-01 5.39247126e-05 2.02537669e+00] [ 5.05226108e-03 1.08336047e-04 9.99987231e-01 1.24576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:251.39, Y:2.03, Z:1.24 [[ 9.99421230e-01 3.36403226e-02 -5.05313905e-03 2.51390865e+02] [-3.36404818e-02 9.99433997e-01 5.35196372e-05 2.02858436e+00] [ 5.05207937e-03 1.16501370e-04 9.99987231e-01 1.24280671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:251.42, Y:2.02, Z:1.25 [[ 9.99365718e-01 3.52508012e-02 -5.05388863e-03 2.51423352e+02] [-3.52513641e-02 9.99378477e-01 -2.23176671e-05 2.02494840e+00] [ 5.04996081e-03 2.00459980e-04 9.99987229e-01 1.24597592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09439141800001 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:251.45, Y:2.02, Z:1.25 [[ 9.99375663e-01 3.49678429e-02 -5.05312698e-03 2.51450710e+02] [-3.49680273e-02 9.99388430e-01 5.18755722e-05 2.02435586e+00] [ 5.05185061e-03 1.24854698e-04 9.99987232e-01 1.24618677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12439141800002 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:251.48, Y:2.02, Z:1.25 [[ 9.99457443e-01 3.25466690e-02 -5.05313805e-03 2.51478464e+02] [-3.25468281e-02 9.99470210e-01 5.07734532e-05 2.02311405e+00] [ 5.05211346e-03 1.13717710e-04 9.99987232e-01 1.24729249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:251.51, Y:2.02, Z:1.25 [[ 9.99532809e-01 3.01434798e-02 -5.05314298e-03 2.51507270e+02] [-3.01436107e-02 9.99545577e-01 5.02779219e-05 2.02219311e+00] [ 5.05236227e-03 1.02065542e-04 9.99987232e-01 1.24803909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:251.53, Y:2.03, Z:1.25 [[ 9.99696389e-01 2.41163058e-02 -5.05314693e-03 2.51530305e+02] [-2.41163617e-02 9.99709157e-01 4.98777476e-05 2.02663783e+00] [ 5.05288013e-03 7.20009151e-05 9.99987232e-01 1.24798014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:251.56, Y:2.02, Z:1.25 [[ 9.99802395e-01 1.92256984e-02 -5.05398644e-03 2.51563582e+02] [-1.92261571e-02 9.99815159e-01 -4.21876789e-05 2.01844574e+00] [ 5.05224117e-03 1.39348080e-04 9.99987228e-01 1.24800038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:251.59, Y:2.02, Z:1.25 [[ 9.99887907e-01 1.40939656e-02 -5.05310647e-03 2.51591682e+02] [-1.40938987e-02 9.99900675e-01 4.88465010e-05 2.01685637e+00] [ 5.05329301e-03 2.23769453e-05 9.99987232e-01 1.24781885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:251.62, Y:2.01, Z:1.25 [[ 9.99949918e-01 8.63877249e-03 -5.05311204e-03 2.51620025e+02] [-8.63863890e-03 9.99962685e-01 4.82635145e-05 2.01492276e+00] [ 5.05334042e-03 -4.60908712e-06 9.99987232e-01 1.24779564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:251.65, Y:2.01, Z:1.25 [[ 9.99982785e-01 2.98265162e-03 -5.05311764e-03 2.51647646e+02] [-2.98244882e-03 9.99995551e-01 4.76697261e-05 2.01263047e+00] [ 5.05323734e-03 -3.25982407e-05 9.99987232e-01 1.24732820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:251.68, Y:2.01, Z:1.25 [[ 9.99945808e-01 -9.10198502e-03 -5.05312222e-03 2.51676556e+02] [ 9.10233961e-03 9.99958572e-01 4.71788371e-05 2.00825094e+00] [ 5.05248346e-03 -9.31715149e-05 9.99987232e-01 1.24768962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:251.71, Y:2.01, Z:1.25 [[ 9.99876216e-01 -1.49002577e-02 -5.05314517e-03 2.51706910e+02] [ 1.49006739e-02 9.99888978e-01 4.47165188e-05 2.00573013e+00] [ 5.05191787e-03 -1.20006252e-04 9.99987232e-01 1.24705786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:251.74, Y:2.00, Z:1.25 [[ 9.99774102e-01 -2.06448712e-02 -5.05311404e-03 2.51738239e+02] [ 2.06453772e-02 9.99786860e-01 4.79937888e-05 2.00361640e+00] [ 5.05104620e-03 -1.52306393e-04 9.99987232e-01 1.24673843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:251.77, Y:2.00, Z:1.25 [[ 9.99541479e-01 -2.98546029e-02 -5.05311127e-03 2.51771337e+02] [ 2.98552279e-02 9.99554232e-01 4.82837865e-05 2.00031687e+00] [ 5.04941726e-03 -1.99123436e-04 9.99987232e-01 1.24682566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:251.80, Y:2.00, Z:1.25 [[ 9.99409377e-01 -3.39906284e-02 -5.05310558e-03 2.51801359e+02] [ 3.39913091e-02 9.99422127e-01 4.88727902e-05 2.00008752e+00] [ 5.04852431e-03 -2.20605598e-04 9.99987232e-01 1.24752238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:251.83, Y:2.00, Z:1.25 [[ 9.99301666e-01 -3.70221944e-02 -5.05340928e-03 2.51833036e+02] [ 3.70227527e-02 9.99314423e-01 1.69469032e-05 1.99567653e+00] [ 5.04931737e-03 -2.04026191e-04 9.99987231e-01 1.24715044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:251.87, Y:1.99, Z:1.25 [[ 9.99214528e-01 -3.93038228e-02 -5.05329453e-03 2.51866877e+02] [ 3.93044711e-02 9.99227280e-01 2.90150118e-05 1.99466730e+00] [ 5.04824935e-03 -2.27609290e-04 9.99987232e-01 1.24755215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.544391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:251.90, Y:1.99, Z:1.25 [[ 9.99184735e-01 -4.00541199e-02 -5.05309736e-03 2.51899476e+02] [ 4.00548799e-02 9.99197480e-01 4.92467107e-05 1.99372961e+00] [ 5.04706961e-03 -2.51607769e-04 9.99987232e-01 1.24758451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.574391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:251.93, Y:1.99, Z:1.25 [[ 9.99183224e-01 -4.00917842e-02 -5.05309139e-03 2.51932238e+02] [ 4.00925477e-02 9.99195969e-01 4.98518005e-05 1.99296001e+00] [ 5.04702990e-03 -2.52402390e-04 9.99987232e-01 1.24795144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.604391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:251.96, Y:1.99, Z:1.25 [[ 9.99198295e-01 -3.97144013e-02 -5.05308518e-03 2.51963026e+02] [ 3.97151631e-02 9.99211040e-01 5.04729898e-05 1.99257594e+00] [ 5.04709400e-03 -2.51116628e-04 9.99987232e-01 1.24652511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.634391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:252.00, Y:1.99, Z:1.25 [[ 9.99210145e-01 -3.94151327e-02 -5.05308210e-03 2.51995072e+02] [ 3.94158923e-02 9.99222890e-01 5.07800378e-05 1.99237408e+00] [ 5.04715380e-03 -2.49911668e-04 9.99987232e-01 1.24636046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:252.03, Y:1.99, Z:1.24 [[ 9.99255671e-01 -3.82435563e-02 -5.05307807e-03 2.52026247e+02] [ 3.82443030e-02 9.99268418e-01 5.11777116e-05 1.99267744e+00] [ 5.04742411e-03 -2.44391067e-04 9.99987232e-01 1.24497334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:252.06, Y:1.99, Z:1.24 [[ 9.99277694e-01 -3.76637355e-02 -5.05307506e-03 2.52059488e+02] [ 3.76644762e-02 9.99290441e-01 5.14736294e-05 1.99278862e+00] [ 5.04755091e-03 -2.41757875e-04 9.99987232e-01 1.24493391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:252.09, Y:1.99, Z:1.25 [[ 9.99302626e-01 -3.69963304e-02 -5.05306895e-03 2.52092721e+02] [ 3.69970656e-02 9.99315373e-01 5.20663406e-05 1.99286288e+00] [ 5.04768322e-03 -2.38978754e-04 9.99987232e-01 1.24500587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:252.12, Y:2.00, Z:1.24 [[ 9.99267079e-01 -3.79443258e-02 -5.05306274e-03 2.52120020e+02] [ 3.79450761e-02 9.99279825e-01 5.26623401e-05 1.99821061e+00] [ 5.04742541e-03 -2.44362593e-04 9.99987232e-01 1.24359072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:252.15, Y:1.99, Z:1.25 [[ 9.99427204e-01 -3.34622894e-02 -5.05368384e-03 2.52154769e+02] [ 3.34626764e-02 9.99439968e-01 -7.97330120e-06 1.99497486e+00] [ 5.05112042e-03 -1.61141053e-04 9.99987230e-01 1.24512382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:252.19, Y:2.00, Z:1.25 [[ 9.99477294e-01 -3.19312713e-02 -5.05300663e-03 2.52186680e+02] [ 3.19319549e-02 9.99490044e-01 5.46466446e-05 1.99606991e+00] [ 5.04868488e-03 -2.15970460e-04 9.99987232e-01 1.24626361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84439141800001 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:252.22, Y:2.00, Z:1.25 [[ 9.99608126e-01 -2.75329070e-02 -5.05300211e-03 2.52218554e+02] [ 2.75335366e-02 9.99620879e-01 5.50615846e-05 1.99861550e+00] [ 5.04957040e-03 -1.94167026e-04 9.99987232e-01 1.24625324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87439141800002 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:252.25, Y:2.00, Z:1.25 [[ 9.99682844e-01 -2.46714211e-02 -5.05299759e-03 2.52250745e+02] [ 2.46720163e-02 9.99695598e-01 5.54736889e-05 1.99961831e+00] [ 5.05009083e-03 -1.80123734e-04 9.99987232e-01 1.24597368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:252.28, Y:2.00, Z:1.25 [[ 9.99747249e-01 -2.19067306e-02 -5.05299190e-03 2.52283322e+02] [ 2.19072931e-02 9.99760005e-01 5.59866899e-05 2.00108749e+00] [ 5.05055272e-03 -1.66669914e-04 9.99987232e-01 1.24720575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:252.31, Y:2.00, Z:1.25 [[ 9.99850546e-01 -1.65333738e-02 -5.05298729e-03 2.52314674e+02] [ 1.65338698e-02 9.99863305e-01 5.64001330e-05 2.00451584e+00] [ 5.05136408e-03 -1.39937138e-04 9.99987232e-01 1.24863885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:252.35, Y:2.01, Z:1.25 [[ 9.99891322e-01 -1.38496275e-02 -5.05298384e-03 2.52347184e+02] [ 1.38500908e-02 9.99904081e-01 5.67075051e-05 2.00591128e+00] [ 5.05171378e-03 -1.26685627e-04 9.99987232e-01 1.24999929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:252.38, Y:2.01, Z:1.25 [[ 9.99917569e-01 -1.18034865e-02 -5.05297922e-03 2.52379240e+02] [ 1.18039258e-02 9.99930330e-01 5.71157920e-05 2.00734378e+00] [ 5.05195301e-03 -1.16756076e-04 9.99987232e-01 1.25124267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:252.41, Y:2.01, Z:1.25 [[ 9.99950149e-01 -8.61203501e-03 -5.05297455e-03 2.52409995e+02] [ 8.61243561e-03 9.99962911e-01 5.75266657e-05 2.00991609e+00] [ 5.05229171e-03 -1.01042216e-04 9.99987232e-01 1.25218786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:252.44, Y:2.01, Z:1.25 [[ 9.99953393e-01 -8.22676828e-03 -5.05297339e-03 2.52440649e+02] [ 8.22716448e-03 9.99966155e-01 5.76280830e-05 2.01073125e+00] [ 5.05232828e-03 -9.91970403e-05 9.99987232e-01 1.25317243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:252.47, Y:2.01, Z:1.25 [[ 9.99963803e-01 -6.84538982e-03 -5.05297339e-03 2.52471325e+02] [ 6.84576839e-03 9.99976566e-01 5.76280830e-05 2.01097879e+00] [ 5.05246049e-03 -9.22174826e-05 9.99987232e-01 1.25318486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:252.50, Y:2.01, Z:1.25 [[ 9.99952400e-01 -8.34645267e-03 -5.05320036e-03 2.52501944e+02] [ 8.34674962e-03 9.99965165e-01 3.76794006e-05 2.01201039e+00] [ 5.05270984e-03 -7.98554053e-05 9.99987232e-01 1.25363400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:252.53, Y:2.01, Z:1.25 [[ 9.99943401e-01 -9.36283150e-03 -5.05296938e-03 2.52532112e+02] [ 9.36324334e-03 9.99956162e-01 5.78532190e-05 2.01302798e+00] [ 5.05220620e-03 -1.05162126e-04 9.99987232e-01 1.25388296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:252.56, Y:2.01, Z:1.25 [[ 9.99938361e-01 -9.88648903e-03 -5.05296544e-03 2.52563551e+02] [ 9.88690928e-03 9.99951122e-01 5.81953048e-05 2.01300015e+00] [ 5.05214311e-03 -1.08149929e-04 9.99987232e-01 1.25450695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:252.59, Y:2.01, Z:1.25 [[ 9.99931172e-01 -1.05886182e-02 -5.05296312e-03 2.52594878e+02] [ 1.05890485e-02 9.99943933e-01 5.83965129e-05 2.01296170e+00] [ 5.05206147e-03 -1.11898565e-04 9.99987232e-01 1.25494431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:252.63, Y:2.01, Z:1.26 [[ 9.99903936e-01 -1.29068224e-02 -5.05296080e-03 2.52626451e+02] [ 1.29072832e-02 9.99916696e-01 5.85965267e-05 2.01322767e+00] [ 5.05178357e-03 -1.23810894e-04 9.99987232e-01 1.25713495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:252.66, Y:2.01, Z:1.26 [[ 9.99887547e-01 -1.41195149e-02 -5.05295839e-03 2.52657304e+02] [ 1.41199923e-02 9.99900306e-01 5.88036227e-05 2.01301958e+00] [ 5.05162436e-03 -1.30144743e-04 9.99987232e-01 1.25666750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.294391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:252.69, Y:2.01, Z:1.26 [[ 9.99848450e-01 -1.66596758e-02 -5.05295476e-03 2.52688896e+02] [ 1.66601871e-02 9.99861208e-01 5.91132047e-05 2.01308204e+00] [ 5.05126865e-03 -1.43287418e-04 9.99987232e-01 1.25775173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.324391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.72, Y:2.01, Z:1.26 [[ 9.99836393e-01 -1.73682080e-02 -5.05295130e-03 2.52721007e+02] [ 1.73687298e-02 9.99849150e-01 5.94080653e-05 2.01239383e+00] [ 5.05115725e-03 -1.47161692e-04 9.99987232e-01 1.25983869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.354391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:252.75, Y:2.01, Z:1.26 [[ 9.99822824e-01 -1.81325310e-02 -5.05294644e-03 2.52751951e+02] [ 1.81330647e-02 9.99835581e-01 5.98182486e-05 2.01190927e+00] [ 5.05103098e-03 -1.51433055e-04 9.99987232e-01 1.25958052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.384391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.78, Y:2.01, Z:1.26 [[ 9.99809096e-01 -1.88743302e-02 -5.05293823e-03 2.52784615e+02] [ 1.88748768e-02 9.99821852e-01 6.05039666e-05 2.01116054e+00] [ 5.05089609e-03 -1.55866002e-04 9.99987232e-01 1.26021691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:252.82, Y:2.01, Z:1.26 [[ 9.99812318e-01 -1.87028288e-02 -5.05293336e-03 2.52817147e+02] [ 1.87033752e-02 9.99825075e-01 6.09077466e-05 2.01053786e+00] [ 5.05091033e-03 -1.55403224e-04 9.99987232e-01 1.26100480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:252.85, Y:2.01, Z:1.26 [[ 9.99815442e-01 -1.85351243e-02 -5.05292847e-03 2.52848723e+02] [ 1.85356706e-02 9.99828198e-01 6.13109109e-05 2.01028795e+00] [ 5.05092396e-03 -1.54959013e-04 9.99987232e-01 1.26132440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:252.88, Y:2.01, Z:1.26 [[ 9.99852207e-01 -1.64326484e-02 -5.05292043e-03 2.52881123e+02] [ 1.64331712e-02 9.99864964e-01 6.19663444e-05 2.01015519e+00] [ 5.05121984e-03 -1.44992693e-04 9.99987232e-01 1.26355583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.91, Y:2.01, Z:1.26 [[ 9.99879139e-01 -1.47029178e-02 -5.05291548e-03 2.52913561e+02] [ 1.47034206e-02 9.99891897e-01 6.23678111e-05 2.00980565e+00] [ 5.05145225e-03 -1.36655415e-04 9.99987232e-01 1.26442943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:252.94, Y:2.01, Z:1.26 [[ 9.99932450e-01 -1.04672639e-02 -5.05291042e-03 2.52944709e+02] [ 1.04677147e-02 9.99945210e-01 6.27750785e-05 2.00972679e+00] [ 5.05197649e-03 -1.15663263e-04 9.99987232e-01 1.26269075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:252.97, Y:2.01, Z:1.26 [[ 9.99966676e-01 -6.41204206e-03 -5.05290664e-03 2.52974457e+02] [ 6.41244263e-03 9.99979438e-01 6.30780780e-05 2.00900891e+00] [ 5.05239828e-03 -9.54774500e-05 9.99987232e-01 1.26468347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59439141800001 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:253.00, Y:2.01, Z:1.26 [[ 9.99971082e-01 -5.68325942e-03 -5.05329287e-03 2.53004485e+02] [ 5.68349174e-03 9.99983848e-01 3.16146540e-05 2.00855313e+00] [ 5.05303158e-03 -6.03340881e-05 9.99987232e-01 1.26377789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141800002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:253.03, Y:2.01, Z:1.26 [[ 9.99981472e-01 -3.39467736e-03 -5.05291668e-03 2.53034037e+02] [ 3.39503490e-03 9.99994235e-01 6.21839151e-05 2.00774470e+00] [ 5.05267645e-03 -7.93375914e-05 9.99987232e-01 1.26215612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:253.06, Y:2.01, Z:1.26 [[ 9.99986852e-01 8.74515234e-04 -5.05291788e-03 2.53063300e+02] [-8.74212678e-04 9.99999616e-01 6.20858900e-05 2.00659062e+00] [ 5.05297023e-03 -5.76677488e-05 9.99987232e-01 1.26370951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:253.09, Y:2.01, Z:1.26 [[ 9.99979455e-01 3.94440653e-03 -5.05292027e-03 2.53090767e+02] [-3.94414415e-03 9.99992220e-01 6.18909252e-05 2.00560546e+00] [ 5.05312508e-03 -4.19602077e-05 9.99987232e-01 1.26398434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:253.12, Y:2.00, Z:1.26 [[ 9.99971999e-01 5.51989639e-03 -5.05293942e-03 2.53118555e+02] [-5.51966222e-03 9.99984765e-01 6.02858704e-05 2.00484974e+00] [ 5.05319521e-03 -3.23936635e-05 9.99987232e-01 1.26461101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:253.15, Y:2.00, Z:1.26 [[ 9.99972445e-01 5.43848700e-03 -5.05294670e-03 2.53147851e+02] [-5.43825492e-03 9.99985211e-01 5.96688030e-05 2.00457838e+00] [ 5.05319648e-03 -3.21879465e-05 9.99987232e-01 1.26475927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:253.18, Y:2.00, Z:1.26 [[ 9.99965877e-01 6.53555245e-03 -5.05295153e-03 2.53175793e+02] [-6.53533645e-03 9.99978643e-01 5.92574444e-05 2.00402507e+00] [ 5.05323089e-03 -2.62326840e-05 9.99987232e-01 1.26419325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:253.20, Y:2.00, Z:1.26 [[ 9.99958252e-01 7.61329553e-03 -5.05295745e-03 2.53204493e+02] [-7.61309587e-03 9.99971018e-01 5.87479542e-05 2.00277462e+00] [ 5.05325827e-03 -2.02768520e-05 9.99987232e-01 1.26403207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:253.23, Y:2.00, Z:1.26 [[ 9.99958244e-01 7.61437987e-03 -5.05296213e-03 2.53232273e+02] [-7.61418227e-03 9.99971010e-01 5.83424178e-05 2.00167864e+00] [ 5.05325989e-03 -1.98658069e-05 9.99987232e-01 1.26327833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:253.26, Y:2.00, Z:1.26 [[ 9.99968217e-01 6.16710185e-03 -5.05296848e-03 2.53260773e+02] [-6.16688857e-03 9.99980983e-01 5.77874761e-05 1.99928307e+00] [ 5.05322877e-03 -2.66245458e-05 9.99987232e-01 1.26349188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:253.29, Y:2.00, Z:1.26 [[ 9.99976289e-01 4.67850340e-03 -5.05297307e-03 2.53288645e+02] [-4.67827316e-03 9.99989055e-01 5.73836049e-05 1.99796097e+00] [ 5.05318623e-03 -3.37430560e-05 9.99987232e-01 1.26278648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:253.32, Y:2.00, Z:1.26 [[ 9.99981760e-01 3.30850781e-03 -5.05297871e-03 2.53316850e+02] [-3.30826262e-03 9.99994526e-01 5.68826032e-05 1.99638960e+00] [ 5.05313924e-03 -4.01649852e-05 9.99987232e-01 1.26302559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:253.35, Y:2.00, Z:1.26 [[ 9.99986956e-01 7.44512814e-04 -5.05306333e-03 2.53346032e+02] [-7.44273489e-04 9.99999722e-01 4.92426561e-05 1.99510179e+00] [ 5.05309859e-03 -4.54811527e-05 9.99987232e-01 1.26437302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:253.37, Y:1.99, Z:1.26 [[ 9.99985903e-01 -1.63131909e-03 -5.05298832e-03 2.53373948e+02] [ 1.63162293e-03 9.99998667e-01 5.60103200e-05 1.99364147e+00] [ 5.05289021e-03 -6.42541021e-05 9.99987232e-01 1.26425211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:253.40, Y:1.99, Z:1.27 [[ 9.99968056e-01 -6.19309992e-03 -5.05299391e-03 2.53402843e+02] [ 6.19345942e-03 9.99980819e-01 5.55008261e-05 1.99074702e+00] [ 5.05255327e-03 -8.67945660e-05 9.99987232e-01 1.26551299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.044391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:253.43, Y:1.99, Z:1.27 [[ 9.99948771e-01 -8.77052909e-03 -5.05299833e-03 2.53431893e+02] [ 8.77091944e-03 9.99961533e-01 5.50955245e-05 1.98922781e+00] [ 5.05232074e-03 -9.94121433e-05 9.99987232e-01 1.26560204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.074391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:253.46, Y:1.99, Z:1.27 [[ 9.99901041e-01 -1.31291619e-02 -5.05299943e-03 2.53462607e+02] [ 1.31296073e-02 9.99913801e-01 5.49947637e-05 1.98631091e+00] [ 5.05184183e-03 -1.21333220e-04 9.99987232e-01 1.26543570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.104391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:253.49, Y:1.99, Z:1.27 [[ 9.99868687e-01 -1.53972762e-02 -5.05299943e-03 2.53494453e+02] [ 1.53977506e-02 9.99881446e-01 5.49947637e-05 1.98504375e+00] [ 5.05155361e-03 -1.32792367e-04 9.99987232e-01 1.26557699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.134391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:253.53, Y:1.98, Z:1.27 [[ 9.99836904e-01 -1.73387727e-02 -5.05299501e-03 2.53526897e+02] [ 1.73392739e-02 9.99849662e-01 5.53979333e-05 1.98368746e+00] [ 5.05127482e-03 -1.43004163e-04 9.99987232e-01 1.26581394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:253.56, Y:1.98, Z:1.27 [[ 9.99754168e-01 -2.15886915e-02 -5.05299057e-03 2.53558912e+02] [ 2.15892490e-02 9.99766923e-01 5.57998288e-05 1.98209989e+00] [ 5.05060819e-03 -1.64876383e-04 9.99987232e-01 1.26586057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.59, Y:1.98, Z:1.27 [[ 9.99661933e-01 -2.55046293e-02 -5.05298613e-03 2.53589528e+02] [ 2.55052387e-02 9.99674687e-01 5.61993447e-05 1.98445952e+00] [ 5.04990898e-03 -1.85057963e-04 9.99987232e-01 1.26719334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:253.62, Y:1.98, Z:1.27 [[ 9.99683764e-01 -2.46340297e-02 -5.05345085e-03 2.53623383e+02] [ 2.46344182e-02 9.99696527e-01 1.46333640e-05 1.97954300e+00] [ 5.05155679e-03 -1.39117558e-04 9.99987231e-01 1.26651931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:253.66, Y:1.98, Z:1.27 [[ 9.99625315e-01 -2.69016141e-02 -5.05294666e-03 2.53655285e+02] [ 2.69022520e-02 9.99638067e-01 5.83189985e-05 1.97850639e+00] [ 5.04954896e-03 -1.94232792e-04 9.99987232e-01 1.26732334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:253.69, Y:1.98, Z:1.27 [[ 9.99603501e-01 -2.77003261e-02 -5.05294188e-03 2.53687815e+02] [ 2.77009763e-02 9.99616253e-01 5.87304574e-05 1.97838040e+00] [ 5.04937597e-03 -1.98678594e-04 9.99987232e-01 1.26752003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:253.72, Y:1.98, Z:1.27 [[ 9.99603485e-01 -2.77009110e-02 -5.05293701e-03 2.53719994e+02] [ 2.77015633e-02 9.99616236e-01 5.91458437e-05 1.97799139e+00] [ 5.04935949e-03 -1.99096646e-04 9.99987232e-01 1.26760448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34439141800001 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:253.75, Y:1.98, Z:1.27 [[ 9.99606286e-01 -2.75996505e-02 -5.05293211e-03 2.53751360e+02] [ 2.76003036e-02 9.99619037e-01 5.95616301e-05 1.97798162e+00] [ 5.04936325e-03 -1.99000640e-04 9.99987232e-01 1.26683006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37439141800002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:253.78, Y:1.98, Z:1.27 [[ 9.99628342e-01 -2.67889224e-02 -5.05292336e-03 2.53782781e+02] [ 2.67895689e-02 9.99641093e-01 6.02955140e-05 1.97830350e+00] [ 5.04949458e-03 -1.95638743e-04 9.99987232e-01 1.26534363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:253.82, Y:1.98, Z:1.27 [[ 9.99650652e-01 -2.59430552e-02 -5.05291972e-03 2.53815203e+02] [ 2.59436925e-02 9.99663404e-01 6.05985143e-05 1.97820891e+00] [ 5.04964682e-03 -1.91668740e-04 9.99987232e-01 1.26570980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:253.85, Y:1.98, Z:1.27 [[ 9.99673026e-01 -2.50661150e-02 -5.05291488e-03 2.53847805e+02] [ 2.50667430e-02 9.99685778e-01 6.09996076e-05 1.97796121e+00] [ 5.04979812e-03 -1.87639781e-04 9.99987232e-01 1.26581543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:253.88, Y:1.98, Z:1.27 [[ 9.99734708e-01 -2.24717860e-02 -5.05291000e-03 2.53880487e+02] [ 2.24723830e-02 9.99747462e-01 6.14009356e-05 1.97848034e+00] [ 5.05025416e-03 -1.74935575e-04 9.99987232e-01 1.26633250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:253.91, Y:1.98, Z:1.27 [[ 9.99766651e-01 -2.10026409e-02 -5.05290511e-03 2.53912888e+02] [ 2.10032212e-02 9.99779406e-01 6.18008157e-05 1.97908017e+00] [ 5.05049249e-03 -1.67913678e-04 9.99987232e-01 1.26708222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:253.95, Y:1.98, Z:1.27 [[ 9.99797607e-01 -1.94733912e-02 -5.05290014e-03 2.53945077e+02] [ 1.94739540e-02 9.99810363e-01 6.22047822e-05 1.97973959e+00] [ 5.05073058e-03 -1.60592137e-04 9.99987232e-01 1.26758621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:253.98, Y:1.98, Z:1.27 [[ 9.99851018e-01 -1.65048553e-02 -5.05289514e-03 2.53975836e+02] [ 1.65053822e-02 9.99863775e-01 6.26081324e-05 1.98117942e+00] [ 5.05117347e-03 -1.45998771e-04 9.99987232e-01 1.26814611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:254.01, Y:1.98, Z:1.27 [[ 9.99870946e-01 -1.52498813e-02 -5.05289141e-03 2.54008093e+02] [ 1.52503938e-02 9.99883704e-01 6.29082039e-05 1.98130897e+00] [ 5.05134443e-03 -1.39958669e-04 9.99987232e-01 1.26866268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:254.04, Y:1.98, Z:1.27 [[ 9.99894639e-01 -1.36080420e-02 -5.05288642e-03 2.54040261e+02] [ 1.36085356e-02 9.99907398e-01 6.33064612e-05 1.98177565e+00] [ 5.05155703e-03 -1.32062176e-04 9.99987232e-01 1.26945584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:254.07, Y:1.98, Z:1.27 [[ 9.99899985e-01 -1.32094164e-02 -5.05288123e-03 2.54071790e+02] [ 1.32099070e-02 9.99912743e-01 6.37177701e-05 1.98161497e+00] [ 5.05159866e-03 -1.30459488e-04 9.99987232e-01 1.26893415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:254.10, Y:1.98, Z:1.27 [[ 9.99901922e-01 -1.30619730e-02 -5.05287250e-03 2.54104472e+02] [ 1.30624651e-02 9.99914680e-01 6.44027884e-05 1.98135320e+00] [ 5.05160016e-03 -1.30399442e-04 9.99987232e-01 1.26880493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:254.14, Y:1.98, Z:1.27 [[ 9.99910142e-01 -1.24168165e-02 -5.05286733e-03 2.54136396e+02] [ 1.24173024e-02 9.99922900e-01 6.48054734e-05 1.98170952e+00] [ 5.05167308e-03 -1.27542632e-04 9.99987232e-01 1.26822609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:254.17, Y:1.98, Z:1.27 [[ 9.99911245e-01 -1.23276357e-02 -5.05286215e-03 2.54168323e+02] [ 1.23281225e-02 9.99924004e-01 6.52067976e-05 1.98171493e+00] [ 5.05167431e-03 -1.27493314e-04 9.99987232e-01 1.26871643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764391418 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:254.20, Y:1.98, Z:1.27 [[ 9.99914902e-01 -1.20273891e-02 -5.05285688e-03 2.54200620e+02] [ 1.20278741e-02 9.99927660e-01 6.56125699e-05 1.98175187e+00] [ 5.05170222e-03 -1.26382113e-04 9.99987232e-01 1.26905502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.794391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:254.23, Y:1.98, Z:1.27 [[ 9.99924017e-01 -1.12440388e-02 -5.05285163e-03 2.54231884e+02] [ 1.12445158e-02 9.99936776e-01 6.60148780e-05 1.98264745e+00] [ 5.05178989e-03 -1.22826732e-04 9.99987232e-01 1.26972989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.824391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:254.26, Y:1.98, Z:1.27 [[ 9.99930822e-01 -1.06217125e-02 -5.05284769e-03 2.54263089e+02] [ 1.06221832e-02 9.99943581e-01 6.63146323e-05 1.98268178e+00] [ 5.05185824e-03 -1.19982319e-04 9.99987232e-01 1.27035110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.854391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:254.29, Y:1.98, Z:1.27 [[ 9.99937496e-01 -9.97359600e-03 -5.05284509e-03 2.54294294e+02] [ 9.97405937e-03 9.99950256e-01 6.65127296e-05 1.98279667e+00] [ 5.05193037e-03 -1.16905949e-04 9.99987232e-01 1.27018289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.884391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:254.33, Y:1.98, Z:1.27 [[ 9.99951599e-01 -8.44207359e-03 -5.05284117e-03 2.54325869e+02] [ 8.44251891e-03 9.99964359e-01 6.68087689e-05 1.98356810e+00] [ 5.05209708e-03 -1.09464242e-04 9.99987232e-01 1.27149423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:254.36, Y:1.98, Z:1.27 [[ 9.99955166e-01 -8.00843965e-03 -5.05283848e-03 2.54355861e+02] [ 8.00888046e-03 9.99967926e-01 6.70118485e-05 1.98406916e+00] [ 5.05213976e-03 -1.07476423e-04 9.99987232e-01 1.27159944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:254.39, Y:1.98, Z:1.27 [[ 9.99957932e-01 -7.65526976e-03 -5.05283396e-03 2.54386518e+02] [ 7.65570777e-03 9.99970692e-01 6.73508686e-05 1.98437916e+00] [ 5.05217029e-03 -1.06031055e-04 9.99987232e-01 1.27220708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:254.42, Y:1.98, Z:1.27 [[ 9.99958470e-01 -7.58467193e-03 -5.05283396e-03 2.54417245e+02] [ 7.58510904e-03 9.99971230e-01 6.73508686e-05 1.98459063e+00] [ 5.05217776e-03 -1.05674368e-04 9.99987232e-01 1.27293961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:254.45, Y:1.98, Z:1.27 [[ 9.99960738e-01 -7.27952217e-03 -5.05282947e-03 2.54447883e+02] [ 7.27995709e-03 9.99973498e-01 6.76860788e-05 1.98417683e+00] [ 5.05220284e-03 -1.04467803e-04 9.99987232e-01 1.27300923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:254.48, Y:1.98, Z:1.27 [[ 9.99949463e-01 -8.69133788e-03 -5.05288576e-03 2.54478642e+02] [ 8.69176940e-03 9.99962224e-01 6.34489294e-05 1.98434148e+00] [ 5.05214343e-03 -1.07364241e-04 9.99987232e-01 1.27388611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:254.51, Y:1.98, Z:1.27 [[ 9.99946472e-01 -9.02892247e-03 -5.05284148e-03 2.54509276e+02] [ 9.02937522e-03 9.99959232e-01 6.67983847e-05 1.98444055e+00] [ 5.05203237e-03 -1.12418811e-04 9.99987232e-01 1.27286752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09439141800001 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:254.54, Y:1.98, Z:1.27 [[ 9.99938008e-01 -9.92211508e-03 -5.05284016e-03 2.54540514e+02] [ 9.92257973e-03 9.99950768e-01 6.68986641e-05 1.98416565e+00] [ 5.05192762e-03 -1.17031726e-04 9.99987232e-01 1.27422833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141800002 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:254.57, Y:1.98, Z:1.27 [[ 9.99932903e-01 -1.04239461e-02 -5.05283746e-03 2.54571254e+02] [ 1.04244182e-02 9.99945662e-01 6.71013364e-05 1.98423848e+00] [ 5.05186344e-03 -1.19769725e-04 9.99987232e-01 1.27403255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:254.60, Y:1.98, Z:1.27 [[ 9.99937009e-01 -1.00223346e-02 -5.05283613e-03 2.54601281e+02] [ 1.00228021e-02 9.99949768e-01 6.72019208e-05 1.98469544e+00] [ 5.05190879e-03 -1.17841264e-04 9.99987232e-01 1.27371619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:254.63, Y:1.98, Z:1.27 [[ 9.99925649e-01 -1.10978130e-02 -5.05312328e-03 2.54633204e+02] [ 1.10981840e-02 9.99938412e-01 4.53834536e-05 1.98457101e+00] [ 5.05230841e-03 -1.01460571e-04 9.99987232e-01 1.27314579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:254.66, Y:1.99, Z:1.27 [[ 9.99925880e-01 -1.10771317e-02 -5.05284003e-03 2.54664887e+02] [ 1.10776106e-02 9.99938639e-01 6.68068902e-05 1.98509747e+00] [ 5.05178995e-03 -1.22775333e-04 9.99987232e-01 1.27035622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:254.70, Y:1.99, Z:1.27 [[ 9.99907393e-01 -1.26362347e-02 -5.05283607e-03 2.54696570e+02] [ 1.26367351e-02 9.99920151e-01 6.71050170e-05 1.98719030e+00] [ 5.05158465e-03 -1.30950153e-04 9.99987232e-01 1.27150504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:254.73, Y:1.99, Z:1.27 [[ 9.99932877e-01 -1.04263777e-02 -5.05293761e-03 2.54727450e+02] [ 1.04268113e-02 9.99945638e-01 5.94654203e-05 1.98542107e+00] [ 5.05204291e-03 -1.12147456e-04 9.99987232e-01 1.27088649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:254.76, Y:1.99, Z:1.27 [[ 9.99943139e-01 -9.39087987e-03 -5.05282206e-03 2.54758629e+02] [ 9.39134354e-03 9.99955898e-01 6.80455113e-05 1.98660640e+00] [ 5.05196022e-03 -1.15494430e-04 9.99987232e-01 1.27173699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:254.79, Y:1.99, Z:1.27 [[ 9.99955952e-01 -7.90963541e-03 -5.05281932e-03 2.54789036e+02] [ 7.91008121e-03 9.99968712e-01 6.82485901e-05 1.98693043e+00] [ 5.05212141e-03 -1.08213795e-04 9.99987232e-01 1.27139524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:254.82, Y:1.99, Z:1.27 [[ 9.99977233e-01 -4.47236863e-03 -5.05281796e-03 2.54819378e+02] [ 4.47277107e-03 9.99989995e-01 6.83493273e-05 1.98879208e+00] [ 5.05246172e-03 -9.09478692e-05 9.99987232e-01 1.27208998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:254.85, Y:1.99, Z:1.27 [[ 9.99985192e-01 -2.02090055e-03 -5.05281663e-03 2.54849484e+02] [ 2.02127220e-03 9.99997955e-01 6.84472866e-05 1.98940824e+00] [ 5.05266797e-03 -7.86593909e-05 9.99987232e-01 1.27340684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:254.88, Y:1.99, Z:1.27 [[ 9.99983114e-01 2.87054178e-03 -5.05281937e-03 2.54877717e+02] [-2.87023359e-03 9.99995879e-01 6.82443418e-05 1.99081647e+00] [ 5.05299445e-03 -5.37404175e-05 9.99987232e-01 1.27432638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:254.90, Y:1.99, Z:1.27 [[ 9.99981867e-01 3.27646142e-03 -5.05282343e-03 2.54903971e+02] [-3.27615994e-03 9.99994631e-01 6.79426722e-05 1.99472274e+00] [ 5.05301891e-03 -5.13875825e-05 9.99987232e-01 1.27176255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:254.94, Y:1.99, Z:1.28 [[ 9.99959749e-01 7.41356220e-03 -5.05371725e-03 2.54935539e+02] [-7.41366121e-03 9.99972518e-01 -8.58131865e-07 1.99150399e+00] [ 5.05357201e-03 3.83246449e-05 9.99987230e-01 1.27536656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:254.96, Y:1.99, Z:1.28 [[ 9.99944212e-01 9.27590931e-03 -5.05280651e-03 2.54963010e+02] [-9.27568711e-03 9.99956978e-01 6.74092243e-05 1.99196239e+00] [ 5.05321441e-03 -2.05372114e-05 9.99987232e-01 1.27576647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.544391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:254.99, Y:1.99, Z:1.27 [[ 9.99903414e-01 1.29472970e-02 -5.05281452e-03 2.54990120e+02] [-1.29471247e-02 9.99916180e-01 6.68037612e-05 1.99228662e+00] [ 5.05325592e-03 -1.37788917e-06 9.99987232e-01 1.27482423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.574391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:255.02, Y:1.99, Z:1.27 [[ 9.99882841e-01 1.44489946e-02 -5.05282767e-03 2.55018760e+02] [-1.44488466e-02 9.99895608e-01 6.57938910e-05 1.99211695e+00] [ 5.05325085e-03 7.22134916e-06 9.99987232e-01 1.27466741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.604391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:255.05, Y:1.99, Z:1.27 [[ 9.99867311e-01 1.54863980e-02 -5.05283284e-03 2.55047956e+02] [-1.54862653e-02 9.99880078e-01 6.53944874e-05 1.99185047e+00] [ 5.05323962e-03 1.28636997e-05 9.99987232e-01 1.27438650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.634391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:255.07, Y:1.99, Z:1.27 [[ 9.99874666e-01 1.50040044e-02 -5.05283802e-03 2.55072370e+02] [-1.50038676e-02 9.99887434e-01 6.49914323e-05 1.99453185e+00] [ 5.05324437e-03 1.08288257e-05 9.99987232e-01 1.27028010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:255.10, Y:1.99, Z:1.27 [[ 9.99844939e-01 1.68688640e-02 -5.05370269e-03 2.55104015e+02] [-1.68691081e-02 9.99857706e-01 -5.67797641e-06 1.99060809e+00] [ 5.05288780e-03 9.09285528e-05 9.99987230e-01 1.27394781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:255.13, Y:1.99, Z:1.27 [[ 9.99846922e-01 1.67511396e-02 -5.05283141e-03 2.55132462e+02] [-1.67510323e-02 9.99859690e-01 6.35730715e-05 1.99033140e+00] [ 5.05318737e-03 2.10768021e-05 9.99987232e-01 1.27406646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:255.15, Y:2.00, Z:1.27 [[ 9.99917572e-01 1.18033245e-02 -5.05283885e-03 2.55154792e+02] [-1.18031570e-02 9.99930338e-01 6.29763616e-05 1.99633003e+00] [ 5.05323019e-03 -3.33172036e-06 9.99987232e-01 1.27246904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:255.19, Y:1.99, Z:1.27 [[ 9.99826892e-01 1.79064634e-02 -5.05421761e-03 2.55190909e+02] [-1.79069617e-02 9.99839656e-01 -5.33558830e-05 1.98734087e+00] [ 5.05245179e-03 1.43852328e-04 9.99987226e-01 1.27480947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:255.21, Y:1.99, Z:1.27 [[ 9.99908975e-01 1.25104482e-02 -5.05275093e-03 2.55214380e+02] [-1.25102874e-02 9.99921741e-01 6.34480559e-05 1.99315139e+00] [ 5.05314927e-03 -2.30914585e-07 9.99987233e-01 1.27258880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:255.24, Y:1.99, Z:1.27 [[ 9.99907821e-01 1.26018381e-02 -5.05400635e-03 2.55242091e+02] [-1.26022176e-02 9.99920588e-01 -4.32541005e-05 1.99063803e+00] [ 5.05305992e-03 1.06941801e-04 9.99987227e-01 1.27228635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84439141800001 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:255.27, Y:1.99, Z:1.27 [[ 9.99904315e-01 1.28769779e-02 -5.05404011e-03 2.55270641e+02] [-1.28773755e-02 9.99917082e-01 -4.61314495e-05 1.98873237e+00] [ 5.05302701e-03 1.11209808e-04 9.99987227e-01 1.27258951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87439141800002 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:255.30, Y:1.99, Z:1.27 [[ 9.99905683e-01 1.27703540e-02 -5.05399219e-03 2.55298868e+02] [-1.27707294e-02 9.99918450e-01 -4.19994067e-05 1.98730012e+00] [ 5.05304369e-03 1.06538612e-04 9.99987228e-01 1.27236241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:255.33, Y:1.98, Z:1.27 [[ 9.99901059e-01 1.31274268e-02 -5.05399851e-03 2.55328759e+02] [-1.31278097e-02 9.99913826e-01 -4.25910268e-05 1.98309310e+00] [ 5.05300388e-03 1.08934744e-04 9.99987228e-01 1.27310998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:255.36, Y:1.98, Z:1.28 [[ 9.99880853e-01 1.45856116e-02 -5.05377869e-03 2.55361678e+02] [-1.45859093e-02 9.99893620e-01 -2.20499050e-05 1.97698881e+00] [ 5.05291945e-03 9.57612352e-05 9.99987229e-01 1.27727571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:255.39, Y:1.97, Z:1.28 [[ 9.99893221e-01 1.37118326e-02 -5.05289718e-03 2.55390442e+02] [-1.37117216e-02 9.99905988e-01 5.66196536e-05 1.97496933e+00] [ 5.05319851e-03 1.26703116e-05 9.99987232e-01 1.27767188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:255.42, Y:1.97, Z:1.28 [[ 9.99906662e-01 1.26939187e-02 -5.05290155e-03 2.55417415e+02] [-1.26937967e-02 9.99919429e-01 5.62267693e-05 1.97296594e+00] [ 5.05320817e-03 7.91898381e-06 9.99987232e-01 1.27678821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:255.45, Y:1.97, Z:1.28 [[ 9.99932258e-01 1.04856107e-02 -5.05290906e-03 2.55445508e+02] [-1.04854639e-02 9.99945024e-01 5.55442774e-05 1.96888932e+00] [ 5.05321368e-03 -2.55841905e-06 9.99987232e-01 1.27854737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:255.47, Y:1.96, Z:1.28 [[ 9.99954956e-01 8.03459476e-03 -5.05291536e-03 2.55473435e+02] [-8.03441959e-03 9.99967722e-01 5.49650431e-05 1.96455889e+00] [ 5.05319388e-03 -1.43653251e-05 9.99987232e-01 1.27849267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:255.50, Y:1.96, Z:1.28 [[ 9.99963222e-01 6.92982333e-03 -5.05292108e-03 2.55501985e+02] [-6.92963674e-03 9.99975988e-01 5.44339945e-05 1.96230696e+00] [ 5.05317697e-03 -1.94170850e-05 9.99987232e-01 1.27864346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:255.53, Y:1.96, Z:1.28 [[ 9.99966680e-01 6.41144390e-03 -5.05292516e-03 2.55529775e+02] [-6.41125262e-03 9.99979446e-01 5.40523120e-05 1.95978100e+00] [ 5.05316786e-03 -2.16549313e-05 9.99987232e-01 1.27834238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:255.56, Y:1.96, Z:1.28 [[ 9.99971391e-01 5.62893172e-03 -5.05293017e-03 2.55557526e+02] [-5.62873284e-03 9.99984157e-01 5.35796821e-05 1.95531021e+00] [ 5.05315172e-03 -2.51365553e-05 9.99987232e-01 1.27779089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:255.59, Y:1.96, Z:1.28 [[ 9.99971805e-01 5.55489097e-03 -5.05293509e-03 2.55586829e+02] [-5.55469351e-03 9.99984571e-01 5.31115289e-05 1.95508409e+00] [ 5.05315216e-03 -2.50425257e-05 9.99987232e-01 1.27793912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:255.61, Y:1.95, Z:1.28 [[ 9.99962387e-01 7.04922025e-03 -5.05293900e-03 2.55612432e+02] [-7.04904375e-03 9.99975154e-01 5.27374021e-05 1.95073990e+00] [ 5.05318521e-03 -1.71170304e-05 9.99987232e-01 1.27569750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:255.64, Y:1.95, Z:1.28 [[ 9.99969158e-01 6.01240721e-03 -5.05313458e-03 2.55642038e+02] [-6.01231402e-03 9.99981925e-01 3.36318753e-05 1.94898461e+00] [ 5.05324546e-03 -3.24980606e-06 9.99987232e-01 1.27622936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:255.67, Y:1.95, Z:1.28 [[ 9.99961557e-01 7.16598349e-03 -5.05294861e-03 2.55670670e+02] [-7.16581333e-03 9.99974324e-01 5.17804292e-05 1.94557306e+00] [ 5.05318992e-03 -1.55699522e-05 9.99987232e-01 1.27575235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.294391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:255.70, Y:1.94, Z:1.28 [[ 9.99957454e-01 7.71732923e-03 -5.05295233e-03 2.55698941e+02] [-7.71716795e-03 9.99970221e-01 5.14146981e-05 1.94360587e+00] [ 5.05319864e-03 -1.24180289e-05 9.99987232e-01 1.27776056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.324391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:255.72, Y:1.94, Z:1.27 [[ 9.99928123e-01 1.08727324e-02 -5.05295821e-03 2.55723576e+02] [-1.08726143e-02 9.99940890e-01 5.08296818e-05 1.93917417e+00] [ 5.05321219e-03 4.11283749e-06 9.99987232e-01 1.27439118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.354391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:255.75, Y:1.94, Z:1.28 [[ 9.99911939e-01 1.22710163e-02 -5.05335631e-03 2.55752922e+02] [-1.22711390e-02 9.99924707e-01 6.73127494e-06 1.93675588e+00] [ 5.05305843e-03 5.52797554e-05 9.99987232e-01 1.27739085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.384391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:255.78, Y:1.93, Z:1.28 [[ 9.99908755e-01 1.25278570e-02 -5.05325654e-03 2.55783143e+02] [-1.25279340e-02 9.99921522e-01 1.64207023e-05 1.93477899e+00] [ 5.05306569e-03 4.68876605e-05 9.99987232e-01 1.28016610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:255.81, Y:1.93, Z:1.28 [[ 9.99913609e-01 1.21343086e-02 -5.05308403e-03 2.55812035e+02] [-1.21342968e-02 9.99926376e-01 3.30002728e-05 1.93059447e+00] [ 5.05311244e-03 2.83181995e-05 9.99987233e-01 1.27925750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:255.84, Y:1.93, Z:1.28 [[ 9.99928104e-01 1.08745554e-02 -5.05288097e-03 2.55839572e+02] [-1.08744288e-02 9.99940870e-01 5.25317880e-05 1.92601600e+00] [ 5.05315346e-03 2.41918309e-06 9.99987233e-01 1.27821667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:255.87, Y:1.92, Z:1.28 [[ 9.99928764e-01 1.08136843e-02 -5.05288591e-03 2.55866955e+02] [-1.08135593e-02 9.99941530e-01 5.20525755e-05 1.92302269e+00] [ 5.05315335e-03 2.59081408e-06 9.99987233e-01 1.27637646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:255.90, Y:1.92, Z:1.28 [[ 9.99959837e-01 7.40208764e-03 -5.05311132e-03 2.55897055e+02] [-7.40203070e-03 9.99972604e-01 2.99702158e-05 1.92079190e+00] [ 5.05319472e-03 7.43427305e-06 9.99987233e-01 1.27779699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534391418 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:255.93, Y:1.92, Z:1.28 [[ 9.99975442e-01 4.85640240e-03 -5.05289165e-03 2.55925849e+02] [-4.85620409e-03 9.99988207e-01 5.15162422e-05 1.91809744e+00] [ 5.05308224e-03 -2.69771040e-05 9.99987233e-01 1.27804732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:255.95, Y:1.91, Z:1.28 [[ 9.99987165e-01 -3.71498442e-04 -5.05289560e-03 2.55953572e+02] [ 3.71761518e-04 9.99999930e-01 5.11253221e-05 1.91305534e+00] [ 5.05287625e-03 -5.30031381e-05 9.99987233e-01 1.27540865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59439141800001 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:255.98, Y:1.91, Z:1.28 [[ 9.99977850e-01 -4.33221639e-03 -5.05296191e-03 2.55981688e+02] [ 4.33249701e-03 9.99990614e-01 4.45892732e-05 1.91041599e+00] [ 5.05272131e-03 -6.64802279e-05 9.99987233e-01 1.27768744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141800002 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:256.01, Y:1.91, Z:1.28 [[ 9.99934255e-01 -1.02933915e-02 -5.05289492e-03 2.56010104e+02] [ 1.02937816e-02 9.99947016e-01 5.12004218e-05 1.90531111e+00] [ 5.05210017e-03 -1.03210452e-04 9.99987233e-01 1.27674483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.654391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:256.04, Y:1.90, Z:1.28 [[ 9.99896986e-01 -1.34345169e-02 -5.05289684e-03 2.56040007e+02] [ 1.34349461e-02 9.99909746e-01 5.10098448e-05 1.90285631e+00] [ 5.05175551e-03 -1.18889987e-04 9.99987233e-01 1.27745326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:256.07, Y:1.90, Z:1.28 [[ 9.99863493e-01 -1.57309941e-02 -5.05289589e-03 2.56071009e+02] [ 1.57314531e-02 9.99876252e-01 5.11042562e-05 1.90071794e+00] [ 5.05146668e-03 -1.30586675e-04 9.99987233e-01 1.27937673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:256.10, Y:1.90, Z:1.28 [[ 9.99826004e-01 -1.79563421e-02 -5.05289392e-03 2.56103373e+02] [ 1.79568305e-02 9.99838762e-01 5.12985722e-05 1.89873868e+00] [ 5.05115806e-03 -1.42023606e-04 9.99987233e-01 1.27939394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:256.14, Y:1.90, Z:1.28 [[ 9.99750787e-01 -2.17447008e-02 -5.05288994e-03 2.56135456e+02] [ 2.17452395e-02 9.99763543e-01 5.16870671e-05 1.89586240e+00] [ 5.05057123e-03 -1.61550488e-04 9.99987233e-01 1.28066725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:256.17, Y:1.89, Z:1.28 [[ 9.99713213e-01 -2.34085354e-02 -5.05288576e-03 2.56167483e+02] [ 2.34090973e-02 9.99725968e-01 5.20922699e-05 1.89441278e+00] [ 5.05028171e-03 -1.70360825e-04 9.99987233e-01 1.28135335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:256.20, Y:1.89, Z:1.28 [[ 9.99636298e-01 -2.64903848e-02 -5.05288146e-03 2.56199927e+02] [ 2.64909882e-02 9.99649051e-01 5.25061527e-05 1.89207122e+00] [ 5.04971725e-03 -1.86342879e-04 9.99987233e-01 1.28157817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:256.23, Y:1.89, Z:1.28 [[ 9.99518469e-01 -3.06153297e-02 -5.05287710e-03 2.56229290e+02] [ 3.06159878e-02 9.99531219e-01 5.29232455e-05 1.89368509e+00] [ 5.04888814e-03 -2.07596585e-04 9.99987233e-01 1.27861705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:256.26, Y:1.89, Z:1.28 [[ 9.99544878e-01 -2.97405792e-02 -5.05322397e-03 2.56261283e+02] [ 2.97410554e-02 9.99557637e-01 1.90956240e-05 1.89011397e+00] [ 5.05042070e-03 -1.69375147e-04 9.99987232e-01 1.28149697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:256.29, Y:1.89, Z:1.28 [[ 9.99423364e-01 -3.35768905e-02 -5.05286833e-03 2.56293775e+02] [ 3.35775868e-02 9.99436112e-01 5.30013016e-05 1.88914301e+00] [ 5.04823946e-03 -2.22633864e-04 9.99987233e-01 1.28118732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:256.32, Y:1.89, Z:1.28 [[ 9.99279485e-01 -3.76162020e-02 -5.05286400e-03 2.56322900e+02] [ 3.76169519e-02 9.99292231e-01 5.34102609e-05 1.89068625e+00] [ 5.04727865e-03 -2.43445120e-04 9.99987233e-01 1.27835549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:256.36, Y:1.89, Z:1.28 [[ 9.99208276e-01 -3.94624763e-02 -5.05318420e-03 2.56355654e+02] [ 3.94630955e-02 9.99221028e-01 2.28528044e-05 1.88684198e+00] [ 5.04834609e-03 -2.22249002e-04 9.99987232e-01 1.28046111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:256.39, Y:1.89, Z:1.28 [[ 9.99141810e-01 -4.11109723e-02 -5.05285172e-03 2.56387203e+02] [ 4.11117696e-02 9.99154552e-01 5.39771630e-05 1.88576327e+00] [ 5.04636074e-03 -2.61662516e-04 9.99987233e-01 1.27900646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:256.42, Y:1.89, Z:1.28 [[ 9.99062995e-01 -4.29837235e-02 -5.05284622e-03 2.56419791e+02] [ 4.29845472e-02 9.99075736e-01 5.44872944e-05 1.88519981e+00] [ 5.04583398e-03 -2.71630546e-04 9.99987233e-01 1.28016895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.044391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:256.45, Y:1.89, Z:1.28 [[ 9.98953881e-01 -4.54490012e-02 -5.05283947e-03 2.56452296e+02] [ 4.54498595e-02 9.98966620e-01 5.51058440e-05 1.88533108e+00] [ 5.04511346e-03 -2.84699041e-04 9.99987233e-01 1.27960206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.074391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:256.49, Y:1.89, Z:1.28 [[ 9.98936755e-01 -4.58238816e-02 -5.05283384e-03 2.56485509e+02] [ 4.58247472e-02 9.98949493e-01 5.56175527e-05 1.88529576e+00] [ 5.04497719e-03 -2.87103251e-04 9.99987233e-01 1.27955433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.104391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:256.52, Y:1.89, Z:1.28 [[ 9.98965528e-01 -4.51922787e-02 -5.05282720e-03 2.56518935e+02] [ 4.51931393e-02 9.98978267e-01 5.62144208e-05 1.88610247e+00] [ 5.04512410e-03 -2.84509392e-04 9.99987233e-01 1.28054826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.134391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:256.55, Y:1.89, Z:1.28 [[ 9.99022519e-01 -4.39144132e-02 -5.05282018e-03 2.56550647e+02] [ 4.39152607e-02 9.99035258e-01 5.68382091e-05 1.88681766e+00] [ 5.04544950e-03 -2.78678566e-04 9.99987233e-01 1.28044751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:256.58, Y:1.89, Z:1.28 [[ 9.99211960e-01 -3.93691270e-02 -5.05281434e-03 2.56583532e+02] [ 3.93699190e-02 9.99224703e-01 5.73531025e-05 1.88947398e+00] [ 5.04663896e-03 -2.56236797e-04 9.99987233e-01 1.28149893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:256.62, Y:1.89, Z:1.28 [[ 9.99335989e-01 -3.60839257e-02 -5.05280726e-03 2.56615744e+02] [ 3.60846790e-02 9.99348734e-01 5.79694343e-05 1.89070849e+00] [ 5.04742478e-03 -2.40259870e-04 9.99987233e-01 1.28218444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:256.65, Y:1.89, Z:1.28 [[ 9.99591999e-01 -2.81123715e-02 -5.05280254e-03 2.56647318e+02] [ 2.81130252e-02 9.99604749e-01 5.83785826e-05 1.89463483e+00] [ 5.04916425e-03 -2.00404329e-04 9.99987233e-01 1.28324607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:256.67, Y:1.90, Z:1.28 [[ 9.99774705e-01 -2.06157283e-02 -5.05279901e-03 2.56674674e+02] [ 2.06162879e-02 9.99787460e-01 5.86825038e-05 1.89591934e+00] [ 5.05051530e-03 -1.62839242e-04 9.99987233e-01 1.28242074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:256.71, Y:1.90, Z:1.29 [[ 9.99827026e-01 -1.78992126e-02 -5.05343220e-03 2.56708936e+02] [ 1.78994701e-02 9.99839792e-01 5.73160816e-06 1.89816803e+00] [ 5.05252000e-03 -9.61843751e-05 9.99987231e-01 1.28533659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:256.74, Y:1.90, Z:1.29 [[ 9.99905903e-01 -1.27535907e-02 -5.05273893e-03 2.56740691e+02] [ 1.27540673e-02 9.99918662e-01 6.21206031e-05 1.89985952e+00] [ 5.05153569e-03 -1.26557730e-04 9.99987233e-01 1.28622461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34439141800001 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:256.77, Y:1.90, Z:1.29 [[ 9.99959176e-01 -7.49106778e-03 -5.05273393e-03 2.56772088e+02] [ 7.49147930e-03 9.99971937e-01 6.25251741e-05 1.90145691e+00] [ 5.05212375e-03 -1.00375073e-04 9.99987233e-01 1.28690246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:256.80, Y:1.91, Z:1.29 [[ 9.99982073e-01 3.21299408e-03 -5.05273142e-03 2.56801692e+02] [-3.21271814e-03 9.99994837e-01 6.27274137e-05 1.90500826e+00] [ 5.05290687e-03 -4.64932874e-05 9.99987233e-01 1.28707688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.404391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:256.83, Y:1.91, Z:1.29 [[ 9.99953912e-01 8.16354440e-03 -5.05273266e-03 2.56829704e+02] [-8.16333217e-03 9.99966677e-01 6.26272104e-05 1.90657995e+00] [ 5.05307555e-03 -2.13771890e-05 9.99987233e-01 1.28677703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:256.86, Y:1.91, Z:1.29 [[ 9.99907053e-01 1.26631076e-02 -5.05275142e-03 2.56855830e+02] [-1.26629606e-02 9.99919820e-01 6.10754846e-05 1.91001728e+00] [ 5.05311969e-03 2.91298444e-06 9.99987233e-01 1.28591961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:256.89, Y:1.91, Z:1.29 [[ 9.99846253e-01 1.67908561e-02 -5.05352614e-03 2.56887914e+02] [-1.67911020e-02 9.99859019e-01 -6.23625170e-06 1.90942541e+00] [ 5.05270898e-03 9.10895657e-05 9.99987231e-01 1.28730412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:256.91, Y:1.91, Z:1.29 [[ 9.99722912e-01 2.29906366e-02 -5.05273851e-03 2.56914537e+02] [-2.29906268e-02 9.99735679e-01 6.00438144e-05 1.91088978e+00] [ 5.05278341e-03 5.61384484e-05 9.99987233e-01 1.28785555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:256.94, Y:1.91, Z:1.29 [[ 9.99649736e-01 2.59783645e-02 -5.05274655e-03 2.56942787e+02] [-2.59783963e-02 9.99662503e-01 5.93599506e-05 1.91075046e+00] [ 5.05258333e-03 7.19230932e-05 9.99987233e-01 1.28870722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:256.97, Y:1.91, Z:1.29 [[ 9.99652818e-01 2.58594848e-02 -5.05275352e-03 2.56971244e+02] [-2.58595181e-02 9.99665585e-01 5.87608263e-05 1.91053414e+00] [ 5.05258332e-03 7.19213454e-05 9.99987233e-01 1.28885121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:257.00, Y:1.91, Z:1.29 [[ 9.99651361e-01 2.59157586e-02 -5.05276043e-03 2.56998342e+02] [-2.59157956e-02 9.99664128e-01 5.81599537e-05 1.91029851e+00] [ 5.05257061e-03 7.28066299e-05 9.99987233e-01 1.28885711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:257.03, Y:1.91, Z:1.29 [[ 9.99671269e-01 2.51361040e-02 -5.05276833e-03 2.57027266e+02] [-2.51361345e-02 9.99684036e-01 5.74651905e-05 1.90987493e+00] [ 5.05261629e-03 6.95607647e-05 9.99987233e-01 1.28944950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:257.05, Y:1.91, Z:1.29 [[ 9.99759621e-01 2.13347103e-02 -5.05277295e-03 2.57054286e+02] [-2.13346944e-02 9.99772388e-01 5.70565839e-05 1.90835999e+00] [ 5.05284016e-03 5.07564979e-05 9.99987233e-01 1.28874305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:257.08, Y:1.90, Z:1.29 [[ 9.99879263e-01 1.46945377e-02 -5.05278084e-03 2.57081613e+02] [-1.46944406e-02 9.99892029e-01 5.63486639e-05 1.90499333e+00] [ 5.05306331e-03 1.79059275e-05 9.99987233e-01 1.28762759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:257.11, Y:1.90, Z:1.29 [[ 9.99932834e-01 1.04305366e-02 -5.05278626e-03 2.57110424e+02] [-1.04303875e-02 9.99945600e-01 5.58588130e-05 1.90249365e+00] [ 5.05309403e-03 -3.15254236e-06 9.99987233e-01 1.28897313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:257.14, Y:1.90, Z:1.29 [[ 9.99972580e-01 5.41365985e-03 -5.05279055e-03 2.57139562e+02] [-5.41344868e-03 9.99985346e-01 5.54680793e-05 1.89995131e+00] [ 5.05301679e-03 -2.81135360e-05 9.99987233e-01 1.28973191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:257.17, Y:1.90, Z:1.29 [[ 9.99987225e-01 -1.37279411e-04 -5.05279487e-03 2.57168121e+02] [ 1.37559430e-04 9.99999989e-01 5.50711202e-05 1.89783878e+00] [ 5.05278726e-03 -5.57654763e-05 9.99987233e-01 1.29087867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.794391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:257.20, Y:1.90, Z:1.29 [[ 9.99970844e-01 -5.72536022e-03 -5.05279920e-03 2.57196925e+02] [ 5.72570954e-03 9.99983607e-01 5.46709285e-05 1.89540208e+00] [ 5.05240336e-03 -8.36001952e-05 9.99987233e-01 1.29181239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.824391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:257.23, Y:1.89, Z:1.29 [[ 9.99830043e-01 -1.77300663e-02 -5.05280357e-03 2.57226310e+02] [ 1.77305668e-02 9.99842800e-01 5.42642040e-05 1.89075407e+00] [ 5.05104716e-03 -1.43844053e-04 9.99987233e-01 1.29202143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.854391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:257.25, Y:1.89, Z:1.29 [[ 9.99628060e-01 -2.67994700e-02 -5.05280465e-03 2.57252760e+02] [ 2.68000857e-02 9.99640812e-01 5.41633408e-05 1.89184314e+00] [ 5.04953820e-03 -1.89558793e-04 9.99987233e-01 1.29190641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.884391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:257.29, Y:1.88, Z:1.29 [[ 9.99436443e-01 -3.31852233e-02 -5.05349719e-03 2.57287077e+02] [ 3.31855912e-02 9.99449207e-01 -1.10412087e-05 1.88225622e+00] [ 5.05108016e-03 -1.56668306e-04 9.99987231e-01 1.29224036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:257.32, Y:1.88, Z:1.29 [[ 9.99307725e-01 -3.68583934e-02 -5.05274735e-03 2.57319435e+02] [ 3.68591480e-02 9.99320469e-01 5.62798612e-05 1.87908738e+00] [ 5.04723947e-03 -2.42480863e-04 9.99987233e-01 1.29209687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:257.35, Y:1.88, Z:1.29 [[ 9.98962521e-01 -4.52587096e-02 -5.05274175e-03 2.57349812e+02] [ 4.52595739e-02 9.98975259e-01 5.67783802e-05 1.87644698e+00] [ 5.04499428e-03 -2.85404412e-04 9.99987233e-01 1.29291061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:257.38, Y:1.87, Z:1.29 [[ 9.98924655e-01 -4.60868831e-02 -5.05291250e-03 2.57381256e+02] [ 4.60876805e-02 9.98937397e-01 4.14246511e-05 1.87423677e+00] [ 5.04563413e-03 -2.74257122e-04 9.99987233e-01 1.29391204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:257.41, Y:1.87, Z:1.29 [[ 9.98860561e-01 -4.74557751e-02 -5.05273166e-03 2.57413916e+02] [ 4.74566703e-02 9.98873296e-01 5.73557340e-05 1.87304100e+00] [ 5.04431686e-03 -2.97076201e-04 9.99987233e-01 1.29461209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:257.45, Y:1.87, Z:1.29 [[ 9.98838415e-01 -4.79196360e-02 -5.05272439e-03 2.57445554e+02] [ 4.79205403e-02 9.98851149e-01 5.79890765e-05 1.87176242e+00] [ 5.04414075e-03 -3.00051000e-04 9.99987233e-01 1.29371905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:257.48, Y:1.87, Z:1.29 [[ 9.98876315e-01 -4.71229970e-02 -5.05279021e-03 2.57479270e+02] [ 4.71238622e-02 9.98889052e-01 5.22425692e-05 1.87028444e+00] [ 5.04471500e-03 -2.90290855e-04 9.99987233e-01 1.29318022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09439141800001 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:257.51, Y:1.87, Z:1.29 [[ 9.98922848e-01 -4.61260942e-02 -5.05254025e-03 2.57509919e+02] [ 4.61270534e-02 9.98935578e-01 7.34147717e-05 1.87126896e+00] [ 5.04377588e-03 -3.06394487e-04 9.99987233e-01 1.29303594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141800002 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:257.54, Y:1.87, Z:1.29 [[ 9.98980879e-01 -4.48516756e-02 -5.05270149e-03 2.57543327e+02] [ 4.48525499e-02 9.98993616e-01 5.97886918e-05 1.87105524e+00] [ 5.04493491e-03 -2.86354305e-04 9.99987233e-01 1.29343513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.154391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:257.57, Y:1.87, Z:1.29 [[ 9.99026070e-01 -4.38335758e-02 -5.05269412e-03 2.57574849e+02] [ 4.38344402e-02 9.99038807e-01 6.04053838e-05 1.87112649e+00] [ 5.04518972e-03 -2.81828571e-04 9.99987233e-01 1.29194076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:257.61, Y:1.87, Z:1.29 [[ 9.99120983e-01 -4.16140909e-02 -5.05269046e-03 2.57606892e+02] [ 4.16149285e-02 9.99133722e-01 6.07100508e-05 1.87174610e+00] [ 5.04578703e-03 -2.70924038e-04 9.99987233e-01 1.29033258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:257.64, Y:1.87, Z:1.29 [[ 9.99128379e-01 -4.14361017e-02 -5.05283712e-03 2.57638790e+02] [ 4.14368760e-02 9.99141123e-01 4.86124093e-05 1.87230401e+00] [ 5.04648305e-03 -2.57943823e-04 9.99987233e-01 1.29255873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:257.67, Y:1.87, Z:1.29 [[ 9.99223660e-01 -3.90710577e-02 -5.05267328e-03 2.57674777e+02] [ 3.90718693e-02 9.99236401e-01 6.19710840e-05 1.86948340e+00] [ 5.04639379e-03 -2.59340363e-04 9.99987233e-01 1.29361463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:257.70, Y:1.87, Z:1.29 [[ 9.99218425e-01 -3.92048169e-02 -5.05190933e-03 2.57702295e+02] [ 3.92059326e-02 9.99231144e-01 1.21967018e-04 1.87342255e+00] [ 5.04324344e-03 -3.19936508e-04 9.99987232e-01 1.28943026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:257.74, Y:1.87, Z:1.29 [[ 9.99256239e-01 -3.82287790e-02 -5.05272501e-03 2.57737574e+02] [ 3.82295490e-02 9.99268982e-01 5.58616399e-05 1.87152687e+00] [ 5.04689585e-03 -2.48983490e-04 9.99987233e-01 1.29300380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:257.77, Y:1.87, Z:1.29 [[ 9.99308700e-01 -3.68320413e-02 -5.05197744e-03 2.57769607e+02] [ 3.68330909e-02 9.99321425e-01 1.14854309e-04 1.87352924e+00] [ 5.04431898e-03 -3.00854855e-04 9.99987232e-01 1.29403544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:257.80, Y:1.87, Z:1.30 [[ 9.99348485e-01 -3.57363051e-02 -5.05201569e-03 2.57802308e+02] [ 3.57373256e-02 9.99361212e-01 1.11829108e-04 1.87439301e+00] [ 5.04479217e-03 -2.92301779e-04 9.99987232e-01 1.29509175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:257.83, Y:1.88, Z:1.30 [[ 9.99421192e-01 -3.36416166e-02 -5.05199879e-03 2.57834748e+02] [ 3.36426172e-02 9.99433921e-01 1.13184612e-04 1.87690358e+00] [ 5.04533124e-03 -2.83081561e-04 9.99987232e-01 1.29711826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:257.86, Y:1.88, Z:1.30 [[ 9.99459477e-01 -3.24843087e-02 -5.05208671e-03 2.57863141e+02] [ 3.24852587e-02 9.99472209e-01 1.06068477e-04 1.87934927e+00] [ 5.04597470e-03 -2.70129488e-04 9.99987233e-01 1.29804498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:257.90, Y:1.88, Z:1.30 [[ 9.99531787e-01 -3.01774221e-02 -5.05262847e-03 2.57895719e+02] [ 3.01781189e-02 9.99544535e-01 6.17123826e-05 1.87992850e+00] [ 5.04846486e-03 -2.14162311e-04 9.99987233e-01 1.29879480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:257.93, Y:1.88, Z:1.30 [[ 9.99599622e-01 -2.78400111e-02 -5.05262342e-03 2.57928317e+02] [ 2.78406802e-02 9.99612371e-01 6.21230320e-05 1.88052671e+00] [ 5.04893538e-03 -2.02766632e-04 9.99987233e-01 1.29936056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:257.96, Y:1.88, Z:1.30 [[ 9.99732867e-01 -2.25536124e-02 -5.05261834e-03 2.57959654e+02] [ 2.25542162e-02 9.99745619e-01 6.25338767e-05 1.88271084e+00] [ 5.04992269e-03 -1.76475018e-04 9.99987233e-01 1.29948299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.544391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:257.99, Y:1.88, Z:1.30 [[ 9.99800695e-01 -1.93142569e-02 -5.05261454e-03 2.57992186e+02] [ 1.93148209e-02 9.99813449e-01 6.28396217e-05 1.88377502e+00] [ 5.05045827e-03 -1.60417442e-04 9.99987233e-01 1.30045805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.574391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:258.02, Y:1.89, Z:1.30 [[ 9.99866047e-01 -1.55678921e-02 -5.05260940e-03 2.58022287e+02] [ 1.55684103e-02 9.99878803e-01 6.32498286e-05 1.88888856e+00] [ 5.05101237e-03 -1.41902452e-04 9.99987233e-01 1.29937321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.604391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:258.05, Y:1.89, Z:1.30 [[ 9.99953868e-01 -8.16897260e-03 -5.05277196e-03 2.58052773e+02] [ 8.16933105e-03 9.99966629e-01 5.03064065e-05 1.88624317e+00] [ 5.05219240e-03 -9.15818526e-05 9.99987233e-01 1.30108058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.634391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:258.08, Y:1.89, Z:1.30 [[ 9.99967639e-01 -6.26015475e-03 -5.05284696e-03 2.58082865e+02] [ 6.26045779e-03 9.99980402e-01 4.41603600e-05 1.88812541e+00] [ 5.05247149e-03 -7.57920660e-05 9.99987233e-01 1.30051593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:258.11, Y:1.89, Z:1.30 [[ 9.99983831e-01 -2.60915058e-03 -5.05263883e-03 2.58112594e+02] [ 2.60949367e-03 9.99996593e-01 6.13123574e-05 1.88773953e+00] [ 5.05246164e-03 -7.44961952e-05 9.99987233e-01 1.30104544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:258.14, Y:1.89, Z:1.30 [[ 9.99980657e-01 3.62709389e-03 -5.05264032e-03 2.58140232e+02] [-3.62683101e-03 9.99993421e-01 6.11894344e-05 1.88899866e+00] [ 5.05282902e-03 -4.28631783e-05 9.99987233e-01 1.30125937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:258.17, Y:1.89, Z:1.30 [[ 9.99951237e-01 8.48494657e-03 -5.05265818e-03 2.58168244e+02] [-8.48475333e-03 9.99964002e-01 5.96792981e-05 1.89203636e+00] [ 5.05298267e-03 -1.68058296e-05 9.99987233e-01 1.30164382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:258.20, Y:1.89, Z:1.30 [[ 9.99919363e-01 1.16505679e-02 -5.05296395e-03 2.58198345e+02] [-1.16505479e-02 9.99932130e-01 3.34110271e-05 1.89083922e+00] [ 5.05301026e-03 2.54614654e-05 9.99987233e-01 1.30166495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:258.23, Y:1.89, Z:1.30 [[ 9.99894923e-01 1.35872491e-02 -5.05265595e-03 2.58227250e+02] [-1.35871217e-02 9.99907689e-01 5.95458903e-05 1.89075492e+00] [ 5.05299860e-03 9.11141778e-06 9.99987233e-01 1.30186296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:258.25, Y:1.89, Z:1.30 [[ 9.99866758e-01 1.55221102e-02 -5.05266065e-03 2.58254103e+02] [-1.55220095e-02 9.99879525e-01 5.91436966e-05 1.89028753e+00] [ 5.05296997e-03 1.92916305e-05 9.99987233e-01 1.30117061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84439141800001 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:258.28, Y:1.89, Z:1.30 [[ 9.99864299e-01 1.56797521e-02 -5.05267021e-03 2.58280549e+02] [-1.56796576e-02 9.99877065e-01 5.83157568e-05 1.88923088e+00] [ 5.05296344e-03 2.09162957e-05 9.99987233e-01 1.30056507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87439141800002 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:258.31, Y:1.89, Z:1.30 [[ 9.99872029e-01 1.51787736e-02 -5.05268014e-03 2.58308746e+02] [-1.51786771e-02 9.99884796e-01 5.74421886e-05 1.88821459e+00] [ 5.05296995e-03 1.92581629e-05 9.99987233e-01 1.30119161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.904391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:258.34, Y:1.89, Z:1.30 [[ 9.99910424e-01 1.23941573e-02 -5.05268686e-03 2.58337067e+02] [-1.23940283e-02 9.99923189e-01 5.68452196e-05 1.88584452e+00] [ 5.05300331e-03 5.78301619e-06 9.99987233e-01 1.30170054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:258.36, Y:1.88, Z:1.30 [[ 9.99937550e-01 9.96823973e-03 -5.05269129e-03 2.58364676e+02] [-9.96808176e-03 9.99950316e-01 5.64486360e-05 1.88457326e+00] [ 5.05300294e-03 -6.07947097e-06 9.99987233e-01 1.30225568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:258.39, Y:1.89, Z:1.30 [[ 9.99974273e-01 5.09160896e-03 -5.05269691e-03 2.58390677e+02] [-5.09139129e-03 9.99987037e-01 5.59409990e-05 1.88693465e+00] [ 5.05291624e-03 -3.02143027e-05 9.99987233e-01 1.30014206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:258.42, Y:1.88, Z:1.30 [[ 9.99986859e-01 8.63875706e-04 -5.05332461e-03 2.58424453e+02] [-8.63893903e-04 9.99999627e-01 -1.41810441e-06 1.87955961e+00] [ 5.05332150e-03 5.78362210e-06 9.99987232e-01 1.30269649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:258.45, Y:1.88, Z:1.30 [[ 9.99982853e-01 -2.96047580e-03 -5.05266156e-03 2.58453649e+02] [ 2.96080248e-03 9.99995615e-01 5.71764400e-05 1.87725919e+00] [ 5.05247013e-03 -7.21353925e-05 9.99987234e-01 1.30266564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.054391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:258.48, Y:1.87, Z:1.30 [[ 9.99933393e-01 -1.03768632e-02 -5.05266617e-03 2.58482227e+02] [ 1.03772825e-02 9.99946153e-01 5.67656959e-05 1.87270357e+00] [ 5.05180505e-03 -1.09194859e-04 9.99987234e-01 1.30242093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:258.51, Y:1.87, Z:1.30 [[ 9.99891993e-01 -1.38011968e-02 -5.05267072e-03 2.58512220e+02] [ 1.38016577e-02 9.99904751e-01 5.63579217e-05 1.87051670e+00] [ 5.05141165e-03 -1.26087066e-04 9.99987234e-01 1.30202970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.114391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:258.54, Y:1.87, Z:1.30 [[ 9.99787584e-01 -1.99814145e-02 -5.05266959e-03 2.58543316e+02] [ 1.99819548e-02 9.99800339e-01 5.64591777e-05 1.86682951e+00] [ 5.05053264e-03 -1.57409400e-04 9.99987234e-01 1.30356834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:258.57, Y:1.87, Z:1.30 [[ 9.99742868e-01 -2.21058666e-02 -5.05257016e-03 2.58574744e+02] [ 2.21064786e-02 9.99755620e-01 6.53098621e-05 1.86506658e+00] [ 5.04989168e-03 -1.76987603e-04 9.99987234e-01 1.30286835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.174391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:258.61, Y:1.86, Z:1.30 [[ 9.99689830e-01 -2.43867606e-02 -5.05266680e-03 2.58607602e+02] [ 2.43873583e-02 9.99702583e-01 5.66978406e-05 1.86360347e+00] [ 5.04978137e-03 -1.79901450e-04 9.99987234e-01 1.30413510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:258.64, Y:1.86, Z:1.30 [[ 9.99678241e-01 -2.48573437e-02 -5.05250434e-03 2.58638251e+02] [ 2.48580192e-02 9.99690989e-01 7.09383692e-05 1.86219696e+00] [ 5.04917972e-03 -1.96510794e-04 9.99987234e-01 1.30299249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23439141800003 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:258.67, Y:1.86, Z:1.30 [[ 9.99669761e-01 -2.51960075e-02 -5.05265665e-03 2.58669215e+02] [ 2.51966199e-02 9.99682513e-01 5.75703248e-05 1.86036205e+00] [ 5.04960196e-03 -1.84861182e-04 9.99987234e-01 1.30256845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:258.70, Y:1.86, Z:1.30 [[ 9.99713099e-01 -2.34134802e-02 -5.05265323e-03 2.58701608e+02] [ 2.34140713e-02 9.99725851e-01 5.78696154e-05 1.85953059e+00] [ 5.04991312e-03 -1.76156196e-04 9.99987234e-01 1.30309282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:258.73, Y:1.86, Z:1.30 [[ 9.99706480e-01 -2.36943884e-02 -5.05264872e-03 2.58734558e+02] [ 2.36949851e-02 9.99719233e-01 5.82602101e-05 1.85964053e+00] [ 5.04984966e-03 -1.77965546e-04 9.99987234e-01 1.30411034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:258.76, Y:1.86, Z:1.30 [[ 9.99772565e-01 -2.07193782e-02 -5.05229774e-03 2.58763826e+02] [ 2.07200876e-02 9.99785312e-01 8.80981044e-05 1.85888599e+00] [ 5.04938773e-03 -1.92762119e-04 9.99987233e-01 1.30417958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:258.80, Y:1.86, Z:1.30 [[ 9.99829917e-01 -1.77371747e-02 -5.05263937e-03 2.58795919e+02] [ 1.77376975e-02 9.99842673e-01 5.86837028e-05 1.85922378e+00] [ 5.05080357e-03 -1.48295911e-04 9.99987234e-01 1.30484846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384391418 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:258.83, Y:1.86, Z:1.31 [[ 9.99854328e-01 -1.63032055e-02 -5.05263468e-03 2.58827617e+02] [ 1.63037121e-02 9.99867084e-01 5.90851959e-05 1.85909768e+00] [ 5.05099982e-03 -1.41453290e-04 9.99987234e-01 1.30520623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:258.85, Y:1.86, Z:1.30 [[ 9.99844448e-01 -1.68982364e-02 -5.05263225e-03 2.58853150e+02] [ 1.68987516e-02 9.99857204e-01 5.92919549e-05 1.86480041e+00] [ 5.05090883e-03 -1.44665909e-04 9.99987234e-01 1.30130007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:258.89, Y:1.86, Z:1.30 [[ 9.99919115e-01 -1.16714126e-02 -5.05378707e-03 2.58888325e+02] [ 1.16713377e-02 9.99931887e-01 -4.43260583e-05 1.85900536e+00] [ 5.05396019e-03 -1.46619825e-05 9.99987229e-01 1.30421826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:258.92, Y:1.86, Z:1.30 [[ 9.99919604e-01 -1.16300288e-02 -5.05255694e-03 2.58920167e+02] [ 1.16304791e-02 9.99932362e-01 5.97311291e-05 1.85854236e+00] [ 5.05152052e-03 -1.18489985e-04 9.99987234e-01 1.30435069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:258.95, Y:1.86, Z:1.30 [[ 9.99937239e-01 -9.99947070e-03 -5.05255449e-03 2.58950100e+02] [ 9.99990115e-03 9.99949998e-01 5.99375861e-05 1.85869715e+00] [ 5.05170251e-03 -1.10458870e-04 9.99987234e-01 1.30383606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:258.98, Y:1.86, Z:1.30 [[ 9.99960487e-01 -7.31410601e-03 -5.05255051e-03 2.58980321e+02] [ 7.31450388e-03 9.99973247e-01 6.02714598e-05 1.86002830e+00] [ 5.05197450e-03 -9.72259786e-05 9.99987234e-01 1.30266763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:259.01, Y:1.86, Z:1.30 [[ 9.99971585e-01 -5.59477716e-03 -5.05254932e-03 2.59010320e+02] [ 5.59515359e-03 9.99984345e-01 6.03704859e-05 1.86054782e+00] [ 5.05213247e-03 -8.86385600e-05 9.99987234e-01 1.30336469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:259.04, Y:1.86, Z:1.30 [[ 9.99977217e-01 -4.47630877e-03 -5.05260225e-03 2.59040431e+02] [ 4.47664833e-03 9.99989978e-01 5.58982870e-05 1.86112628e+00] [ 5.05230140e-03 -7.85157369e-05 9.99987234e-01 1.30489713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:259.07, Y:1.86, Z:1.31 [[ 9.99984790e-01 -2.21175033e-03 -5.05256309e-03 2.59069314e+02] [ 2.21207787e-03 9.99997552e-01 5.92386691e-05 1.86221507e+00] [ 5.05241970e-03 -7.04144311e-05 9.99987234e-01 1.30550658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:259.10, Y:1.86, Z:1.31 [[ 9.99985827e-01 -1.67836509e-03 -5.05256759e-03 2.59098049e+02] [ 1.67868387e-03 9.99998589e-01 5.88525319e-05 1.86287016e+00] [ 5.05246168e-03 -6.73333615e-05 9.99987234e-01 1.30609407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:259.13, Y:1.87, Z:1.31 [[ 9.99986365e-01 -1.31935470e-03 -5.05258330e-03 2.59126589e+02] [ 1.31966191e-03 9.99999128e-01 5.74706950e-05 1.86503217e+00] [ 5.05250307e-03 -6.41376131e-05 9.99987234e-01 1.30707141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:259.16, Y:1.87, Z:1.31 [[ 9.99985583e-01 -1.81820304e-03 -5.05259855e-03 2.59155672e+02] [ 1.81850968e-03 9.99998345e-01 5.60970543e-05 1.86586676e+00] [ 5.05248820e-03 -6.52844449e-05 9.99987234e-01 1.30765061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:259.18, Y:1.87, Z:1.31 [[ 9.99984430e-01 -2.36896136e-03 -5.05260291e-03 2.59183906e+02] [ 2.36927303e-03 9.99997192e-01 5.57016631e-05 1.86613041e+00] [ 5.05245677e-03 -6.76717917e-05 9.99987234e-01 1.30738363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:259.21, Y:1.87, Z:1.31 [[ 9.99973659e-01 -5.21079567e-03 -5.05260614e-03 2.59212734e+02] [ 5.21114213e-03 9.99986420e-01 5.54076070e-05 1.86715890e+00] [ 5.05224881e-03 -8.17359962e-05 9.99987234e-01 1.30777061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.804391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:259.24, Y:1.87, Z:1.31 [[ 9.99961621e-01 -7.15736040e-03 -5.05261045e-03 2.59242665e+02] [ 7.15772970e-03 9.99974382e-01 5.50116674e-05 1.86744944e+00] [ 5.05208727e-03 -9.11747759e-05 9.99987234e-01 1.30822470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:259.27, Y:1.87, Z:1.31 [[ 9.99913903e-01 -1.21101927e-02 -5.05261266e-03 2.59272478e+02] [ 1.21106242e-02 9.99926662e-01 5.48073804e-05 1.86817044e+00] [ 5.05157839e-03 -1.15992955e-04 9.99987234e-01 1.30751282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.864391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:259.30, Y:1.87, Z:1.31 [[ 9.99875873e-01 -1.49234804e-02 -5.05261376e-03 2.59303972e+02] [ 1.49239473e-02 9.99888630e-01 5.47060574e-05 1.86806041e+00] [ 5.05123465e-03 -1.30104208e-04 9.99987234e-01 1.30763975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:259.34, Y:1.87, Z:1.31 [[ 9.99766295e-01 -2.10196928e-02 -5.05261159e-03 2.59336493e+02] [ 2.10202384e-02 9.99779049e-01 5.49060573e-05 1.86838031e+00] [ 5.05034110e-03 -1.61100326e-04 9.99987234e-01 1.30737552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.924391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:259.37, Y:1.87, Z:1.31 [[ 9.99699872e-01 -2.39715753e-02 -5.05260722e-03 2.59368943e+02] [ 2.39721606e-02 9.99712625e-01 5.53047086e-05 1.86843986e+00] [ 5.04982949e-03 -1.76410022e-04 9.99987234e-01 1.30701729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954391418 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:259.40, Y:1.87, Z:1.31 [[ 9.99551211e-01 -2.95270667e-02 -5.05260279e-03 2.59399834e+02] [ 2.95277249e-02 9.99563960e-01 5.57066220e-05 1.86891559e+00] [ 5.04875480e-03 -2.04873487e-04 9.99987234e-01 1.30584212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98439141800003 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:259.43, Y:1.87, Z:1.31 [[ 9.99463723e-01 -3.23533262e-02 -5.05259578e-03 2.59432523e+02] [ 3.23540236e-02 9.99476470e-01 5.63351868e-05 1.86910596e+00] [ 5.04812797e-03 -2.19776779e-04 9.99987234e-01 1.30635427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:259.47, Y:1.87, Z:1.31 [[ 9.99383566e-01 -3.47413078e-02 -5.05259124e-03 2.59465066e+02] [ 3.47420377e-02 9.99396312e-01 5.67401757e-05 1.86911700e+00] [ 5.04756982e-03 -2.32242514e-04 9.99987234e-01 1.30644158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:259.50, Y:1.87, Z:1.31 [[ 9.99297030e-01 -3.71472489e-02 -5.05258662e-03 2.59496687e+02] [ 3.71480115e-02 9.99309773e-01 5.71482882e-05 1.86959673e+00] [ 5.04697629e-03 -2.44801661e-04 9.99987234e-01 1.30712027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:259.53, Y:1.87, Z:1.31 [[ 9.99166350e-01 -4.05102086e-02 -5.05258082e-03 2.59528292e+02] [ 4.05110167e-02 9.99179090e-01 5.76568239e-05 1.87098103e+00] [ 5.04609741e-03 -2.62293944e-04 9.99987234e-01 1.30756316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:259.56, Y:1.87, Z:1.31 [[ 9.99078928e-01 -4.26118166e-02 -5.05257507e-03 2.59561838e+02] [ 4.26126541e-02 9.99091667e-01 5.81560790e-05 1.87227248e+00] [ 5.04550751e-03 -2.73406147e-04 9.99987234e-01 1.30665652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:259.59, Y:1.87, Z:1.31 [[ 9.98959029e-01 -4.53357379e-02 -5.05256803e-03 2.59593559e+02] [ 4.53366131e-02 9.98971765e-01 5.87611849e-05 1.87471672e+00] [ 5.04470883e-03 -2.87766338e-04 9.99987234e-01 1.30682691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:259.63, Y:1.87, Z:1.31 [[ 9.98982281e-01 -4.48204502e-02 -5.05276422e-03 2.59626289e+02] [ 4.48212336e-02 9.98995023e-01 4.18672853e-05 1.87429929e+00] [ 5.04580980e-03 -2.68295802e-04 9.99987234e-01 1.30633201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:259.66, Y:1.87, Z:1.31 [[ 9.98969601e-01 -4.51022051e-02 -5.05254492e-03 2.59659613e+02] [ 4.51030848e-02 9.98982336e-01 6.02561772e-05 1.87482503e+00] [ 5.04468544e-03 -2.88079451e-04 9.99987234e-01 1.30665337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:259.69, Y:1.88, Z:1.31 [[ 9.98953947e-01 -4.54475889e-02 -5.05253775e-03 2.59692594e+02] [ 4.54484760e-02 9.98966682e-01 6.08512972e-05 1.87515563e+00] [ 5.04455133e-03 -2.90417784e-04 9.99987234e-01 1.30649193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:259.72, Y:1.88, Z:1.31 [[ 9.98922451e-01 -4.61346832e-02 -5.05253058e-03 2.59724301e+02] [ 4.61355821e-02 9.98935185e-01 6.14411092e-05 1.87566188e+00] [ 5.04431600e-03 -2.94476343e-04 9.99987234e-01 1.30625724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:259.76, Y:1.88, Z:1.31 [[ 9.98884004e-01 -4.69597638e-02 -5.05252583e-03 2.59756979e+02] [ 4.69606752e-02 9.98896737e-01 6.18294012e-05 1.87749037e+00] [ 5.04404807e-03 -2.99030424e-04 9.99987234e-01 1.30628233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:259.79, Y:1.88, Z:1.31 [[ 9.98901702e-01 -4.65817745e-02 -5.05252097e-03 2.59788682e+02] [ 4.65826830e-02 9.98914436e-01 6.22235238e-05 1.87821097e+00] [ 5.04413765e-03 -2.97515167e-04 9.99987234e-01 1.30586771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:259.82, Y:1.88, Z:1.31 [[ 9.98920719e-01 -4.61721751e-02 -5.05250875e-03 2.59821073e+02] [ 4.61730833e-02 9.98933452e-01 6.32008114e-05 1.87900027e+00] [ 5.04420189e-03 -2.96422507e-04 9.99987234e-01 1.30603086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:259.85, Y:1.88, Z:1.31 [[ 9.98955799e-01 -4.54068608e-02 -5.05250393e-03 2.59853910e+02] [ 4.54077612e-02 9.98968534e-01 6.35835289e-05 1.87987227e+00] [ 5.04440532e-03 -2.92940027e-04 9.99987234e-01 1.30713514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:259.89, Y:1.88, Z:1.31 [[ 9.99117351e-01 -4.17012084e-02 -5.05249629e-03 2.59886518e+02] [ 4.17020646e-02 9.99130088e-01 6.41851579e-05 1.88224050e+00] [ 5.04542447e-03 -2.74828031e-04 9.99987234e-01 1.30842155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:259.92, Y:1.88, Z:1.31 [[ 9.99214759e-01 -3.92980666e-02 -5.05248853e-03 2.59918518e+02] [ 3.92988952e-02 9.99227498e-01 6.47905357e-05 1.88330680e+00] [ 5.04603933e-03 -2.63296877e-04 9.99987234e-01 1.30866507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:259.95, Y:1.89, Z:1.31 [[ 9.99434590e-01 -3.32411240e-02 -5.05248204e-03 2.59951257e+02] [ 3.32418779e-02 9.99447334e-01 6.52920529e-05 1.88643114e+00] [ 5.04751933e-03 -2.33209127e-04 9.99987234e-01 1.31005710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:259.98, Y:1.89, Z:1.31 [[ 9.99551840e-01 -2.95057825e-02 -5.05247440e-03 2.59983208e+02] [ 2.95064918e-02 9.99564587e-01 6.58783725e-05 1.88771214e+00] [ 5.04833069e-03 -2.14929643e-04 9.99987234e-01 1.31144153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:260.01, Y:1.89, Z:1.31 [[ 9.99661110e-01 -2.55369762e-02 -5.05246906e-03 2.60014521e+02] [ 2.55376368e-02 9.99673859e-01 6.62851702e-05 1.88888722e+00] [ 5.04912852e-03 -1.95290827e-04 9.99987234e-01 1.31194630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.554391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:260.05, Y:1.89, Z:1.31 [[ 9.99827903e-01 -1.78503827e-02 -5.05246013e-03 2.60047213e+02] [ 1.78509488e-02 9.99840657e-01 6.69589329e-05 1.89189655e+00] [ 5.05045982e-03 -1.57138616e-04 9.99987234e-01 1.31278871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:260.08, Y:1.89, Z:1.31 [[ 9.99886506e-01 -1.41932075e-02 -5.05245483e-03 2.60078794e+02] [ 1.41937289e-02 9.99899262e-01 6.73565576e-05 1.89298640e+00] [ 5.05098985e-03 -1.39062087e-04 9.99987234e-01 1.31277975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.614391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:260.11, Y:1.89, Z:1.31 [[ 9.99961519e-01 -7.17176459e-03 -5.05245087e-03 2.60109993e+02] [ 7.17219791e-03 9.99974277e-01 6.76523038e-05 1.89476690e+00] [ 5.05183572e-03 -1.03886878e-04 9.99987234e-01 1.31261077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:260.14, Y:1.90, Z:1.31 [[ 9.99977597e-01 -4.39063395e-03 -5.05244694e-03 2.60140602e+02] [ 4.39103327e-03 9.99990357e-01 6.79445646e-05 1.89539790e+00] [ 5.05209990e-03 -9.01285051e-05 9.99987234e-01 1.31247016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.674391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:260.17, Y:1.90, Z:1.31 [[ 9.99987215e-01 -2.06248223e-04 -5.05244694e-03 2.60170443e+02] [ 2.06594145e-04 9.99999976e-01 6.79445647e-05 1.89689898e+00] [ 5.05243281e-03 -6.89875019e-05 9.99987234e-01 1.31187155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:260.20, Y:1.90, Z:1.31 [[ 9.99986991e-01 7.00618658e-04 -5.05244824e-03 2.60198967e+02] [-7.00284795e-04 9.99999753e-01 6.78483151e-05 1.89740523e+00] [ 5.05249452e-03 -6.43092798e-05 9.99987234e-01 1.31281688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73439141800003 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:260.23, Y:1.90, Z:1.31 [[ 9.99985525e-01 1.85003446e-03 -5.05246695e-03 2.60226388e+02] [-1.84972245e-03 9.99998287e-01 6.64250972e-05 1.89800588e+00] [ 5.05258118e-03 -5.70784741e-05 9.99987234e-01 1.31211509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:260.26, Y:1.90, Z:1.31 [[ 9.99986215e-01 1.42923772e-03 -5.05247350e-03 2.60255325e+02] [-1.42892288e-03 9.99998977e-01 6.59226231e-05 1.89808829e+00] [ 5.05256255e-03 -5.87021193e-05 9.99987234e-01 1.31208728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:260.28, Y:1.90, Z:1.31 [[ 9.99986959e-01 7.44544046e-04 -5.05247861e-03 2.60284482e+02] [-7.44222459e-04 9.99999721e-01 6.55291874e-05 1.89798005e+00] [ 5.05252598e-03 -6.17681647e-05 9.99987234e-01 1.31276767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:260.31, Y:1.90, Z:1.31 [[ 9.99985922e-01 -1.62112946e-03 -5.05248376e-03 2.60313440e+02] [ 1.62147922e-03 9.99998683e-01 6.51290207e-05 1.89823032e+00] [ 5.05237153e-03 -7.33206012e-05 9.99987234e-01 1.31376253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:260.34, Y:1.90, Z:1.31 [[ 9.99982501e-01 -3.07746375e-03 -5.05248894e-03 2.60342544e+02] [ 3.07783004e-03 9.99995261e-01 6.47246166e-05 1.89810065e+00] [ 5.05226581e-03 -8.02741863e-05 9.99987234e-01 1.31389746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:260.37, Y:1.90, Z:1.31 [[ 9.99974402e-01 -5.06623114e-03 -5.05249278e-03 2.60370849e+02] [ 5.06662130e-03 9.99987163e-01 6.44240219e-05 1.89791187e+00] [ 5.05210153e-03 -9.00214403e-05 9.99987234e-01 1.31407626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:260.40, Y:1.90, Z:1.32 [[ 9.99936683e-01 -1.00549542e-02 -5.05249644e-03 2.60400077e+02] [ 1.00554065e-02 9.99949441e-01 6.41356601e-05 1.89734864e+00] [ 5.05159611e-03 -1.14936505e-04 9.99987234e-01 1.31506589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:260.43, Y:1.90, Z:1.32 [[ 9.99902554e-01 -1.30136753e-02 -5.05249888e-03 2.60431705e+02] [ 1.30141644e-02 9.99915310e-01 6.39428761e-05 1.89645233e+00] [ 5.05123885e-03 -1.29690696e-04 9.99987234e-01 1.31531772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:260.46, Y:1.90, Z:1.31 [[ 9.99853672e-01 -1.63433891e-02 -5.05249630e-03 2.60462502e+02] [ 1.63439217e-02 9.99866427e-01 6.41461576e-05 1.89547787e+00] [ 5.05077305e-03 -1.46714375e-04 9.99987234e-01 1.31414719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:260.49, Y:1.89, Z:1.31 [[ 9.99796693e-01 -1.95203606e-02 -5.05249242e-03 2.60494658e+02] [ 1.95209353e-02 9.99809446e-01 6.44500604e-05 1.89415146e+00] [ 5.05027156e-03 -1.63066335e-04 9.99987234e-01 1.31418748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:260.53, Y:1.89, Z:1.31 [[ 9.99634427e-01 -2.65609721e-02 -5.05248741e-03 2.60525992e+02] [ 2.65616386e-02 9.99647175e-01 6.48406886e-05 1.89223433e+00] [ 5.04898253e-03 -1.99019329e-04 9.99987234e-01 1.31317819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:260.56, Y:1.89, Z:1.31 [[ 9.99543941e-01 -2.97721752e-02 -5.05248365e-03 2.60556815e+02] [ 2.97728840e-02 9.99556687e-01 6.51319271e-05 1.89105998e+00] [ 5.04830470e-03 -2.15529233e-04 9.99987234e-01 1.31291510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:260.59, Y:1.89, Z:1.31 [[ 9.99440722e-01 -3.30562447e-02 -5.05247565e-03 2.60590200e+02] [ 3.30569986e-02 9.99453466e-01 6.57468985e-05 1.88994986e+00] [ 5.04754095e-03 -2.32729808e-04 9.99987234e-01 1.31369707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124391418 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:260.62, Y:1.89, Z:1.31 [[ 9.99251412e-01 -3.83547630e-02 -5.05246768e-03 2.60623213e+02] [ 3.83555875e-02 9.99264152e-01 6.63540470e-05 1.88838751e+00] [ 5.04620483e-03 -2.60094741e-04 9.99987234e-01 1.31378271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154391418 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:260.66, Y:1.89, Z:1.31 [[ 9.99170432e-01 -4.04093993e-02 -5.05245958e-03 2.60655109e+02] [ 4.04102531e-02 9.99183170e-01 6.69649331e-05 1.88731508e+00] [ 5.04562657e-03 -2.71080551e-04 9.99987234e-01 1.31344719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:260.69, Y:1.89, Z:1.31 [[ 9.99094989e-01 -4.22335909e-02 -5.05245283e-03 2.60688229e+02] [ 4.22344704e-02 9.99107724e-01 6.74703472e-05 1.88627205e+00] [ 5.04509513e-03 -2.80796955e-04 9.99987234e-01 1.31296955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:260.72, Y:1.89, Z:1.31 [[ 9.99096509e-01 -4.21976047e-02 -5.05244488e-03 2.60719814e+02] [ 4.21984868e-02 9.99109245e-01 6.80603418e-05 1.88600114e+00] [ 5.04507241e-03 -2.81204378e-04 9.99987234e-01 1.31279393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:260.75, Y:1.89, Z:1.31 [[ 9.99144768e-01 -4.10390687e-02 -5.05243825e-03 2.60752565e+02] [ 4.10399385e-02 9.99157504e-01 6.85492503e-05 1.88556683e+00] [ 5.04536840e-03 -2.75842380e-04 9.99987234e-01 1.31256722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:260.79, Y:1.89, Z:1.31 [[ 9.99306042e-01 -3.69040180e-02 -5.05243022e-03 2.60785700e+02] [ 3.69048380e-02 9.99318782e-01 6.91360936e-05 1.88600655e+00] [ 5.04643701e-03 -2.55547235e-04 9.99987234e-01 1.31309309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.304391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:260.82, Y:1.89, Z:1.31 [[ 9.99404413e-01 -3.41363815e-02 -5.05242160e-03 2.60817410e+02] [ 3.41371694e-02 9.99417155e-01 6.97602158e-05 1.88633405e+00] [ 5.04709546e-03 -2.42194040e-04 9.99987234e-01 1.31293326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:260.85, Y:1.89, Z:1.31 [[ 9.99508516e-01 -3.09386447e-02 -5.05241443e-03 2.60850433e+02] [ 3.09393944e-02 9.99521260e-01 7.02758712e-05 1.88669344e+00] [ 5.04782140e-03 -2.26559975e-04 9.99987234e-01 1.31377995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.364391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:260.88, Y:1.89, Z:1.31 [[ 9.99686975e-01 -2.45035583e-02 -5.05240570e-03 2.60882163e+02] [ 2.45042291e-02 9.99699724e-01 7.08979507e-05 1.88795448e+00] [ 5.04915133e-03 -1.94681064e-04 9.99987234e-01 1.31409634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:260.91, Y:1.89, Z:1.31 [[ 9.99688987e-01 -2.44213364e-02 -5.05239983e-03 2.60914856e+02] [ 2.44220082e-02 9.99701736e-01 7.13137455e-05 1.88741705e+00] [ 5.04915130e-03 -1.94681316e-04 9.99987234e-01 1.31426142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.424391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:260.95, Y:1.89, Z:1.31 [[ 9.99758806e-01 -2.13729571e-02 -5.05239393e-03 2.60945873e+02] [ 2.13735921e-02 9.99771556e-01 7.17292874e-05 1.88775222e+00] [ 5.04970668e-03 -1.79699794e-04 9.99987234e-01 1.31394898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454391418 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:260.98, Y:1.89, Z:1.31 [[ 9.99862091e-01 -1.58199825e-02 -5.05238952e-03 2.60978228e+02] [ 1.58205483e-02 9.99874845e-01 7.20385395e-05 1.88934246e+00] [ 5.05061754e-03 -1.51960177e-04 9.99987234e-01 1.31361299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48439141800003 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:261.01, Y:1.89, Z:1.31 [[ 9.99900343e-01 -1.31824324e-02 -5.05238372e-03 2.61010141e+02] [ 1.31829666e-02 9.99913098e-01 7.24430330e-05 1.88966150e+00] [ 5.05098969e-03 -1.39041219e-04 9.99987234e-01 1.31352455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:261.04, Y:1.89, Z:1.31 [[ 9.99927117e-01 -1.09651484e-02 -5.05237777e-03 2.61041731e+02] [ 1.09656564e-02 9.99939873e-01 7.28555837e-05 1.89010460e+00] [ 5.05127512e-03 -1.28252912e-04 9.99987234e-01 1.31279271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:261.07, Y:1.89, Z:1.31 [[ 9.99963456e-01 -6.89636800e-03 -5.05237333e-03 2.61072840e+02] [ 6.89682564e-03 9.99976214e-01 7.31625886e-05 1.89082672e+00] [ 5.05174860e-03 -1.08005253e-04 9.99987234e-01 1.31231807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:261.10, Y:1.89, Z:1.31 [[ 9.99975237e-01 -4.89877869e-03 -5.05237042e-03 2.61103227e+02] [ 4.89921185e-03 9.99987996e-01 7.33628818e-05 1.89078202e+00] [ 5.05195038e-03 -9.81136982e-05 9.99987234e-01 1.31250654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:261.13, Y:1.89, Z:1.31 [[ 9.99981636e-01 -3.34683437e-03 -5.05237042e-03 2.61133192e+02] [ 3.34724774e-03 9.99994395e-01 7.33628818e-05 1.89124304e+00] [ 5.05209657e-03 -9.02730700e-05 9.99987234e-01 1.31230459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:261.16, Y:1.89, Z:1.31 [[ 9.99986812e-01 -9.21164571e-04 -5.05237009e-03 2.61162776e+02] [ 9.21547100e-04 9.99999573e-01 7.33852992e-05 1.89226487e+00] [ 5.05230033e-03 -7.80403284e-05 9.99987234e-01 1.31312074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:261.19, Y:1.89, Z:1.31 [[ 9.99987144e-01 -4.30700670e-04 -5.05237293e-03 2.61191902e+02] [ 4.31075950e-04 9.99999904e-01 7.31891779e-05 1.89224444e+00] [ 5.05234093e-03 -7.53661935e-05 9.99987234e-01 1.31386429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:261.22, Y:1.89, Z:1.31 [[ 9.99987234e-01 -7.82287721e-05 -5.05239294e-03 2.61219489e+02] [ 7.85924397e-05 9.99999994e-01 7.17807770e-05 1.89220870e+00] [ 5.05238730e-03 -7.21769405e-05 9.99987234e-01 1.31415471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:261.25, Y:1.89, Z:1.31 [[ 9.99986850e-01 -8.79111678e-04 -5.05240349e-03 2.61247938e+02] [ 8.79481777e-04 9.99999611e-01 7.10307746e-05 1.89239104e+00] [ 5.05233908e-03 -7.54733373e-05 9.99987234e-01 1.31464278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:261.28, Y:1.89, Z:1.31 [[ 9.99985699e-01 -1.75359434e-03 -5.05240909e-03 2.61275867e+02] [ 1.75397358e-03 9.99998459e-01 7.06301949e-05 1.89187341e+00] [ 5.05227745e-03 -7.94909769e-05 9.99987234e-01 1.31480273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:261.30, Y:1.89, Z:1.32 [[ 9.99977145e-01 -4.49242317e-03 -5.05241598e-03 2.61304926e+02] [ 4.49283485e-03 9.99989905e-01 7.01334761e-05 1.89134656e+00] [ 5.05204991e-03 -9.28315438e-05 9.99987234e-01 1.31591021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:261.33, Y:1.89, Z:1.32 [[ 9.99969858e-01 -5.89539217e-03 -5.05242152e-03 2.61334209e+02] [ 5.89581972e-03 9.99982617e-01 6.97325205e-05 1.89097901e+00] [ 5.05192259e-03 -9.95185851e-05 9.99987234e-01 1.31624125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:261.36, Y:1.89, Z:1.32 [[ 9.99952671e-01 -8.31433424e-03 -5.05242426e-03 2.61363844e+02] [ 8.31479164e-03 9.99965429e-01 6.95332602e-05 1.89035633e+00] [ 5.05167147e-03 -1.11539824e-04 9.99987234e-01 1.31579839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:261.39, Y:1.89, Z:1.32 [[ 9.99941409e-01 -9.57348592e-03 -5.05242562e-03 2.61394491e+02] [ 9.57395889e-03 9.99954166e-01 6.94344218e-05 1.89001018e+00] [ 5.05152932e-03 -1.17802069e-04 9.99987234e-01 1.31598961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:261.43, Y:1.89, Z:1.32 [[ 9.99932254e-01 -1.04862122e-02 -5.05242562e-03 2.61426101e+02] [ 1.04866968e-02 9.99945011e-01 6.94344218e-05 1.88937081e+00] [ 5.05141968e-03 -1.22412973e-04 9.99987234e-01 1.31593160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:261.46, Y:1.89, Z:1.32 [[ 9.99923619e-01 -1.12795671e-02 -5.05242288e-03 2.61457498e+02] [ 1.12800628e-02 9.99936376e-01 6.96327078e-05 1.88900185e+00] [ 5.05131600e-03 -1.26619037e-04 9.99987234e-01 1.31607011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:261.49, Y:1.89, Z:1.32 [[ 9.99924294e-01 -1.12196149e-02 -5.05241878e-03 2.61488624e+02] [ 1.12201113e-02 9.99937050e-01 6.99290291e-05 1.88850198e+00] [ 5.05131616e-03 -1.26612436e-04 9.99987234e-01 1.31587691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:261.52, Y:1.89, Z:1.32 [[ 9.99927722e-01 -1.09098312e-02 -5.05241472e-03 2.61519879e+02] [ 1.09103252e-02 9.99940478e-01 7.02214200e-05 1.88824152e+00] [ 5.05134789e-03 -1.25339832e-04 9.99987234e-01 1.31548084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:261.55, Y:1.89, Z:1.32 [[ 9.99932589e-01 -1.04541919e-02 -5.05240550e-03 2.61550783e+02] [ 1.04546834e-02 9.99945346e-01 7.08787824e-05 1.88823581e+00] [ 5.05138838e-03 -1.23695304e-04 9.99987234e-01 1.31548183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.054391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:261.58, Y:1.89, Z:1.32 [[ 9.99938399e-01 -9.88290346e-03 -5.05240281e-03 2.61581881e+02] [ 9.88338863e-03 9.99951156e-01 7.10695438e-05 1.88824266e+00] [ 5.05145366e-03 -1.21000026e-04 9.99987234e-01 1.31541290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:261.61, Y:1.89, Z:1.32 [[ 9.99949223e-01 -8.71921307e-03 -5.05239878e-03 2.61612889e+02] [ 8.71968484e-03 9.99961980e-01 7.13549130e-05 1.88872360e+00] [ 5.05158453e-03 -1.15406615e-04 9.99987234e-01 1.31663594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.114391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:261.64, Y:1.89, Z:1.32 [[ 9.99953367e-01 -8.23029324e-03 -5.05239736e-03 2.61643124e+02] [ 8.23075928e-03 9.99966124e-01 7.14555544e-05 1.88863417e+00] [ 5.05163811e-03 -1.13037289e-04 9.99987234e-01 1.31679877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:261.67, Y:1.89, Z:1.32 [[ 9.99957735e-01 -7.68118747e-03 -5.05239595e-03 2.61673622e+02] [ 7.68164701e-03 9.99970493e-01 7.15554753e-05 1.88862677e+00] [ 5.05169723e-03 -1.10363173e-04 9.99987234e-01 1.31783604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.174391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:261.70, Y:1.89, Z:1.32 [[ 9.99957171e-01 -7.75427725e-03 -5.05239595e-03 2.61704547e+02] [ 7.75473772e-03 9.99969929e-01 7.15554753e-05 1.88837188e+00] [ 5.05168915e-03 -1.10732416e-04 9.99987234e-01 1.31829211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:261.74, Y:1.89, Z:1.32 [[ 9.99954491e-01 -8.09257461e-03 -5.05239595e-03 2.61735123e+02] [ 8.09303940e-03 9.99967248e-01 7.15554753e-05 1.88811705e+00] [ 5.05165140e-03 -1.12441458e-04 9.99987234e-01 1.31730599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23439141800003 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:261.77, Y:1.89, Z:1.32 [[ 9.99950389e-01 -8.58441189e-03 -5.05239452e-03 2.61765766e+02] [ 8.58488346e-03 9.99963147e-01 7.16557458e-05 1.88785419e+00] [ 5.05159320e-03 -1.15026409e-04 9.99987234e-01 1.31810359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264391418 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:261.80, Y:1.89, Z:1.32 [[ 9.99930226e-01 -1.06778833e-02 -5.05239452e-03 2.61796700e+02] [ 1.06783816e-02 9.99942982e-01 7.16557458e-05 1.88790420e+00] [ 5.05134131e-03 -1.25602143e-04 9.99987234e-01 1.31885119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:261.83, Y:1.89, Z:1.32 [[ 9.99912668e-01 -1.22118372e-02 -5.05239170e-03 2.61827718e+02] [ 1.22123561e-02 9.99925424e-01 7.18543283e-05 1.88757408e+00] [ 5.05113744e-03 -1.33549660e-04 9.99987234e-01 1.31916425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:261.86, Y:1.89, Z:1.32 [[ 9.99891113e-01 -1.38649286e-02 -5.05238886e-03 2.61859389e+02] [ 1.38654696e-02 9.99903867e-01 7.20534163e-05 1.88699219e+00] [ 5.05090414e-03 -1.42099315e-04 9.99987234e-01 1.31906242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:261.89, Y:1.89, Z:1.32 [[ 9.99828185e-01 -1.78346324e-02 -5.05237979e-03 2.61890333e+02] [ 1.78352272e-02 9.99840937e-01 7.26835915e-05 1.88589532e+00] [ 5.05027986e-03 -1.62781445e-04 9.99987234e-01 1.31843805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384391418 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:261.92, Y:1.89, Z:1.32 [[ 9.99784385e-01 -2.01409114e-02 -5.05237004e-03 2.61922159e+02] [ 2.01415390e-02 9.99797136e-01 7.33557609e-05 1.88533581e+00] [ 5.04986764e-03 -1.75102452e-04 9.99987234e-01 1.31915503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:261.95, Y:1.88, Z:1.32 [[ 9.99725336e-01 -2.28850790e-02 -5.05236418e-03 2.61953759e+02] [ 2.28857435e-02 9.99738084e-01 7.37570456e-05 1.88474322e+00] [ 5.04935295e-03 -1.89363898e-04 9.99987234e-01 1.31896845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:261.99, Y:1.88, Z:1.32 [[ 9.99590677e-01 -2.81593880e-02 -5.05235979e-03 2.61986333e+02] [ 2.81601214e-02 9.99603422e-01 7.40560428e-05 1.88373516e+00] [ 5.04827077e-03 -2.16300795e-04 9.99987234e-01 1.31938959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474391418 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:262.02, Y:1.88, Z:1.32 [[ 9.99514338e-01 -3.07499810e-02 -5.05235388e-03 2.62018722e+02] [ 3.07507494e-02 9.99527081e-01 7.44573267e-05 1.88285918e+00] [ 5.04767497e-03 -2.29784834e-04 9.99987234e-01 1.31865742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:262.05, Y:1.88, Z:1.32 [[ 9.99437956e-01 -3.31397916e-02 -5.05234645e-03 2.62051750e+02] [ 3.31405930e-02 9.99450697e-01 7.49580711e-05 1.88204973e+00] [ 5.04708709e-03 -2.42353699e-04 9.99987234e-01 1.31955650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534391418 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:262.08, Y:1.88, Z:1.32 [[ 9.99359309e-01 -3.54322545e-02 -5.05233761e-03 2.62084163e+02] [ 3.54330881e-02 9.99372048e-01 7.55492752e-05 1.88122875e+00] [ 5.04648810e-03 -2.54520795e-04 9.99987234e-01 1.32036281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:262.12, Y:1.88, Z:1.32 [[ 9.99218504e-01 -3.92027564e-02 -5.05233167e-03 2.62115052e+02] [ 3.92036400e-02 9.99231239e-01 7.59445609e-05 1.88040129e+00] [ 5.04547040e-03 -2.73955003e-04 9.99987234e-01 1.32141528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:262.15, Y:1.88, Z:1.32 [[ 9.99168677e-01 -4.04528025e-02 -5.05232723e-03 2.62146866e+02] [ 4.04537035e-02 9.99181411e-01 7.62389476e-05 1.87952038e+00] [ 5.04510737e-03 -2.80560916e-04 9.99987234e-01 1.32205419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:262.18, Y:1.88, Z:1.32 [[ 9.99111415e-01 -4.18432106e-02 -5.05232124e-03 2.62178825e+02] [ 4.18441314e-02 9.99124148e-01 7.66337765e-05 1.87820547e+00] [ 5.04468955e-03 -2.87975675e-04 9.99987234e-01 1.32328796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:262.21, Y:1.88, Z:1.32 [[ 9.99096399e-01 -4.22002320e-02 -5.05231504e-03 2.62211391e+02] [ 4.22011593e-02 9.99109131e-01 7.70399372e-05 1.87736983e+00] [ 5.04456299e-03 -2.90183876e-04 9.99987234e-01 1.32341606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:262.24, Y:1.88, Z:1.32 [[ 9.99101182e-01 -4.20868436e-02 -5.05230571e-03 2.62243920e+02] [ 4.20877726e-02 9.99113914e-01 7.76474292e-05 1.87636309e+00] [ 5.04456100e-03 -2.90217932e-04 9.99987234e-01 1.32377549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:262.28, Y:1.88, Z:1.32 [[ 9.99144881e-01 -4.10363436e-02 -5.05229782e-03 2.62276690e+02] [ 4.10372617e-02 9.99157614e-01 7.81571969e-05 1.87552669e+00] [ 5.04483455e-03 -2.85422831e-04 9.99987234e-01 1.32351283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:262.31, Y:1.87, Z:1.32 [[ 9.99197914e-01 -3.97240823e-02 -5.05228840e-03 2.62309916e+02] [ 3.97249868e-02 9.99210648e-01 7.87616287e-05 1.87465583e+00] [ 5.04517163e-03 -2.79400545e-04 9.99987234e-01 1.32327042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774391418 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:262.34, Y:1.87, Z:1.32 [[ 9.99244249e-01 -3.85409464e-02 -5.05227892e-03 2.62341706e+02] [ 3.85418389e-02 9.99256984e-01 7.93650615e-05 1.87408199e+00] [ 5.04546619e-03 -2.74029201e-04 9.99987234e-01 1.32263069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.804391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:262.37, Y:1.87, Z:1.32 [[ 9.99306559e-01 -3.68900523e-02 -5.05227260e-03 2.62372498e+02] [ 3.68909257e-02 9.99319295e-01 7.97652624e-05 1.87390110e+00] [ 5.04589095e-03 -2.66092963e-04 9.99987234e-01 1.32194241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:262.40, Y:1.87, Z:1.32 [[ 9.99469088e-01 -3.21872208e-02 -5.05226788e-03 2.62404978e+02] [ 3.21880358e-02 9.99481828e-01 8.00631821e-05 1.87439749e+00] [ 5.04707292e-03 -2.42643255e-04 9.99987234e-01 1.32105476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.864391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:262.44, Y:1.87, Z:1.32 [[ 9.99559894e-01 -2.92317261e-02 -5.05226160e-03 2.62436918e+02] [ 2.92325054e-02 9.99572636e-01 8.04578257e-05 1.87438010e+00] [ 5.04775052e-03 -2.28112680e-04 9.99987234e-01 1.32102303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:262.47, Y:1.88, Z:1.32 [[ 9.99754887e-01 -2.15555185e-02 -5.05225373e-03 2.62467817e+02] [ 2.15562024e-02 9.99767635e-01 8.09488943e-05 1.87537561e+00] [ 5.04933487e-03 -1.89836457e-04 9.99987234e-01 1.32135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.924391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:262.50, Y:1.88, Z:1.32 [[ 9.99842478e-01 -1.70145108e-02 -5.05224906e-03 2.62499792e+02] [ 1.70151383e-02 9.99855229e-01 8.12392669e-05 1.87591731e+00] [ 5.05013539e-03 -1.67191186e-04 9.99987234e-01 1.32218281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:262.53, Y:1.88, Z:1.32 [[ 9.99914298e-01 -1.20776941e-02 -5.05224285e-03 2.62530688e+02] [ 1.20782606e-02 9.99927052e-01 8.16234172e-05 1.87649009e+00] [ 5.05088848e-03 -1.42638728e-04 9.99987234e-01 1.32260034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98439141800003 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:262.56, Y:1.88, Z:1.32 [[ 9.99962329e-01 -7.05805158e-03 -5.05223821e-03 2.62561696e+02] [ 7.05855546e-03 9.99975085e-01 8.19097270e-05 1.87702968e+00] [ 5.05153421e-03 -1.17568145e-04 9.99987234e-01 1.32353457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:262.59, Y:1.88, Z:1.33 [[ 9.99982294e-01 3.14436969e-03 -5.05223515e-03 2.62591544e+02] [-3.14399503e-03 9.99995054e-01 8.20983892e-05 1.87890823e+00] [ 5.05246831e-03 -6.62127334e-05 9.99987234e-01 1.32546039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:262.62, Y:1.88, Z:1.33 [[ 9.99957354e-01 7.73075722e-03 -5.05223666e-03 2.62619617e+02] [-7.73044155e-03 9.99970116e-01 8.20048562e-05 1.87973935e+00] [ 5.05271964e-03 -4.29453388e-05 9.99987234e-01 1.32633983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:262.65, Y:1.88, Z:1.33 [[ 9.99914813e-01 1.20349830e-02 -5.05226032e-03 2.62647394e+02] [-1.20347297e-02 9.99927577e-01 8.05203645e-05 1.88029154e+00] [ 5.05286348e-03 -1.97109176e-05 9.99987234e-01 1.32724264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:262.68, Y:1.88, Z:1.33 [[ 9.99796040e-01 1.95538560e-02 -5.05228380e-03 2.62675144e+02] [-1.95537063e-02 9.99808805e-01 7.90190148e-05 1.88063370e+00] [ 5.05286296e-03 1.97879757e-05 9.99987234e-01 1.32820220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:262.70, Y:1.88, Z:1.33 [[ 9.99726288e-01 2.28434558e-02 -5.05230901e-03 2.62702227e+02] [-2.28433565e-02 9.99739054e-01 7.73733082e-05 1.88051058e+00] [ 5.05275810e-03 3.80595657e-05 9.99987234e-01 1.32679176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:262.73, Y:1.88, Z:1.33 [[ 9.99602410e-01 2.77398078e-02 -5.05231979e-03 2.62730240e+02] [-2.77397746e-02 9.99615175e-01 7.66626084e-05 1.87970257e+00] [ 5.05250214e-03 6.35180842e-05 9.99987234e-01 1.32674712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:262.76, Y:1.88, Z:1.33 [[ 9.99560264e-01 2.92190541e-02 -5.05232863e-03 2.62758387e+02] [-2.92190428e-02 9.99573030e-01 7.60756673e-05 1.87868993e+00] [ 5.05239429e-03 7.15819923e-05 9.99987234e-01 1.32697955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:262.79, Y:1.88, Z:1.33 [[ 9.99543027e-01 2.98028720e-02 -5.05233762e-03 2.62786687e+02] [-2.98028712e-02 9.99555793e-01 7.54738664e-05 1.87746283e+00] [ 5.05234267e-03 7.51347903e-05 9.99987234e-01 1.32695765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:262.81, Y:1.88, Z:1.33 [[ 9.99540568e-01 2.98852373e-02 -5.05234649e-03 2.62814666e+02] [-2.98852405e-02 9.99553334e-01 7.48754148e-05 1.87586997e+00] [ 5.05232744e-03 7.61495752e-05 9.99987234e-01 1.32682597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:262.84, Y:1.88, Z:1.33 [[ 9.99544078e-01 2.97676042e-02 -5.05235522e-03 2.62843118e+02] [-2.97676089e-02 9.99556844e-01 7.42817816e-05 1.87556709e+00] [ 5.05232742e-03 7.61486194e-05 9.99987234e-01 1.32696995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:262.87, Y:1.87, Z:1.33 [[ 9.99594907e-01 2.80088564e-02 -5.05236389e-03 2.62869938e+02] [-2.80088417e-02 9.99607673e-01 7.36871921e-05 1.87242914e+00] [ 5.05244560e-03 6.78535182e-05 9.99987234e-01 1.32650259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:262.90, Y:1.87, Z:1.33 [[ 9.99651400e-01 2.59143177e-02 -5.05237883e-03 2.62898040e+02] [-2.59142814e-02 9.99664166e-01 7.26483530e-05 1.87038805e+00] [ 5.05256470e-03 5.83057391e-05 9.99987234e-01 1.32620635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:262.92, Y:1.87, Z:1.32 [[ 9.99780410e-01 2.03372860e-02 -5.05238730e-03 2.62924862e+02] [-2.03371815e-02 9.99793176e-01 7.20543759e-05 1.86591581e+00] [ 5.05280773e-03 3.07127641e-05 9.99987234e-01 1.32498185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:262.95, Y:1.86, Z:1.33 [[ 9.99845743e-01 1.68215443e-02 -5.05240036e-03 2.62952498e+02] [-1.68213996e-02 9.99858508e-01 7.11263102e-05 1.86361814e+00] [ 5.05288194e-03 1.38731072e-05 9.99987234e-01 1.32503871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:262.98, Y:1.86, Z:1.32 [[ 9.99903594e-01 1.29334992e-02 -5.05240847e-03 2.62980419e+02] [-1.29333079e-02 9.99916359e-01 7.05454382e-05 1.86105651e+00] [ 5.05289828e-03 -5.19428294e-06 9.99987234e-01 1.32474291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:263.01, Y:1.86, Z:1.32 [[ 9.99968420e-01 6.13457762e-03 -5.05241664e-03 2.63007933e+02] [-6.13430246e-03 9.99981183e-01 6.99553292e-05 1.85552585e+00] [ 5.05275072e-03 -3.89600681e-05 9.99987234e-01 1.32485954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:263.04, Y:1.85, Z:1.33 [[ 9.99983856e-01 2.60005875e-03 -5.05242488e-03 2.63036528e+02] [-2.59974151e-03 9.99996618e-01 6.93554049e-05 1.85287920e+00] [ 5.05258812e-03 -5.62192866e-05 9.99987234e-01 1.32507787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:263.06, Y:1.85, Z:1.33 [[ 9.99983134e-01 -2.86430818e-03 -5.05243037e-03 2.63063830e+02] [ 2.86469311e-03 9.99995894e-01 6.89528518e-05 1.84774170e+00] [ 5.05221213e-03 -8.34253513e-05 9.99987234e-01 1.32557003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.554391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:263.09, Y:1.85, Z:1.33 [[ 9.99970470e-01 -5.79071916e-03 -5.05243597e-03 2.63093427e+02] [ 5.79113935e-03 9.99983229e-01 6.85398066e-05 1.84527624e+00] [ 5.05195435e-03 -9.77971434e-05 9.99987234e-01 1.32553302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:263.12, Y:1.84, Z:1.33 [[ 9.99954632e-01 -8.07507128e-03 -5.05243877e-03 2.63122685e+02] [ 8.07551957e-03 9.99967390e-01 6.83332939e-05 1.84250370e+00] [ 5.05172221e-03 -1.09131262e-04 9.99987234e-01 1.32519502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.614391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:263.15, Y:1.84, Z:1.32 [[ 9.99935619e-01 -1.01602030e-02 -5.05244148e-03 2.63153003e+02] [ 1.01606769e-02 9.99948377e-01 6.81321209e-05 1.83993236e+00] [ 5.05148842e-03 -1.19463960e-04 9.99987234e-01 1.32472125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:263.18, Y:1.83, Z:1.32 [[ 9.99906794e-01 -1.26836643e-02 -5.05244013e-03 2.63184174e+02] [ 1.26841708e-02 9.99919550e-01 6.82319384e-05 1.83467419e+00] [ 5.05116823e-03 -1.32311593e-04 9.99987234e-01 1.32386752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.674391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:263.22, Y:1.83, Z:1.32 [[ 9.99891578e-01 -1.38312940e-02 -5.05243745e-03 2.63215017e+02] [ 1.38318162e-02 9.99904334e-01 6.84297235e-05 1.83233455e+00] [ 5.05100763e-03 -1.38306691e-04 9.99987234e-01 1.32373716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:263.25, Y:1.83, Z:1.32 [[ 9.99890418e-01 -1.39149323e-02 -5.05243477e-03 2.63246998e+02] [ 1.39154566e-02 9.99903173e-01 6.86275303e-05 1.82828561e+00] [ 5.05099061e-03 -1.38926947e-04 9.99987234e-01 1.32371409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73439141800003 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:263.28, Y:1.83, Z:1.32 [[ 9.99898656e-01 -1.33097665e-02 -5.05242938e-03 2.63279548e+02] [ 1.33102850e-02 9.99911412e-01 6.90221870e-05 1.82659809e+00] [ 5.05106312e-03 -1.36264467e-04 9.99987234e-01 1.32352590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:263.31, Y:1.82, Z:1.32 [[ 9.99921444e-01 -1.14708138e-02 -5.05242399e-03 2.63309925e+02] [ 1.14713109e-02 9.99934200e-01 6.94141454e-05 1.82493639e+00] [ 5.05129530e-03 -1.27366619e-04 9.99987234e-01 1.32334954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794391418 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:263.34, Y:1.82, Z:1.32 [[ 9.99929201e-01 -1.07733201e-02 -5.05266330e-03 2.63340199e+02] [ 1.07737199e-02 9.99941960e-01 5.19134422e-05 1.82280816e+00] [ 5.05181077e-03 -1.06345746e-04 9.99987234e-01 1.32284216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824391418 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:263.38, Y:1.82, Z:1.32 [[ 9.99960417e-01 -7.32379377e-03 -5.05242092e-03 2.63375149e+02] [ 7.32423850e-03 9.99973175e-01 6.95268968e-05 1.81789398e+00] [ 5.05177619e-03 -1.06529281e-04 9.99987234e-01 1.32209742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854391418 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:263.40, Y:1.82, Z:1.32 [[ 9.99934548e-01 -1.02657308e-02 -5.05112046e-03 2.63400979e+02] [ 1.02666829e-02 9.99947283e-01 1.62615136e-04 1.82004075e+00] [ 5.04918481e-03 -2.14462745e-04 9.99987230e-01 1.32281265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:263.43, Y:1.82, Z:1.32 [[ 9.99931383e-01 -1.05689187e-02 -5.05239654e-03 2.63432139e+02] [ 1.05693997e-02 9.99944140e-01 6.85106343e-05 1.81855392e+00] [ 5.05139023e-03 -1.21906732e-04 9.99987234e-01 1.32284648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914391418 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:263.46, Y:1.82, Z:1.32 [[ 9.99910042e-01 -1.24250304e-02 -5.05239394e-03 2.63462643e+02] [ 1.24255360e-02 9.99922798e-01 6.87016709e-05 1.81619306e+00] [ 5.05115026e-03 -1.31474193e-04 9.99987234e-01 1.32226502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:263.49, Y:1.81, Z:1.32 [[ 9.99890762e-01 -1.38901635e-02 -5.05239265e-03 2.63493693e+02] [ 1.38906883e-02 9.99903517e-01 6.87965730e-05 1.81472939e+00] [ 5.05094959e-03 -1.38970269e-04 9.99987234e-01 1.32185545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:263.53, Y:1.81, Z:1.32 [[ 9.99863520e-01 -1.57293964e-02 -5.05239000e-03 2.63525155e+02] [ 1.57299456e-02 9.99876274e-01 6.89903005e-05 1.81337208e+00] [ 5.05067972e-03 -1.48454705e-04 9.99987234e-01 1.32137119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:263.56, Y:1.81, Z:1.32 [[ 9.99831744e-01 -1.76339508e-02 -5.05238603e-03 2.63557499e+02] [ 1.76345258e-02 9.99844497e-01 6.92802566e-05 1.81193807e+00] [ 5.05037868e-03 -1.58365032e-04 9.99987234e-01 1.32097315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:263.59, Y:1.81, Z:1.32 [[ 9.99739307e-01 -2.22663637e-02 -5.05238075e-03 2.63589301e+02] [ 2.22669997e-02 9.99752057e-01 6.96630906e-05 1.80965891e+00] [ 5.04957690e-03 -1.82146291e-04 9.99987234e-01 1.32127113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:263.62, Y:1.81, Z:1.32 [[ 9.99613571e-01 -2.73346495e-02 -5.05237537e-03 2.63620207e+02] [ 2.73353521e-02 9.99626317e-01 7.00508020e-05 1.80739191e+00] [ 5.04857257e-03 -2.08132192e-04 9.99987234e-01 1.32221052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:263.65, Y:1.81, Z:1.32 [[ 9.99535279e-01 -3.00615934e-02 -5.05237135e-03 2.63652702e+02] [ 3.00623322e-02 9.99548023e-01 7.03399122e-05 1.80603917e+00] [ 5.04797327e-03 -2.22193290e-04 9.99987234e-01 1.32277791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:263.68, Y:1.80, Z:1.32 [[ 9.99448976e-01 -3.28057627e-02 -5.05236600e-03 2.63684394e+02] [ 3.28065384e-02 9.99461718e-01 7.07222358e-05 1.80463514e+00] [ 5.04732630e-03 -2.36433905e-04 9.99987234e-01 1.32338924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:263.72, Y:1.80, Z:1.32 [[ 9.99277679e-01 -3.76642220e-02 -5.05236063e-03 2.63716244e+02] [ 3.76650616e-02 9.99290417e-01 7.11032449e-05 1.80221578e+00] [ 5.04609752e-03 -2.61349360e-04 9.99987234e-01 1.32419274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:263.75, Y:1.80, Z:1.32 [[ 9.99208473e-01 -3.94575882e-02 -5.05235506e-03 2.63749650e+02] [ 3.94584527e-02 9.99221209e-01 7.14973546e-05 1.80073627e+00] [ 5.04559922e-03 -2.70798875e-04 9.99987234e-01 1.32452618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:263.78, Y:1.80, Z:1.33 [[ 9.99110050e-01 -4.18757831e-02 -5.05234650e-03 2.63781938e+02] [ 4.18766814e-02 9.99122784e-01 7.20972246e-05 1.79904104e+00] [ 5.04489537e-03 -2.83608566e-04 9.99987234e-01 1.32504577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:263.82, Y:1.80, Z:1.33 [[ 9.99079901e-01 -4.25890313e-02 -5.05233936e-03 2.63815166e+02] [ 4.25899413e-02 9.99092634e-01 7.25939786e-05 1.79841049e+00] [ 5.04466333e-03 -2.87706021e-04 9.99987234e-01 1.32552447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:263.85, Y:1.80, Z:1.33 [[ 9.99080351e-01 -4.25784630e-02 -5.05233093e-03 2.63847864e+02] [ 4.25793757e-02 9.99093084e-01 7.31761696e-05 1.79789978e+00] [ 5.04463316e-03 -2.88233970e-04 9.99987234e-01 1.32541634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.304391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:263.88, Y:1.80, Z:1.33 [[ 9.99194140e-01 -3.98188990e-02 -5.05232249e-03 2.63881750e+02] [ 3.98197794e-02 9.99206875e-01 7.37544485e-05 1.79662702e+00] [ 5.04537854e-03 -2.74877380e-04 9.99987234e-01 1.32531663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:263.91, Y:1.80, Z:1.33 [[ 9.99216796e-01 -3.92463360e-02 -5.05177152e-03 2.63911316e+02] [ 3.92473954e-02 9.99229518e-01 1.10707410e-04 1.79864862e+00] [ 5.04353436e-03 -3.08889578e-04 9.99987234e-01 1.32569188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.364391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:263.94, Y:1.80, Z:1.33 [[ 9.99286747e-01 -3.74228664e-02 -5.05229912e-03 2.63943535e+02] [ 3.74237242e-02 9.99299484e-01 7.53148289e-05 1.79923902e+00] [ 5.04594141e-03 -2.64336959e-04 9.99987234e-01 1.32565461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:263.98, Y:1.80, Z:1.33 [[ 9.99478149e-01 -3.19046102e-02 -5.05229159e-03 2.63975582e+02] [ 3.19054001e-02 9.99490890e-01 7.58166255e-05 1.80055028e+00] [ 5.04730052e-03 -2.36972445e-04 9.99987234e-01 1.32592022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.424391418 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:264.01, Y:1.80, Z:1.33 [[ 9.99582354e-01 -2.84533443e-02 -5.05228557e-03 2.64008142e+02] [ 2.84540923e-02 9.99595097e-01 7.62160860e-05 1.80136641e+00] [ 5.04807128e-03 -2.19942454e-04 9.99987234e-01 1.32572176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:264.04, Y:1.80, Z:1.33 [[ 9.99680810e-01 -2.47538256e-02 -5.05227943e-03 2.64039505e+02] [ 2.47545284e-02 9.99693557e-01 7.66206206e-05 1.80220014e+00] [ 5.04883454e-03 -2.01662959e-04 9.99987234e-01 1.32603830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48439141800003 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:264.07, Y:1.81, Z:1.33 [[ 9.99848200e-01 -1.66748504e-02 -5.05227485e-03 2.64071746e+02] [ 1.66754517e-02 9.99860952e-01 7.69217055e-05 1.80514824e+00] [ 5.05028968e-03 -1.61158994e-04 9.99987234e-01 1.32682501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:264.10, Y:1.81, Z:1.33 [[ 9.99904525e-01 -1.28613741e-02 -5.05226873e-03 2.64103675e+02] [ 1.28619288e-02 9.99917279e-01 7.73215352e-05 1.80669506e+00] [ 5.05085634e-03 -1.42296074e-04 9.99987234e-01 1.32725837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:264.14, Y:1.81, Z:1.33 [[ 9.99969289e-01 -5.99127740e-03 -5.05226263e-03 2.64135538e+02] [ 5.99174649e-03 9.99982046e-01 7.77177709e-05 1.80926076e+00] [ 5.05170630e-03 -1.07987261e-04 9.99987234e-01 1.32821532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:264.17, Y:1.81, Z:1.33 [[ 9.99981364e-01 -3.42741666e-03 -5.05225955e-03 2.64165374e+02] [ 3.42785406e-03 9.99994122e-01 7.79177569e-05 1.80945887e+00] [ 5.05196279e-03 -9.52347131e-05 9.99987234e-01 1.32834862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:264.19, Y:1.81, Z:1.33 [[ 9.99985718e-01 -1.74289902e-03 -5.05226107e-03 2.64194550e+02] [ 1.74331442e-03 9.99998477e-01 7.78187627e-05 1.80982840e+00] [ 5.05211775e-03 -8.66253310e-05 9.99987234e-01 1.32859633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:264.22, Y:1.81, Z:1.33 [[ 9.99987032e-01 -6.39909748e-04 -5.05226417e-03 2.64223578e+02] [ 6.40310061e-04 9.99999792e-01 7.76172904e-05 1.81008851e+00] [ 5.05221345e-03 -8.08512994e-05 9.99987234e-01 1.32873494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:264.25, Y:1.81, Z:1.33 [[ 9.99987093e-01 -5.37572328e-04 -5.05226875e-03 2.64252330e+02] [ 5.37969823e-04 9.99999852e-01 7.73177902e-05 1.81056131e+00] [ 5.05222644e-03 -8.00347604e-05 9.99987234e-01 1.32861469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:264.28, Y:1.81, Z:1.33 [[ 9.99986121e-01 -1.49380334e-03 -5.05228954e-03 2.64281212e+02] [ 1.49420605e-03 9.99998881e-01 7.59346662e-05 1.81029226e+00] [ 5.05217045e-03 -8.34827739e-05 9.99987234e-01 1.32813362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:264.31, Y:1.81, Z:1.33 [[ 9.99982688e-01 -3.01640275e-03 -5.05229541e-03 2.64309590e+02] [ 3.01682290e-03 9.99995447e-01 7.55422319e-05 1.80986264e+00] [ 5.05204454e-03 -9.07828045e-05 9.99987234e-01 1.32831799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:264.34, Y:1.81, Z:1.33 [[ 9.99959707e-01 -7.42014634e-03 -5.05230145e-03 2.64338547e+02] [ 7.42062063e-03 9.99972464e-01 7.51359334e-05 1.80897425e+00] [ 5.05160481e-03 -1.12624118e-04 9.99987234e-01 1.32789910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:264.37, Y:1.81, Z:1.33 [[ 9.99939125e-01 -9.80919793e-03 -5.05230593e-03 2.64368690e+02] [ 9.80970117e-03 9.99951881e-01 7.48336933e-05 1.80780580e+00] [ 5.05132876e-03 -1.24390749e-04 9.99987234e-01 1.32816222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:264.40, Y:1.81, Z:1.33 [[ 9.99878154e-01 -1.47699438e-02 -5.05230593e-03 2.64399129e+02] [ 1.47705104e-02 9.99890907e-01 7.48336933e-05 1.80614631e+00] [ 5.05064947e-03 -1.49449712e-04 9.99987234e-01 1.32859071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:264.43, Y:1.81, Z:1.33 [[ 9.99844495e-01 -1.68955801e-02 -5.05230593e-03 2.64430723e+02] [ 1.68961738e-02 9.99857247e-01 7.48336933e-05 1.80521168e+00] [ 5.05032034e-03 -1.60186695e-04 9.99987234e-01 1.32846502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:264.46, Y:1.80, Z:1.33 [[ 9.99810742e-01 -1.87870818e-02 -5.05230150e-03 2.64463341e+02] [ 1.87877010e-02 9.99823493e-01 7.51311683e-05 1.80411925e+00] [ 5.04999824e-03 -1.70038079e-04 9.99987234e-01 1.32852868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:264.50, Y:1.80, Z:1.33 [[ 9.99772135e-01 -2.07401232e-02 -5.05229553e-03 2.64495946e+02] [ 2.07407694e-02 9.99784884e-01 7.55310001e-05 1.80347660e+00] [ 5.04964218e-03 -1.80302285e-04 9.99987234e-01 1.32846640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:264.53, Y:1.80, Z:1.33 [[ 9.99703892e-01 -2.38034285e-02 -5.05228954e-03 2.64527770e+02] [ 2.38041158e-02 9.99716639e-01 7.59293942e-05 1.80268881e+00] [ 5.04905054e-03 -1.96172196e-04 9.99987234e-01 1.32773813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:264.56, Y:1.80, Z:1.33 [[ 9.99684323e-01 -2.46115706e-02 -5.05228358e-03 2.64559827e+02] [ 2.46122701e-02 9.99697069e-01 7.63236786e-05 1.80203554e+00] [ 5.04887464e-03 -2.00647753e-04 9.99987234e-01 1.32767146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:264.59, Y:1.80, Z:1.33 [[ 9.99655511e-01 -2.57552761e-02 -5.05227763e-03 2.64591400e+02] [ 2.57559922e-02 9.99668256e-01 7.67159823e-05 1.80131794e+00] [ 5.04862572e-03 -2.06815977e-04 9.99987234e-01 1.32760622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:264.62, Y:1.80, Z:1.33 [[ 9.99648269e-01 -2.60348274e-02 -5.05227317e-03 2.64623640e+02] [ 2.60355485e-02 9.99661015e-01 7.70080663e-05 1.80086092e+00] [ 5.04855564e-03 -2.08519683e-04 9.99987234e-01 1.32806145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.054391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:264.65, Y:1.80, Z:1.33 [[ 9.99643220e-01 -2.62279920e-02 -5.05226727e-03 2.64654527e+02] [ 2.62287175e-02 9.99655965e-01 7.73937268e-05 1.80056939e+00] [ 5.04849923e-03 -2.09880605e-04 9.99987234e-01 1.32866192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:264.69, Y:1.80, Z:1.33 [[ 9.99641313e-01 -2.63005820e-02 -5.05226285e-03 2.64686493e+02] [ 2.63013099e-02 9.99654058e-01 7.76810280e-05 1.80057008e+00] [ 5.04847200e-03 -2.10534296e-04 9.99987234e-01 1.32987583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.114391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:264.72, Y:1.80, Z:1.33 [[ 9.99632046e-01 -2.66504775e-02 -5.05225667e-03 2.64719060e+02] [ 2.66512119e-02 9.99644790e-01 7.80804862e-05 1.80151059e+00] [ 5.04838118e-03 -2.12700519e-04 9.99987234e-01 1.33066761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:264.75, Y:1.80, Z:1.33 [[ 9.99620896e-01 -2.70654685e-02 -5.05225048e-03 2.64750550e+02] [ 2.70662102e-02 9.99633640e-01 7.84794782e-05 1.80207685e+00] [ 5.04827545e-03 -2.15195000e-04 9.99987234e-01 1.32996017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.174391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:264.78, Y:1.80, Z:1.33 [[ 9.99608091e-01 -2.75343269e-02 -5.05224586e-03 2.64783220e+02] [ 2.75350761e-02 9.99620835e-01 7.87756540e-05 1.80179672e+00] [ 5.04816119e-03 -2.17858755e-04 9.99987234e-01 1.32947963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:264.82, Y:1.80, Z:1.33 [[ 9.99610193e-01 -2.74579191e-02 -5.05223981e-03 2.64815907e+02] [ 2.74586692e-02 9.99622937e-01 7.91618305e-05 1.80120290e+00] [ 5.04816117e-03 -2.17858754e-04 9.99987234e-01 1.32964471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23439141800003 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:264.85, Y:1.80, Z:1.33 [[ 9.99592322e-01 -2.81009571e-02 -5.05223373e-03 2.64848266e+02] [ 2.81017174e-02 9.99605066e-01 7.95480066e-05 1.80091732e+00] [ 5.04800305e-03 -2.21492021e-04 9.99987234e-01 1.32960158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:264.88, Y:1.80, Z:1.33 [[ 9.99575895e-01 -2.86793551e-02 -5.05222743e-03 2.64879609e+02] [ 2.86801248e-02 9.99588637e-01 7.99457968e-05 1.80080045e+00] [ 5.04785634e-03 -2.24810405e-04 9.99987234e-01 1.32876297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:264.91, Y:1.80, Z:1.33 [[ 9.99524676e-01 -3.04121112e-02 -5.05222273e-03 2.64911835e+02] [ 3.04129044e-02 9.99537417e-01 8.02417998e-05 1.80189716e+00] [ 5.04744534e-03 -2.33856426e-04 9.99987234e-01 1.32927458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:264.94, Y:1.80, Z:1.33 [[ 9.99494717e-01 -3.13812837e-02 -5.05221654e-03 2.64944378e+02] [ 3.13820913e-02 9.99507458e-01 8.06294990e-05 1.80213513e+00] [ 5.04719786e-03 -2.39137879e-04 9.99987234e-01 1.32925722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:264.98, Y:1.80, Z:1.33 [[ 9.99424749e-01 -3.35357508e-02 -5.05221022e-03 2.64975683e+02] [ 3.35365879e-02 9.99437487e-01 8.10237777e-05 1.80294919e+00] [ 5.04665109e-03 -2.50411061e-04 9.99987234e-01 1.32826660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:265.01, Y:1.80, Z:1.33 [[ 9.99384966e-01 -3.47010852e-02 -5.05220550e-03 2.65007696e+02] [ 3.47019385e-02 9.99397703e-01 8.13173217e-05 1.80323755e+00] [ 5.04634077e-03 -2.56588633e-04 9.99987234e-01 1.32916924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:265.04, Y:1.80, Z:1.33 [[ 9.99352931e-01 -3.56117323e-02 -5.05219894e-03 2.65040875e+02] [ 3.56125993e-02 9.99365667e-01 8.17229001e-05 1.80339581e+00] [ 5.04608386e-03 -2.61591956e-04 9.99987234e-01 1.32990006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:265.07, Y:1.81, Z:1.33 [[ 9.99298590e-01 -3.71052904e-02 -5.05218890e-03 2.65072476e+02] [ 3.71061796e-02 9.99311325e-01 8.23388650e-05 1.80534749e+00] [ 5.04565437e-03 -2.69748540e-04 9.99987234e-01 1.33123291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:265.10, Y:1.81, Z:1.33 [[ 9.99304882e-01 -3.69354481e-02 -5.05218392e-03 2.65103811e+02] [ 3.69363366e-02 9.99317617e-01 8.26432154e-05 1.80624794e+00] [ 5.04568393e-03 -2.69194934e-04 9.99987234e-01 1.33224901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:265.14, Y:1.81, Z:1.33 [[ 9.99327461e-01 -3.63194432e-02 -5.05217901e-03 2.65136745e+02] [ 3.63203254e-02 9.99340196e-01 8.29424779e-05 1.80700107e+00] [ 5.04583313e-03 -2.66383481e-04 9.99987234e-01 1.33313824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:265.17, Y:1.81, Z:1.33 [[ 9.99356905e-01 -3.55000153e-02 -5.05216900e-03 2.65169584e+02] [ 3.55008901e-02 9.99369641e-01 8.35478175e-05 1.80779193e+00] [ 5.04601837e-03 -2.62850585e-04 9.99987234e-01 1.33420734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564391418 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:265.20, Y:1.81, Z:1.34 [[ 9.99442217e-01 -3.30110633e-02 -5.05215900e-03 2.65203268e+02] [ 3.30119094e-02 9.99454955e-01 8.41478119e-05 1.81059286e+00] [ 5.04662754e-03 -2.50882291e-04 9.99987234e-01 1.33564250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:265.23, Y:1.81, Z:1.34 [[ 9.99621353e-01 -2.70486595e-02 -5.05180284e-03 2.65234199e+02] [ 2.70495366e-02 9.99634089e-01 1.05364796e-04 1.81366480e+00] [ 5.04710435e-03 -2.41973826e-04 9.99987234e-01 1.33785638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:265.27, Y:1.81, Z:1.34 [[ 9.99691333e-01 -2.43251768e-02 -5.05214757e-03 2.65266848e+02] [ 2.43259156e-02 9.99704078e-01 8.48357455e-05 1.81490543e+00] [ 5.04858888e-03 -2.07707675e-04 9.99987234e-01 1.33849867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:265.30, Y:1.82, Z:1.34 [[ 9.99749703e-01 -2.17946753e-02 -5.05214066e-03 2.65297834e+02] [ 2.17953839e-02 9.99762449e-01 8.52450849e-05 1.81638502e+00] [ 5.04908263e-03 -1.95337094e-04 9.99987234e-01 1.33901825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:265.33, Y:1.82, Z:1.34 [[ 9.99843194e-01 -1.69724202e-02 -5.05213550e-03 2.65330574e+02] [ 1.69730689e-02 9.99855943e-01 8.55497185e-05 1.81971456e+00] [ 5.04995572e-03 -1.71286548e-04 9.99987234e-01 1.34022965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:265.36, Y:1.82, Z:1.34 [[ 9.99895515e-01 -1.35438474e-02 -5.05212857e-03 2.65363303e+02] [ 1.35444545e-02 9.99908266e-01 8.59573077e-05 1.82235183e+00] [ 5.05050092e-03 -1.54376652e-04 9.99987234e-01 1.34014754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:265.40, Y:1.82, Z:1.34 [[ 9.99896609e-01 -1.34628034e-02 -5.05212157e-03 2.65395995e+02] [ 1.34634115e-02 9.99909360e-01 8.63666455e-05 1.82171611e+00] [ 5.05050091e-03 -1.54376508e-04 9.99987234e-01 1.34031262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:265.43, Y:1.82, Z:1.34 [[ 9.99914798e-01 -1.20363002e-02 -5.05211454e-03 2.65427026e+02] [ 1.20368921e-02 9.99927550e-01 8.67761265e-05 1.82250716e+00] [ 5.05070405e-03 -1.47580491e-04 9.99987234e-01 1.34006828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.804391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:265.46, Y:1.82, Z:1.34 [[ 9.99926936e-01 -1.09817803e-02 -5.05210928e-03 2.65458748e+02] [ 1.09823604e-02 9.99939688e-01 8.70809016e-05 1.82321650e+00] [ 5.05084828e-03 -1.42558624e-04 9.99987234e-01 1.34020495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:265.49, Y:1.82, Z:1.34 [[ 9.99938028e-01 -9.92047770e-03 -5.05210229e-03 2.65489740e+02] [ 9.92104623e-03 9.99950781e-01 8.74846152e-05 1.82386439e+00] [ 5.05098574e-03 -1.37601334e-04 9.99987234e-01 1.34002218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.864391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:265.52, Y:1.83, Z:1.34 [[ 9.99957739e-01 -7.68087118e-03 -5.05209881e-03 2.65520736e+02] [ 7.68141216e-03 9.99970494e-01 8.76852953e-05 1.82586575e+00] [ 5.05127624e-03 -1.26488843e-04 9.99987234e-01 1.33974418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:265.55, Y:1.83, Z:1.34 [[ 9.99964117e-01 -6.80015144e-03 -5.05209527e-03 2.65551707e+02] [ 6.80068221e-03 9.99976871e-01 8.78886341e-05 1.82679811e+00] [ 5.05138077e-03 -1.22243175e-04 9.99987234e-01 1.33947171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.924391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:265.58, Y:1.83, Z:1.34 [[ 9.99979258e-01 -3.99493140e-03 -5.05209527e-03 2.65582572e+02] [ 3.99542639e-03 9.99992014e-01 8.78886341e-05 1.82894693e+00] [ 5.05170382e-03 -1.08072086e-04 9.99987234e-01 1.33878797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:265.61, Y:1.83, Z:1.34 [[ 9.99984335e-01 -2.40944010e-03 -5.05209527e-03 2.65612177e+02] [ 2.40991486e-03 9.99997092e-01 8.78886341e-05 1.82991892e+00] [ 5.05186882e-03 -1.00062377e-04 9.99987234e-01 1.33877006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98439141800003 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:265.64, Y:1.83, Z:1.34 [[ 9.99986515e-01 -1.20273936e-03 -5.05209700e-03 2.65641161e+02] [ 1.20319823e-03 9.99999272e-01 8.77889078e-05 1.83082665e+00] [ 5.05198774e-03 -9.38663981e-05 9.99987234e-01 1.33919299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:265.67, Y:1.83, Z:1.34 [[ 9.99986598e-01 1.13153640e-03 -5.05212117e-03 2.65669527e+02] [-1.13111445e-03 9.99999357e-01 8.63751995e-05 1.83255132e+00] [ 5.05221566e-03 -8.06595146e-05 9.99987234e-01 1.34038100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:265.70, Y:1.83, Z:1.34 [[ 9.99985828e-01 1.67934620e-03 -5.05214489e-03 2.65697706e+02] [-1.67893837e-03 9.99998587e-01 8.49647221e-05 1.83266149e+00] [ 5.05228044e-03 -7.64812781e-05 9.99987234e-01 1.34059696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:265.73, Y:1.83, Z:1.34 [[ 9.99985399e-01 1.91753514e-03 -5.05217211e-03 2.65725090e+02] [-1.91713869e-03 9.99998159e-01 8.33143967e-05 1.83291034e+00] [ 5.05232257e-03 -7.36274656e-05 9.99987234e-01 1.34038626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:265.75, Y:1.83, Z:1.34 [[ 9.99986557e-01 1.16706677e-03 -5.05218092e-03 2.65754032e+02] [-1.16666345e-03 9.99999316e-01 8.27769664e-05 1.83361250e+00] [ 5.05227407e-03 -7.68816588e-05 9.99987234e-01 1.33986730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:265.78, Y:1.83, Z:1.34 [[ 9.99986398e-01 1.29616316e-03 -5.05218741e-03 2.65781618e+02] [-1.29576350e-03 9.99999157e-01 8.23788604e-05 1.83366397e+00] [ 5.05228992e-03 -7.58312998e-05 9.99987234e-01 1.33956452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:265.81, Y:1.83, Z:1.34 [[ 9.99986744e-01 -9.92923976e-04 -5.05237654e-03 2.65810116e+02] [ 9.93293840e-04 9.99999504e-01 7.06971448e-05 1.83421626e+00] [ 5.05230384e-03 -7.57147021e-05 9.99987234e-01 1.33737684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:265.83, Y:1.84, Z:1.34 [[ 9.99965684e-01 -6.56555476e-03 -5.05220209e-03 2.65833964e+02] [ 6.56605034e-03 9.99978440e-01 8.15103034e-05 1.84100821e+00] [ 5.05155800e-03 -1.14680520e-04 9.99987234e-01 1.33862330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:265.87, Y:1.83, Z:1.34 [[ 9.99984940e-01 -2.13986672e-03 -5.05388327e-03 2.65869256e+02] [ 2.13975858e-03 9.99997710e-01 -2.68043495e-05 1.83274661e+00] [ 5.05392906e-03 1.59898557e-05 9.99987229e-01 1.33504465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:265.90, Y:1.83, Z:1.33 [[ 9.99982955e-01 -2.92663756e-03 -5.05210955e-03 2.65897687e+02] [ 2.92709022e-03 9.99995713e-01 8.22055697e-05 1.83208812e+00] [ 5.05184730e-03 -9.69921490e-05 9.99987235e-01 1.33402765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:265.93, Y:1.83, Z:1.33 [[ 9.99981020e-01 -3.52651190e-03 -5.05211581e-03 2.65927390e+02] [ 3.52697025e-03 9.99993777e-01 8.18188860e-05 1.83152718e+00] [ 5.05179583e-03 -9.96359952e-05 9.99987235e-01 1.33406195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:265.96, Y:1.83, Z:1.33 [[ 9.99979588e-01 -3.91139025e-03 -5.05211904e-03 2.65957382e+02] [ 3.91185251e-03 9.99992345e-01 8.16186171e-05 1.83106656e+00] [ 5.05176113e-03 -1.01380096e-04 9.99987235e-01 1.33435910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:265.99, Y:1.83, Z:1.33 [[ 9.99975038e-01 -4.93952911e-03 -5.05212233e-03 2.65986250e+02] [ 4.94000345e-03 9.99987795e-01 8.14144473e-05 1.83048180e+00] [ 5.05165852e-03 -1.06369917e-04 9.99987235e-01 1.33348766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:266.02, Y:1.83, Z:1.33 [[ 9.99972170e-01 -5.48955338e-03 -5.05212845e-03 2.66015603e+02] [ 5.49003281e-03 9.99984926e-01 8.10333520e-05 1.82982843e+00] [ 5.05160746e-03 -1.08767448e-04 9.99987235e-01 1.33280391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:266.05, Y:1.83, Z:1.33 [[ 9.99969553e-01 -5.94713866e-03 -5.05213002e-03 2.66045239e+02] [ 5.94762343e-03 9.99982309e-01 8.09348592e-05 1.82892272e+00] [ 5.05155932e-03 -1.10980562e-04 9.99987235e-01 1.33202401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:266.08, Y:1.83, Z:1.33 [[ 9.99960527e-01 -7.30888841e-03 -5.05213316e-03 2.66076153e+02] [ 7.30938956e-03 9.99973283e-01 8.07386790e-05 1.82687843e+00] [ 5.05140807e-03 -1.17663501e-04 9.99987235e-01 1.33086325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:266.11, Y:1.83, Z:1.33 [[ 9.99956294e-01 -7.86675912e-03 -5.05213316e-03 2.66107045e+02] [ 7.86726738e-03 9.99969049e-01 8.07386790e-05 1.82551985e+00] [ 5.05134164e-03 -1.20481633e-04 9.99987235e-01 1.33064158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:266.14, Y:1.82, Z:1.33 [[ 9.99945603e-01 -9.12510052e-03 -5.05213316e-03 2.66137367e+02] [ 9.12562483e-03 9.99958357e-01 8.07386790e-05 1.82371727e+00] [ 5.05118603e-03 -1.26838159e-04 9.99987235e-01 1.33049603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:266.17, Y:1.82, Z:1.33 [[ 9.99942652e-01 -9.44296932e-03 -5.05213316e-03 2.66168202e+02] [ 9.44349770e-03 9.99955406e-01 8.07386790e-05 1.82217669e+00] [ 5.05114545e-03 -1.28443857e-04 9.99987235e-01 1.33084441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.554391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:266.20, Y:1.82, Z:1.33 [[ 9.99935677e-01 -1.01546623e-02 -5.05212989e-03 2.66199194e+02] [ 1.01552008e-02 9.99948431e-01 8.09426697e-05 1.82088991e+00] [ 5.05104741e-03 -1.32242857e-04 9.99987235e-01 1.33048069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:266.23, Y:1.82, Z:1.33 [[ 9.99929514e-01 -1.07444352e-02 -5.05212662e-03 2.66230230e+02] [ 1.07449822e-02 9.99942268e-01 8.11463228e-05 1.81960491e+00] [ 5.05096308e-03 -1.35425614e-04 9.99987235e-01 1.32986204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.614391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:266.26, Y:1.82, Z:1.33 [[ 9.99918130e-01 -1.17562710e-02 -5.05212337e-03 2.66261088e+02] [ 1.17568319e-02 9.99930883e-01 8.13481343e-05 1.81691569e+00] [ 5.05081783e-03 -1.40738440e-04 9.99987235e-01 1.32854735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:266.29, Y:1.82, Z:1.33 [[ 9.99911407e-01 -1.23148156e-02 -5.05212014e-03 2.66291936e+02] [ 1.23153847e-02 9.99924159e-01 8.15483240e-05 1.81511155e+00] [ 5.05073273e-03 -1.43759902e-04 9.99987235e-01 1.32792174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.674391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:266.32, Y:1.81, Z:1.33 [[ 9.99895504e-01 -1.35446546e-02 -5.05210897e-03 2.66322942e+02] [ 1.35452428e-02 9.99908256e-01 8.22341986e-05 1.81269799e+00] [ 5.05053164e-03 -1.50657648e-04 9.99987235e-01 1.32642967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:266.36, Y:1.81, Z:1.33 [[ 9.99889930e-01 -1.39500811e-02 -5.05210413e-03 2.66355579e+02] [ 1.39506760e-02 9.99902681e-01 8.25305015e-05 1.81095976e+00] [ 5.05046116e-03 -1.53001685e-04 9.99987235e-01 1.32647093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73439141800003 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:266.39, Y:1.81, Z:1.33 [[ 9.99885447e-01 -1.42677477e-02 -5.05209760e-03 2.66388072e+02] [ 1.42683487e-02 9.99898199e-01 8.29288805e-05 1.80956597e+00] [ 5.05040008e-03 -1.55004471e-04 9.99987235e-01 1.32638949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:266.42, Y:1.81, Z:1.33 [[ 9.99887257e-01 -1.41403767e-02 -5.05209101e-03 2.66420226e+02] [ 1.41409780e-02 9.99900008e-01 8.33283257e-05 1.80820236e+00] [ 5.05040754e-03 -1.54760439e-04 9.99987235e-01 1.32628419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:266.45, Y:1.81, Z:1.33 [[ 9.99900605e-01 -1.31626945e-02 -5.05208443e-03 2.66452587e+02] [ 1.31632854e-02 9.99913357e-01 8.37253720e-05 1.80722882e+00] [ 5.05054465e-03 -1.50219079e-04 9.99987235e-01 1.32703873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:266.48, Y:1.81, Z:1.33 [[ 9.99913365e-01 -1.21548324e-02 -5.05207785e-03 2.66484528e+02] [ 1.21554124e-02 9.99926117e-01 8.41201818e-05 1.80669096e+00] [ 5.05068212e-03 -1.45522984e-04 9.99987235e-01 1.32816579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:266.52, Y:1.81, Z:1.33 [[ 9.99927791e-01 -1.09036190e-02 -5.05207124e-03 2.66515399e+02] [ 1.09041851e-02 9.99940544e-01 8.45156285e-05 1.80603176e+00] [ 5.05084934e-03 -1.39598246e-04 9.99987235e-01 1.32864559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:266.54, Y:1.81, Z:1.33 [[ 9.99884029e-01 -1.43667916e-02 -5.05206629e-03 2.66539871e+02] [ 1.43674033e-02 9.99896780e-01 8.48101695e-05 1.81267270e+00] [ 5.05032637e-03 -1.57385408e-04 9.99987235e-01 1.32800842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:266.58, Y:1.80, Z:1.33 [[ 9.99955612e-01 -7.95182338e-03 -5.05397144e-03 2.66575705e+02] [ 7.95176364e-03 9.99968384e-01 -3.19147844e-05 1.80411939e+00] [ 5.05406543e-03 -8.27461856e-06 9.99987228e-01 1.33005936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:266.61, Y:1.80, Z:1.33 [[ 9.99960747e-01 -7.27895160e-03 -5.05193256e-03 2.66606255e+02] [ 7.27948287e-03 9.99973500e-01 8.67807113e-05 1.80238793e+00] [ 5.05116701e-03 -1.23552761e-04 9.99987235e-01 1.33176060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:266.64, Y:1.80, Z:1.33 [[ 9.99959503e-01 -7.44790670e-03 -5.05193256e-03 2.66636541e+02] [ 7.44844012e-03 9.99972256e-01 8.67807113e-05 1.80127725e+00] [ 5.05114606e-03 -1.24406214e-04 9.99987235e-01 1.33243450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:266.67, Y:1.80, Z:1.33 [[ 9.99956739e-01 -7.81014379e-03 -5.05193256e-03 2.66667014e+02] [ 7.81068183e-03 9.99969492e-01 8.67807113e-05 1.80022765e+00] [ 5.05110066e-03 -1.26235995e-04 9.99987235e-01 1.33030708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:266.70, Y:1.80, Z:1.33 [[ 9.99952343e-01 -8.35399023e-03 -5.05192692e-03 2.66697318e+02] [ 8.35453686e-03 9.99965096e-01 8.71075216e-05 1.79918645e+00] [ 5.05102289e-03 -1.29309880e-04 9.99987235e-01 1.33245461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:266.73, Y:1.80, Z:1.33 [[ 9.99937117e-01 -1.00119992e-02 -5.05192692e-03 2.66727365e+02] [ 1.00125670e-02 9.99949869e-01 8.71075216e-05 1.79787476e+00] [ 5.05080154e-03 -1.37684801e-04 9.99987235e-01 1.33285210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:266.76, Y:1.80, Z:1.33 [[ 9.99937517e-01 -9.97193865e-03 -5.05192692e-03 2.66759205e+02] [ 9.97250591e-03 9.99950270e-01 8.71075216e-05 1.79728746e+00] [ 5.05080705e-03 -1.37482450e-04 9.99987235e-01 1.33301300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:266.79, Y:1.80, Z:1.33 [[ 9.99927730e-01 -1.09093084e-02 -5.05192342e-03 2.66790008e+02] [ 1.09098886e-02 9.99940482e-01 8.73099199e-05 1.79642960e+00] [ 5.05067025e-03 -1.42419532e-04 9.99987235e-01 1.33291723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:266.82, Y:1.80, Z:1.33 [[ 9.99917472e-01 -1.18122039e-02 -5.05192169e-03 2.66821468e+02] [ 1.18127962e-02 9.99930223e-01 8.74102280e-05 1.79558025e+00] [ 5.05053667e-03 -1.47080335e-04 9.99987235e-01 1.33320534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:266.85, Y:1.79, Z:1.33 [[ 9.99896459e-01 -1.34740634e-02 -5.05191819e-03 2.66852801e+02] [ 1.34746779e-02 9.99909209e-01 8.76118186e-05 1.79490044e+00] [ 5.05027903e-03 -1.55675718e-04 9.99987235e-01 1.33227773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:266.89, Y:1.79, Z:1.33 [[ 9.99884978e-01 -1.43006656e-02 -5.05191294e-03 2.66885274e+02] [ 1.43012921e-02 9.99897727e-01 8.79133395e-05 1.79421956e+00] [ 5.05013905e-03 -1.60152110e-04 9.99987235e-01 1.33338443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:266.92, Y:1.79, Z:1.33 [[ 9.99872159e-01 -1.51705132e-02 -5.05190607e-03 2.66917694e+02] [ 1.51711528e-02 9.99884908e-01 8.83067813e-05 1.79344229e+00] [ 5.04998497e-03 -1.64938731e-04 9.99987235e-01 1.33347114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:266.95, Y:1.79, Z:1.33 [[ 9.99862015e-01 -1.58249304e-02 -5.05189918e-03 2.66950013e+02] [ 1.58255803e-02 9.99874764e-01 8.86990557e-05 1.79274793e+00] [ 5.04986284e-03 -1.68636053e-04 9.99987235e-01 1.33385455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.304391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:266.98, Y:1.79, Z:1.33 [[ 9.99845807e-01 -1.68178709e-02 -5.05189226e-03 2.66980923e+02] [ 1.68185354e-02 9.99858554e-01 8.90913294e-05 1.79259342e+00] [ 5.04967937e-03 -1.74043021e-04 9.99987235e-01 1.33488571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:267.01, Y:1.79, Z:1.34 [[ 9.99844562e-01 -1.68917366e-02 -5.05188709e-03 2.67013593e+02] [ 1.68924036e-02 9.99857309e-01 8.93833911e-05 1.79244642e+00] [ 5.04965640e-03 -1.74708013e-04 9.99987235e-01 1.33586648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.364391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:267.05, Y:1.79, Z:1.34 [[ 9.99865916e-01 -1.55765103e-02 -5.05188022e-03 2.67046182e+02] [ 1.55771624e-02 9.99878665e-01 8.97701047e-05 1.79302245e+00] [ 5.04986895e-03 -1.68452027e-04 9.99987235e-01 1.33827438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:267.08, Y:1.79, Z:1.34 [[ 9.99889431e-01 -1.39858508e-02 -5.05187292e-03 2.67077757e+02] [ 1.39864848e-02 9.99902180e-01 9.01794224e-05 1.79312500e+00] [ 5.05011751e-03 -1.60827395e-04 9.99987235e-01 1.33849541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.424391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:267.11, Y:1.79, Z:1.34 [[ 9.99935326e-01 -1.01893015e-02 -5.05186746e-03 2.67108742e+02] [ 1.01898885e-02 9.99948078e-01 9.04842214e-05 1.79447281e+00] [ 5.05068318e-03 -1.41956336e-04 9.99987235e-01 1.33905668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:267.14, Y:1.79, Z:1.34 [[ 9.99955213e-01 -8.00314872e-03 -5.05186388e-03 2.67140294e+02] [ 8.00370893e-03 9.99967966e-01 9.06836816e-05 1.79446181e+00] [ 5.05097629e-03 -1.31113268e-04 9.99987235e-01 1.33956027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48439141800003 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:267.17, Y:1.79, Z:1.34 [[ 9.99968402e-01 -6.13793553e-03 -5.05185851e-03 2.67170951e+02] [ 6.13847346e-03 9.99981155e-01 9.09816137e-05 1.79447799e+00] [ 5.05120487e-03 -1.21989438e-04 9.99987235e-01 1.33975034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:267.20, Y:1.79, Z:1.34 [[ 9.99977945e-01 -4.31130354e-03 -5.05185851e-03 2.67201551e+02] [ 4.31181816e-03 9.99990700e-01 9.09816137e-05 1.79429533e+00] [ 5.05141928e-03 -1.12762302e-04 9.99987235e-01 1.34021398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:267.23, Y:1.79, Z:1.34 [[ 9.99987030e-01 -6.47267222e-04 -5.05185851e-03 2.67231228e+02] [ 6.47735111e-04 9.99999786e-01 9.09816137e-05 1.79414395e+00] [ 5.05179854e-03 -9.42526998e-05 9.99987235e-01 1.34087296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:267.26, Y:1.79, Z:1.34 [[ 9.99987226e-01 1.61010826e-04 -5.05186207e-03 2.67260300e+02] [-1.60554247e-04 9.99999983e-01 9.07837519e-05 1.79357420e+00] [ 5.05187660e-03 -8.99714943e-05 9.99987235e-01 1.34128612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:267.29, Y:1.79, Z:1.34 [[ 9.99986518e-01 1.20098420e-03 -5.05188709e-03 2.67288329e+02] [-1.20054803e-03 9.99999275e-01 8.93693937e-05 1.79279169e+00] [ 5.05199076e-03 -8.33031558e-05 9.99987235e-01 1.34057738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:267.32, Y:1.79, Z:1.34 [[ 9.99985482e-01 1.87472611e-03 -5.05189588e-03 2.67315961e+02] [-1.87430106e-03 9.99998240e-01 8.88692571e-05 1.79234176e+00] [ 5.05205360e-03 -7.93991930e-05 9.99987235e-01 1.34026813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:1.79, Z:1.34 [[ 9.99983250e-01 2.82459187e-03 -5.05190613e-03 2.67344236e+02] [-2.82418191e-03 9.99996008e-01 8.82826971e-05 1.79174567e+00] [ 5.05213533e-03 -7.40137164e-05 9.99987235e-01 1.33987499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:267.37, Y:1.79, Z:1.34 [[ 9.99982143e-01 3.19254123e-03 -5.05193383e-03 2.67372865e+02] [-3.19214411e-03 9.99994901e-01 8.66681664e-05 1.79154853e+00] [ 5.05218477e-03 -7.05401180e-05 9.99987235e-01 1.33992672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:267.40, Y:1.79, Z:1.34 [[ 9.99981153e-01 3.48874582e-03 -5.05194080e-03 2.67401288e+02] [-3.48835455e-03 9.99993912e-01 8.62598217e-05 1.79126876e+00] [ 5.05221099e-03 -6.86352353e-05 9.99987235e-01 1.33966153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:267.43, Y:1.79, Z:1.34 [[ 9.99978580e-01 4.16138375e-03 -5.05195112e-03 2.67429159e+02] [-4.16100413e-03 9.99991339e-01 8.56516785e-05 1.79112587e+00] [ 5.05226379e-03 -6.46286544e-05 9.99987235e-01 1.33932009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:267.46, Y:1.79, Z:1.34 [[ 9.99979977e-01 3.81090132e-03 -5.05195958e-03 2.67457517e+02] [-3.81051977e-03 9.99992736e-01 8.51497262e-05 1.79104314e+00] [ 5.05224738e-03 -6.58974295e-05 9.99987235e-01 1.33938136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:267.49, Y:1.79, Z:1.34 [[ 9.99981566e-01 3.36836717e-03 -5.05196616e-03 2.67485655e+02] [-3.36798195e-03 9.99994325e-01 8.47571377e-05 1.79064403e+00] [ 5.05222298e-03 -6.77406444e-05 9.99987235e-01 1.33901809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:267.51, Y:1.79, Z:1.34 [[ 9.99985858e-01 1.66152411e-03 -5.05197428e-03 2.67513775e+02] [-1.66111957e-03 9.99998617e-01 8.42704717e-05 1.79063041e+00] [ 5.05210731e-03 -7.58773466e-05 9.99987235e-01 1.33933070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:267.54, Y:1.79, Z:1.34 [[ 9.99987197e-01 2.88697601e-04 -5.05198210e-03 2.67542170e+02] [-2.88277928e-04 9.99999955e-01 8.37990700e-05 1.79003295e+00] [ 5.05200606e-03 -8.23416222e-05 9.99987235e-01 1.34029586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:267.57, Y:1.79, Z:1.34 [[ 9.99986386e-01 -1.30549061e-03 -5.05198858e-03 2.67570486e+02] [ 1.30592864e-03 9.99999144e-01 8.34066595e-05 1.78917905e+00] [ 5.05187537e-03 -9.00030606e-05 9.99987235e-01 1.34049872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:267.60, Y:1.79, Z:1.34 [[ 9.99976884e-01 -4.55079741e-03 -5.05199499e-03 2.67598714e+02] [ 4.55127487e-03 9.99989639e-01 8.30161654e-05 1.78811305e+00] [ 5.05156486e-03 -1.06007264e-04 9.99987235e-01 1.34060671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:267.63, Y:1.79, Z:1.34 [[ 9.99969848e-01 -5.89747529e-03 -5.05199975e-03 2.67628576e+02] [ 5.89796846e-03 9.99982603e-01 8.27257212e-05 1.78738101e+00] [ 5.05142399e-03 -1.12519762e-04 9.99987235e-01 1.34077869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:267.66, Y:1.79, Z:1.34 [[ 9.99959550e-01 -7.44152834e-03 -5.05200131e-03 2.67658674e+02] [ 7.44204072e-03 9.99972304e-01 8.26303982e-05 1.78722858e+00] [ 5.05124649e-03 -1.20224255e-04 9.99987235e-01 1.34180316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:267.69, Y:1.79, Z:1.34 [[ 9.99939834e-01 -9.73685653e-03 -5.05200131e-03 2.67689143e+02] [ 9.73739819e-03 9.99952587e-01 8.26303982e-05 1.78695810e+00] [ 5.05095722e-03 -1.31818775e-04 9.99987235e-01 1.34227992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.054391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:267.72, Y:1.79, Z:1.34 [[ 9.99931678e-01 -1.05411488e-02 -5.05200131e-03 2.67720369e+02] [ 1.05417007e-02 9.99944431e-01 8.26303982e-05 1.78618912e+00] [ 5.05084956e-03 -1.35881439e-04 9.99987235e-01 1.34251047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:267.75, Y:1.79, Z:1.34 [[ 9.99926527e-01 -1.10190046e-02 -5.05199797e-03 2.67751493e+02] [ 1.10195637e-02 9.99939279e-01 8.28342864e-05 1.78552656e+00] [ 5.05077845e-03 -1.38499014e-04 9.99987235e-01 1.34225189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.114391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:267.78, Y:1.79, Z:1.34 [[ 9.99924522e-01 -1.11994482e-02 -5.05199295e-03 2.67782906e+02] [ 1.12000111e-02 9.99937274e-01 8.31393799e-05 1.78517247e+00] [ 5.05074494e-03 -1.39715482e-04 9.99987235e-01 1.34341973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:267.81, Y:1.79, Z:1.34 [[ 9.99924394e-01 -1.12109068e-02 -5.05198959e-03 2.67814668e+02] [ 1.12114709e-02 9.99937146e-01 8.33430274e-05 1.78544571e+00] [ 5.05073770e-03 -1.39976960e-04 9.99987235e-01 1.34416434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.174391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:267.85, Y:1.78, Z:1.34 [[ 9.99932890e-01 -1.04255703e-02 -5.05198621e-03 2.67845730e+02] [ 1.04261253e-02 9.99945643e-01 8.35471094e-05 1.78498665e+00] [ 5.05084057e-03 -1.36214144e-04 9.99987235e-01 1.34459577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:267.88, Y:1.79, Z:1.34 [[ 9.99939256e-01 -9.79603937e-03 -5.05198281e-03 2.67876516e+02] [ 9.79658745e-03 9.99952009e-01 8.37523368e-05 1.78522025e+00] [ 5.05091992e-03 -1.33239441e-04 9.99987235e-01 1.34469824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23439141800003 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:267.91, Y:1.78, Z:1.34 [[ 9.99942242e-01 -9.48630928e-03 -5.05197771e-03 2.67906963e+02] [ 9.48685495e-03 9.99954995e-01 8.40589883e-05 1.78449133e+00] [ 5.05095293e-03 -1.31981513e-04 9.99987235e-01 1.34461274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:267.94, Y:1.78, Z:1.34 [[ 9.99943677e-01 -9.33378971e-03 -5.05197604e-03 2.67938418e+02] [ 9.33433394e-03 9.99956431e-01 8.41589475e-05 1.78395384e+00] [ 5.05097041e-03 -1.31311039e-04 9.99987235e-01 1.34399996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:267.97, Y:1.79, Z:1.34 [[ 9.99930938e-01 -1.06112077e-02 -5.05197275e-03 2.67968239e+02] [ 1.06117692e-02 9.99943690e-01 8.43562372e-05 1.78596375e+00] [ 5.05079315e-03 -1.37960780e-04 9.99987235e-01 1.34469292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:268.00, Y:1.78, Z:1.34 [[ 9.99936153e-01 -1.01075027e-02 -5.05252214e-03 2.67999552e+02] [ 1.01078896e-02 9.99948913e-01 5.10368080e-05 1.78370714e+00] [ 5.05174816e-03 -1.02103885e-04 9.99987235e-01 1.34225654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:268.03, Y:1.78, Z:1.34 [[ 9.99921366e-01 -1.14777820e-02 -5.05197780e-03 2.68031355e+02] [ 1.14783519e-02 9.99934118e-01 8.38381468e-05 1.78383027e+00] [ 5.05068269e-03 -1.41819933e-04 9.99987235e-01 1.34157430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:268.06, Y:1.78, Z:1.34 [[ 9.99913966e-01 -1.21053160e-02 -5.05197453e-03 2.68062283e+02] [ 1.21058950e-02 9.99926717e-01 8.40348280e-05 1.78365507e+00] [ 5.05058704e-03 -1.45186271e-04 9.99987235e-01 1.34153489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:268.09, Y:1.78, Z:1.34 [[ 9.99905635e-01 -1.27749120e-02 -5.05196962e-03 2.68094050e+02] [ 1.27755010e-02 9.99918386e-01 8.43284914e-05 1.78355863e+00] [ 5.05048003e-03 -1.48861977e-04 9.99987235e-01 1.34179565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:268.13, Y:1.78, Z:1.34 [[ 9.99898292e-01 -1.33373282e-02 -5.05196301e-03 2.68126404e+02] [ 1.33379263e-02 9.99911042e-01 8.47227039e-05 1.78304442e+00] [ 5.05038363e-03 -1.52096797e-04 9.99987235e-01 1.34234692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:268.16, Y:1.78, Z:1.34 [[ 9.99888616e-01 -1.40439554e-02 -5.05195614e-03 2.68159091e+02] [ 1.40445646e-02 9.99901367e-01 8.51307152e-05 1.78320199e+00] [ 5.05026227e-03 -1.56073758e-04 9.99987235e-01 1.34309408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:268.19, Y:1.78, Z:1.34 [[ 9.99898405e-01 -1.33288286e-02 -5.05194915e-03 2.68189391e+02] [ 1.33294308e-02 9.99911156e-01 8.55431795e-05 1.78310608e+00] [ 5.05036012e-03 -1.52874095e-04 9.99987235e-01 1.34353107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:268.22, Y:1.78, Z:1.34 [[ 9.99897834e-01 -1.33715386e-02 -5.05215927e-03 2.68221731e+02] [ 1.33720789e-02 9.99910587e-01 7.31733037e-05 1.78370215e+00] [ 5.05072910e-03 -1.40723700e-04 9.99987235e-01 1.34485957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:268.25, Y:1.78, Z:1.35 [[ 9.99902588e-01 -1.30112264e-02 -5.05190492e-03 2.68254098e+02] [ 1.30118366e-02 9.99915339e-01 8.79222268e-05 1.78372434e+00] [ 5.05033324e-03 -1.53648223e-04 9.99987235e-01 1.34575030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:268.29, Y:1.78, Z:1.35 [[ 9.99914357e-01 -1.20729625e-02 -5.05191056e-03 2.68286187e+02] [ 1.20735590e-02 9.99927108e-01 8.75967604e-05 1.78370656e+00] [ 5.05048477e-03 -1.48583799e-04 9.99987235e-01 1.34626969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:268.32, Y:1.78, Z:1.35 [[ 9.99920084e-01 -1.15889804e-02 -5.05190353e-03 2.68316586e+02] [ 1.15895728e-02 9.99932835e-01 8.80004581e-05 1.78434043e+00] [ 5.05054438e-03 -1.46542829e-04 9.99987235e-01 1.34671812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:268.35, Y:1.78, Z:1.35 [[ 9.99914868e-01 -1.20305548e-02 -5.05206046e-03 2.68349111e+02] [ 1.20311074e-02 9.99927620e-01 7.89846080e-05 1.78459014e+00] [ 5.05074457e-03 -1.39759766e-04 9.99987235e-01 1.34793966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:268.38, Y:1.78, Z:1.35 [[ 9.99914695e-01 -1.20449415e-02 -5.05189310e-03 2.68381697e+02] [ 1.20455424e-02 9.99927446e-01 8.85347791e-05 1.78443509e+00] [ 5.05046017e-03 -1.49380019e-04 9.99987235e-01 1.34846968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:268.41, Y:1.78, Z:1.35 [[ 9.99904162e-01 -1.28897109e-02 -5.05188596e-03 2.68414251e+02] [ 1.28903247e-02 9.99916912e-01 8.89402827e-05 1.78462355e+00] [ 5.05031979e-03 -1.54052209e-04 9.99987235e-01 1.34873093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:268.45, Y:1.78, Z:1.35 [[ 9.99893098e-01 -1.37212231e-02 -5.05187875e-03 2.68445093e+02] [ 1.37218495e-02 9.99905847e-01 8.93480948e-05 1.78452015e+00] [ 5.05017713e-03 -1.58659663e-04 9.99987235e-01 1.34860976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:268.48, Y:1.78, Z:1.35 [[ 9.99887552e-01 -1.41195338e-02 -5.05187336e-03 2.68476302e+02] [ 1.41201668e-02 9.99900301e-01 8.96513157e-05 1.78412905e+00] [ 5.05010387e-03 -1.60974529e-04 9.99987235e-01 1.34897302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.804391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:268.51, Y:1.78, Z:1.35 [[ 9.99882884e-01 -1.44463717e-02 -5.05186803e-03 2.68508713e+02] [ 1.44470104e-02 9.99895632e-01 8.99507351e-05 1.78462033e+00] [ 5.05004132e-03 -1.62924590e-04 9.99987235e-01 1.34947988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:268.54, Y:1.78, Z:1.35 [[ 9.99884907e-01 -1.43056173e-02 -5.05186082e-03 2.68540315e+02] [ 1.43062562e-02 9.99897656e-01 9.03539536e-05 1.78475284e+00] [ 5.05005123e-03 -1.62616770e-04 9.99987235e-01 1.34901572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.864391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:268.57, Y:1.79, Z:1.35 [[ 9.99901478e-01 -1.30963354e-02 -5.05185544e-03 2.68571924e+02] [ 1.30969604e-02 9.99914227e-01 9.06541025e-05 1.78579662e+00] [ 5.05023489e-03 -1.56809122e-04 9.99987235e-01 1.34823731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:268.60, Y:1.79, Z:1.35 [[ 9.99913839e-01 -1.21158236e-02 -5.05185009e-03 2.68604063e+02] [ 1.21164376e-02 9.99926589e-01 9.09509695e-05 1.78618408e+00] [ 5.05037728e-03 -1.52153559e-04 9.99987235e-01 1.34851799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.924391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:268.64, Y:1.79, Z:1.35 [[ 9.99929585e-01 -1.07380060e-02 -5.05184296e-03 2.68635995e+02] [ 1.07386044e-02 9.99942335e-01 9.13455804e-05 1.78656104e+00] [ 5.05057077e-03 -1.45588891e-04 9.99987235e-01 1.34973463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:268.67, Y:1.79, Z:1.35 [[ 9.99942391e-01 -9.47069392e-03 -5.05183564e-03 2.68667843e+02] [ 9.47127822e-03 9.99955142e-01 9.17484202e-05 1.78727118e+00] [ 5.05074010e-03 -1.39590476e-04 9.99987235e-01 1.35042871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98439141800003 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:268.70, Y:1.79, Z:1.35 [[ 9.99963575e-01 -6.87944909e-03 -5.05183199e-03 2.68699402e+02] [ 6.88000135e-03 9.99976328e-01 9.19487857e-05 1.78876704e+00] [ 5.05107985e-03 -1.26702047e-04 9.99987235e-01 1.35190310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:268.73, Y:1.79, Z:1.35 [[ 9.99963575e-01 -6.87944806e-03 -5.05182829e-03 2.68730392e+02] [ 6.88000135e-03 9.99976328e-01 9.21520173e-05 1.78820164e+00] [ 5.05107475e-03 -1.26905246e-04 9.99987235e-01 1.35205964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:268.76, Y:1.79, Z:1.35 [[ 9.99971733e-01 -5.56889847e-03 -5.05182829e-03 2.68760734e+02] [ 5.56943504e-03 9.99984486e-01 9.21520173e-05 1.78848496e+00] [ 5.05123673e-03 -1.20285242e-04 9.99987235e-01 1.35142414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:268.79, Y:1.79, Z:1.35 [[ 9.99975115e-01 -4.92430622e-03 -5.05182645e-03 2.68790104e+02] [ 4.92483508e-03 9.99987869e-01 9.22526874e-05 1.78880741e+00] [ 5.05131088e-03 -1.17129804e-04 9.99987235e-01 1.35151330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:268.82, Y:1.79, Z:1.35 [[ 9.99978970e-01 -4.06668924e-03 -5.05182820e-03 2.68819715e+02] [ 4.06720667e-03 9.99991725e-01 9.21566326e-05 1.78997272e+00] [ 5.05141162e-03 -1.12701524e-04 9.99987235e-01 1.35499038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134391418 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:268.85, Y:1.79, Z:1.36 [[ 9.99977776e-01 -4.35041539e-03 -5.05183186e-03 2.68849657e+02] [ 4.35093543e-03 9.99990530e-01 9.19556726e-05 1.79002954e+00] [ 5.05138397e-03 -1.13933823e-04 9.99987235e-01 1.35553806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:268.88, Y:1.79, Z:1.36 [[ 9.99975233e-01 -4.90017242e-03 -5.05183551e-03 2.68879346e+02] [ 4.90069846e-03 9.99987987e-01 9.17543120e-05 1.78962775e+00] [ 5.05132522e-03 -1.16509562e-04 9.99987235e-01 1.35532931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:268.91, Y:1.79, Z:1.35 [[ 9.99960505e-01 -7.31218436e-03 -5.05183913e-03 2.68909448e+02] [ 7.31274016e-03 9.99973257e-01 9.15548670e-05 1.78927117e+00] [ 5.05103456e-03 -1.28494038e-04 9.99987235e-01 1.35382273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:268.94, Y:1.79, Z:1.35 [[ 9.99948078e-01 -8.84989149e-03 -5.05184271e-03 2.68939639e+02] [ 8.85046590e-03 9.99960830e-01 9.13570278e-05 1.78871213e+00] [ 5.05083633e-03 -1.36063446e-04 9.99987235e-01 1.35329373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:268.97, Y:1.79, Z:1.35 [[ 9.99895974e-01 -1.35099858e-02 -5.05184271e-03 2.68970578e+02] [ 1.35106197e-02 9.99908723e-01 9.13570278e-05 1.78835295e+00] [ 5.05014736e-03 -1.59601050e-04 9.99987235e-01 1.35304277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:269.00, Y:1.79, Z:1.35 [[ 9.99857154e-01 -1.61291842e-02 -5.05183911e-03 2.69001944e+02] [ 1.61298524e-02 9.99869901e-01 9.15554047e-05 1.78758779e+00] [ 5.04970516e-03 -1.73027746e-04 9.99987235e-01 1.35224001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:269.03, Y:1.79, Z:1.35 [[ 9.99812620e-01 -1.86870220e-02 -5.05183371e-03 2.69033894e+02] [ 1.86877243e-02 9.99825365e-01 9.18522708e-05 1.78676061e+00] [ 5.04923504e-03 -1.86242335e-04 9.99987235e-01 1.35333101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:269.07, Y:1.79, Z:1.35 [[ 9.99708934e-01 -2.35908092e-02 -5.05182640e-03 2.69066488e+02] [ 2.35915760e-02 9.99721676e-01 9.22529051e-05 1.78581408e+00] [ 5.04824403e-03 -2.11406600e-04 9.99987235e-01 1.35365231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:269.10, Y:1.79, Z:1.35 [[ 9.99661116e-01 -2.55368788e-02 -5.05181910e-03 2.69099079e+02] [ 2.55376724e-02 9.99673856e-01 9.26506631e-05 1.78505585e+00] [ 5.04780548e-03 -2.21630967e-04 9.99987235e-01 1.35441678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:269.13, Y:1.78, Z:1.36 [[ 9.99572338e-01 -2.88031299e-02 -5.05181179e-03 2.69129984e+02] [ 2.88039672e-02 9.99585075e-01 9.30478709e-05 1.78459288e+00] [ 5.04703560e-03 -2.38520299e-04 9.99987235e-01 1.35567988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:269.16, Y:1.78, Z:1.36 [[ 9.99543629e-01 -2.97827576e-02 -5.05180632e-03 2.69162138e+02] [ 2.97836088e-02 9.99556366e-01 9.33437144e-05 1.78396014e+00] [ 5.04678513e-03 -2.43762138e-04 9.99987235e-01 1.35716393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:269.19, Y:1.78, Z:1.36 [[ 9.99517862e-01 -3.06353258e-02 -5.05179872e-03 2.69193866e+02] [ 3.06361900e-02 9.99530597e-01 9.37531698e-05 1.78361163e+00] [ 5.04655524e-03 -2.48475833e-04 9.99987235e-01 1.35639593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:269.23, Y:1.78, Z:1.36 [[ 9.99501555e-01 -3.11628066e-02 -5.05178921e-03 2.69226007e+02] [ 3.11636800e-02 9.99514290e-01 9.42631251e-05 1.78290646e+00] [ 5.04639800e-03 -2.51648483e-04 9.99987235e-01 1.35755525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:269.26, Y:1.78, Z:1.36 [[ 9.99504949e-01 -3.10537631e-02 -5.05178170e-03 2.69259166e+02] [ 3.10546372e-02 9.99517684e-01 9.46638935e-05 1.78193608e+00] [ 5.04640547e-03 -2.51498278e-04 9.99987235e-01 1.35799561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.554391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:269.29, Y:1.78, Z:1.36 [[ 9.99511226e-01 -3.08510608e-02 -5.05177019e-03 2.69291980e+02] [ 3.08519354e-02 9.99523961e-01 9.52738378e-05 1.78110721e+00] [ 5.04642606e-03 -2.51084158e-04 9.99987235e-01 1.35887378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:269.32, Y:1.78, Z:1.36 [[ 9.99527394e-01 -3.03227499e-02 -5.05175864e-03 2.69324661e+02] [ 3.03236209e-02 9.99540129e-01 9.58824798e-05 1.78030133e+00] [ 5.04652806e-03 -2.49024779e-04 9.99987235e-01 1.35936291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.614391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:269.36, Y:1.78, Z:1.36 [[ 9.99561386e-01 -2.91807304e-02 -5.05174703e-03 2.69357532e+02] [ 2.91815899e-02 9.99574122e-01 9.64905517e-05 1.77921848e+00] [ 5.04677993e-03 -2.43866240e-04 9.99987235e-01 1.35973224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:269.39, Y:1.78, Z:1.36 [[ 9.99590703e-01 -2.81585930e-02 -5.05173527e-03 2.69389738e+02] [ 2.81594426e-02 9.99603440e-01 9.71020853e-05 1.77805758e+00] [ 5.04699770e-03 -2.39316391e-04 9.99987235e-01 1.35930061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.674391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:269.42, Y:1.78, Z:1.36 [[ 9.99663042e-01 -2.54613822e-02 -5.05172748e-03 2.69420711e+02] [ 2.54621994e-02 9.99675781e-01 9.75057198e-05 1.77645867e+00] [ 5.04760698e-03 -2.26100957e-04 9.99987235e-01 1.35768847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:269.45, Y:1.78, Z:1.36 [[ 9.99732017e-01 -2.25914819e-02 -5.05172166e-03 2.69452159e+02] [ 2.25922640e-02 9.99744757e-01 9.78061762e-05 1.77538235e+00] [ 5.04822266e-03 -2.11909795e-04 9.99987235e-01 1.35688271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73439141800003 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:269.49, Y:1.78, Z:1.36 [[ 9.99768543e-01 -2.09126377e-02 -5.05193324e-03 2.69485714e+02] [ 2.09133438e-02 9.99781288e-01 8.69833345e-05 1.77509432e+00] [ 5.04900927e-03 -1.92616018e-04 9.99987235e-01 1.35884639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:269.52, Y:1.77, Z:1.36 [[ 9.99829913e-01 -1.77376714e-02 -5.05168819e-03 2.69516502e+02] [ 1.77383999e-02 9.99842657e-01 9.94332302e-05 1.77473249e+00] [ 5.04912962e-03 -1.89025183e-04 9.99987235e-01 1.35793432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:269.55, Y:1.78, Z:1.36 [[ 9.99939589e-01 -9.76210101e-03 -5.05168205e-03 2.69548250e+02] [ 9.76272938e-03 9.99952338e-01 9.97437429e-05 1.77538209e+00] [ 5.05046757e-03 -1.49055922e-04 9.99987235e-01 1.35737378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:269.58, Y:1.78, Z:1.36 [[ 9.99968315e-01 -6.15199544e-03 -5.05187634e-03 2.69579301e+02] [ 6.15252833e-03 9.99981069e-01 8.99500512e-05 1.77583661e+00] [ 5.05122733e-03 -1.21029013e-04 9.99987235e-01 1.35887969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:269.61, Y:1.78, Z:1.36 [[ 9.99986106e-01 -1.50597091e-03 -5.05166500e-03 2.69608318e+02] [ 1.50649815e-03 9.99998860e-01 1.00566179e-04 1.77616092e+00] [ 5.05150779e-03 -1.08175106e-04 9.99987235e-01 1.35895654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:269.64, Y:1.78, Z:1.36 [[ 9.99948705e-01 8.77888820e-03 -5.05166701e-03 2.69636938e+02] [-8.77849267e-03 9.99961463e-01 1.00465137e-04 1.77750849e+00] [ 5.05235431e-03 -5.61139618e-05 9.99987235e-01 1.35945700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:269.66, Y:1.78, Z:1.36 [[ 9.99887246e-01 1.41412816e-02 -5.05169460e-03 2.69664359e+02] [-1.41409616e-02 9.99900007e-01 9.90579943e-05 1.77829951e+00] [ 5.05259027e-03 -2.76110058e-05 9.99987235e-01 1.35980113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:269.69, Y:1.78, Z:1.36 [[ 9.99793998e-01 1.96581141e-02 -5.05172541e-03 2.69692938e+02] [-1.96578726e-02 9.99806761e-01 9.74610354e-05 1.77890691e+00] [ 5.05266512e-03 1.86521633e-06 9.99987235e-01 1.36023297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:269.72, Y:1.78, Z:1.36 [[ 9.99507856e-01 3.09600798e-02 -5.05173302e-03 2.69718435e+02] [-3.09599846e-02 9.99520620e-01 9.70649375e-05 1.77991237e+00] [ 5.05231646e-03 5.93844089e-05 9.99987235e-01 1.36092792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:269.75, Y:1.78, Z:1.36 [[ 9.99459695e-01 3.24775253e-02 -5.05248274e-03 2.69749073e+02] [-3.24776520e-02 9.99472460e-01 5.69923953e-05 1.78006252e+00] [ 5.05166833e-03 1.07131174e-04 9.99987235e-01 1.36175227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:269.78, Y:1.78, Z:1.36 [[ 9.99372661e-01 3.50537432e-02 -5.05176439e-03 2.69775823e+02] [-3.50537100e-02 9.99385425e-01 9.51367613e-05 1.77956454e+00] [ 5.05199461e-03 8.20060058e-05 9.99987235e-01 1.36215802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:269.80, Y:1.78, Z:1.36 [[ 9.99220196e-01 3.91596660e-02 -5.05177700e-03 2.69801296e+02] [-3.91596887e-02 9.99232961e-01 9.44626787e-05 1.77743043e+00] [ 5.05160121e-03 1.03436998e-04 9.99987235e-01 1.36223927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:269.83, Y:1.78, Z:1.36 [[ 9.99313313e-01 3.67066035e-02 -5.05240582e-03 2.69831025e+02] [-3.67067682e-02 9.99326078e-01 6.01664203e-05 1.77605180e+00] [ 5.05120940e-03 1.25332384e-04 9.99987235e-01 1.36204396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:269.86, Y:1.77, Z:1.36 [[ 9.99371099e-01 3.50982152e-02 -5.05181403e-03 2.69860281e+02] [-3.50981959e-02 9.99383864e-01 9.24901582e-05 1.77427396e+00] [ 5.05194767e-03 8.48775677e-05 9.99987235e-01 1.36188572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:269.89, Y:1.77, Z:1.36 [[ 9.99570011e-01 2.88837811e-02 -5.05182091e-03 2.69888964e+02] [-2.88836844e-02 9.99582775e-01 9.21130791e-05 1.77071414e+00] [ 5.05237374e-03 5.38417293e-05 9.99987235e-01 1.36080561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:269.92, Y:1.77, Z:1.36 [[ 9.99690827e-01 2.43460532e-02 -5.05182769e-03 2.69916530e+02] [-2.43459005e-02 9.99703590e-01 9.17395237e-05 1.76844213e+00] [ 5.05256378e-03 3.12801340e-05 9.99987235e-01 1.36018320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:269.95, Y:1.77, Z:1.36 [[ 9.99804705e-01 1.91057583e-02 -5.05183779e-03 2.69945568e+02] [-1.91055415e-02 9.99817468e-01 9.11801986e-05 1.76560760e+00] [ 5.05265774e-03 5.35570474e-06 9.99987235e-01 1.35945297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:269.97, Y:1.76, Z:1.36 [[ 9.99895725e-01 1.35284345e-02 -5.05184447e-03 2.69973400e+02] [-1.35281483e-02 9.99908486e-01 9.08085793e-05 1.76245398e+00] [ 5.05261065e-03 -2.24570089e-05 9.99987235e-01 1.35983228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:270.00, Y:1.76, Z:1.36 [[ 9.99985408e-01 1.91355029e-03 -5.05185486e-03 2.70000785e+02] [-1.91311888e-03 9.99998166e-01 9.02265928e-05 1.75628108e+00] [ 5.05201825e-03 -8.05604773e-05 9.99987235e-01 1.35878363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.304391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:270.03, Y:1.75, Z:1.36 [[ 9.99952864e-01 -8.29148129e-03 -5.05186342e-03 2.70029898e+02] [ 8.29204043e-03 9.99965616e-01 8.97451171e-05 1.75050045e+00] [ 5.05094560e-03 -1.31631143e-04 9.99987235e-01 1.36010821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:270.06, Y:1.75, Z:1.36 [[ 9.99907862e-01 -1.25994273e-02 -5.05187042e-03 2.70060259e+02] [ 1.26000394e-02 9.99920612e-01 8.93491915e-05 1.74757844e+00] [ 5.05034361e-03 -1.52994725e-04 9.99987235e-01 1.36071794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.364391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:270.09, Y:1.74, Z:1.36 [[ 9.99858946e-01 -1.60176783e-02 -5.05187042e-03 2.70092608e+02] [ 1.60183339e-02 9.99871694e-01 8.93491915e-05 1.74460498e+00] [ 5.04979107e-03 -1.70259136e-04 9.99987235e-01 1.36133415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:270.12, Y:1.74, Z:1.36 [[ 9.99813393e-01 -1.86456119e-02 -5.05186345e-03 2.70124346e+02] [ 1.86463030e-02 9.99826139e-01 8.97416880e-05 1.74192595e+00] [ 5.04931183e-03 -1.83923518e-04 9.99987235e-01 1.36288993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.424391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:270.16, Y:1.74, Z:1.36 [[ 9.99759992e-01 -2.13175512e-02 -5.05185616e-03 2.70155371e+02] [ 2.13182785e-02 9.99772736e-01 9.01501280e-05 1.73771949e+00] [ 5.04878627e-03 -1.97825367e-04 9.99987235e-01 1.36379529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:270.19, Y:1.74, Z:1.36 [[ 9.99754288e-01 -2.15833686e-02 -5.05185071e-03 2.70187324e+02] [ 2.15841008e-02 9.99767032e-01 9.04544200e-05 1.73552382e+00] [ 5.04872148e-03 -1.99471849e-04 9.99987235e-01 1.36421333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48439141800003 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:270.22, Y:1.73, Z:1.36 [[ 9.99786735e-01 -2.00240921e-02 -5.05184349e-03 2.70218339e+02] [ 2.00248064e-02 9.99799479e-01 9.08556634e-05 1.73214457e+00] [ 5.04901119e-03 -1.91998475e-04 9.99987235e-01 1.36421568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:270.25, Y:1.73, Z:1.36 [[ 9.99818003e-01 -1.83967343e-02 -5.05183810e-03 2.70249022e+02] [ 1.83974294e-02 9.99830749e-01 9.11544550e-05 1.73022584e+00] [ 5.04930613e-03 -1.84078700e-04 9.99987235e-01 1.36387418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:270.28, Y:1.73, Z:1.36 [[ 9.99837620e-01 -1.72977431e-02 -5.05183274e-03 2.70281214e+02] [ 1.72984257e-02 9.99850367e-01 9.14504352e-05 1.72844636e+00] [ 5.04949494e-03 -1.78824339e-04 9.99987235e-01 1.36441415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:270.31, Y:1.73, Z:1.36 [[ 9.99883235e-01 -1.44220248e-02 -5.05182545e-03 2.70313747e+02] [ 1.44226728e-02 9.99895984e-01 9.18518640e-05 1.72557099e+00] [ 5.04997528e-03 -1.64701964e-04 9.99987235e-01 1.36419879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:270.35, Y:1.72, Z:1.36 [[ 9.99904961e-01 -1.28276246e-02 -5.05181810e-03 2.70345823e+02] [ 1.28282543e-02 9.99917710e-01 9.22540898e-05 1.72382308e+00] [ 5.05021899e-03 -1.57051329e-04 9.99987235e-01 1.36450839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:270.38, Y:1.72, Z:1.36 [[ 9.99939358e-01 -9.78563542e-03 -5.05181046e-03 2.70375730e+02] [ 9.78622839e-03 9.99952109e-01 9.26706918e-05 1.72145260e+00] [ 5.05066168e-03 -1.42103243e-04 9.99987235e-01 1.36336766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:270.41, Y:1.72, Z:1.36 [[ 9.99954290e-01 -8.11775778e-03 -5.05180378e-03 2.70406624e+02] [ 8.11833131e-03 9.99967041e-01 9.30334777e-05 1.71983075e+00] [ 5.05088205e-03 -1.34041442e-04 9.99987235e-01 1.36250628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:270.44, Y:1.72, Z:1.36 [[ 9.99963223e-01 -6.93051956e-03 -5.05180001e-03 2.70436742e+02] [ 6.93107898e-03 9.99975975e-01 9.32373347e-05 1.71850738e+00] [ 5.05103246e-03 -1.28248331e-04 9.99987235e-01 1.36181665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:270.47, Y:1.72, Z:1.36 [[ 9.99971995e-01 -5.52160888e-03 -5.05179815e-03 2.70467578e+02] [ 5.52215084e-03 9.99984748e-01 9.33384069e-05 1.71700932e+00] [ 5.05120572e-03 -1.21232584e-04 9.99987235e-01 1.36158546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:270.50, Y:1.72, Z:1.36 [[ 9.99983026e-01 -2.90284714e-03 -5.05179815e-03 2.70497531e+02] [ 2.90335570e-03 9.99995781e-01 9.33384069e-05 1.71542866e+00] [ 5.05150589e-03 -1.08003990e-04 9.99987235e-01 1.36107643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:270.53, Y:1.71, Z:1.36 [[ 9.99986187e-01 -1.45101772e-03 -5.05180000e-03 2.70526088e+02] [ 1.45150726e-03 9.99998942e-01 9.32381283e-05 1.71492845e+00] [ 5.05165936e-03 -1.00569565e-04 9.99987235e-01 1.36114625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:270.56, Y:1.71, Z:1.36 [[ 9.99985055e-01 2.09040915e-03 -5.05180542e-03 2.70555028e+02] [-2.08996628e-03 9.99997812e-01 9.29433799e-05 1.71441546e+00] [ 5.05198866e-03 -8.23838879e-05 9.99987235e-01 1.36163467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:270.58, Y:1.71, Z:1.36 [[ 9.99979527e-01 3.92752526e-03 -5.05183114e-03 2.70582286e+02] [-3.92711300e-03 9.99992285e-01 9.15236077e-05 1.71428301e+00] [ 5.05215163e-03 -7.16826222e-05 9.99987235e-01 1.36097874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:270.61, Y:1.71, Z:1.36 [[ 9.99970400e-01 5.80335096e-03 -5.05184377e-03 2.70610260e+02] [-5.80296618e-03 9.99983159e-01 9.08212684e-05 1.71365622e+00] [ 5.05228576e-03 -6.15029015e-05 9.99987235e-01 1.36110334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:270.64, Y:1.71, Z:1.36 [[ 9.99970837e-01 5.72748595e-03 -5.05185404e-03 2.70639560e+02] [-5.72710310e-03 9.99983596e-01 9.02463516e-05 1.71321320e+00] [ 5.05228805e-03 -6.13112308e-05 9.99987235e-01 1.36125159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:270.67, Y:1.71, Z:1.36 [[ 9.99952628e-01 8.31987369e-03 -5.05186086e-03 2.70668706e+02] [-8.31952586e-03 9.99965388e-01 8.98630906e-05 1.71221101e+00] [ 5.05243365e-03 -4.78297466e-05 9.99987235e-01 1.36258524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:270.70, Y:1.71, Z:1.36 [[ 9.99946941e-01 8.97742797e-03 -5.05186793e-03 2.70696102e+02] [-8.97709055e-03 9.99959701e-01 8.94633907e-05 1.71094941e+00] [ 5.05246750e-03 -4.41075679e-05 9.99987235e-01 1.36290717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:270.73, Y:1.71, Z:1.36 [[ 9.99945578e-01 9.12795217e-03 -5.05187801e-03 2.70725323e+02] [-9.12761957e-03 9.99958338e-01 8.88907899e-05 1.70963402e+00] [ 5.05247893e-03 -4.27743317e-05 9.99987235e-01 1.36362104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:270.75, Y:1.71, Z:1.37 [[ 9.99943670e-01 9.33463586e-03 -5.05188494e-03 2.70752797e+02] [-9.33430788e-03 9.99956430e-01 8.84952725e-05 1.70766647e+00] [ 5.05249090e-03 -4.13344381e-05 9.99987235e-01 1.36510144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.054391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:270.78, Y:1.71, Z:1.37 [[ 9.99942053e-01 9.50624079e-03 -5.05189348e-03 2.70780973e+02] [-9.50591748e-03 9.99954814e-01 8.80052303e-05 1.70672850e+00] [ 5.05250180e-03 -3.99772482e-05 9.99987235e-01 1.36593880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:270.81, Y:1.70, Z:1.37 [[ 9.99929196e-01 1.07741193e-02 -5.05190189e-03 2.70808395e+02] [-1.07738146e-02 9.99941957e-01 8.75197798e-05 1.70497830e+00] [ 5.05255161e-03 -3.30853286e-05 9.99987235e-01 1.36684129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.114391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:270.84, Y:1.70, Z:1.37 [[ 9.99922359e-01 1.13909782e-02 -5.05191017e-03 2.70837050e+02] [-1.13906839e-02 9.99935120e-01 8.70389997e-05 1.70369934e+00] [ 5.05257386e-03 -2.94875302e-05 9.99987235e-01 1.36777670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:270.86, Y:1.70, Z:1.37 [[ 9.99915905e-01 1.19440708e-02 -5.05191703e-03 2.70863792e+02] [-1.19437855e-02 9.99928667e-01 8.66389228e-05 1.70243770e+00] [ 5.05259148e-03 -2.62926235e-05 9.99987235e-01 1.36770275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.174391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:270.89, Y:1.70, Z:1.37 [[ 9.99912863e-01 1.21961222e-02 -5.05192885e-03 2.70892102e+02] [-1.21958436e-02 9.99925624e-01 8.59442751e-05 1.70106939e+00] [ 5.05260129e-03 -2.43242519e-05 9.99987235e-01 1.36814846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:270.92, Y:1.70, Z:1.37 [[ 9.99918635e-01 1.17132541e-02 -5.05193902e-03 2.70919692e+02] [-1.17129724e-02 9.99931397e-01 8.53423074e-05 1.69810028e+00] [ 5.05259207e-03 -2.61621413e-05 9.99987235e-01 1.36726389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23439141800003 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:270.95, Y:1.70, Z:1.37 [[ 9.99928597e-01 1.08295188e-02 -5.05194737e-03 2.70947798e+02] [-1.08292284e-02 9.99941359e-01 8.48451737e-05 1.69626899e+00] [ 5.05256994e-03 -3.01304238e-05 9.99987235e-01 1.36761900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:270.98, Y:1.69, Z:1.37 [[ 9.99944304e-01 9.26642964e-03 -5.05195722e-03 2.70976024e+02] [-9.26612222e-03 9.99957065e-01 8.42545111e-05 1.69465975e+00] [ 5.05252105e-03 -3.74377654e-05 9.99987235e-01 1.36737187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:271.00, Y:1.69, Z:1.37 [[ 9.99970987e-01 5.70116275e-03 -5.05196692e-03 2.71004791e+02] [-5.70081280e-03 9.99983747e-01 8.36688099e-05 1.69137372e+00] [ 5.05236181e-03 -5.48660647e-05 9.99987235e-01 1.36654822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:271.03, Y:1.69, Z:1.37 [[ 9.99980062e-01 3.78867883e-03 -5.05197332e-03 2.71032748e+02] [-3.78830643e-03 9.99992821e-01 8.32806519e-05 1.68928902e+00] [ 5.05225257e-03 -6.41405684e-05 9.99987235e-01 1.36573595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:271.06, Y:1.69, Z:1.37 [[ 9.99985948e-01 1.60669670e-03 -5.05198121e-03 2.71061446e+02] [-1.60629890e-03 9.99998706e-01 8.27989485e-05 1.68716154e+00] [ 5.05210771e-03 -7.46827931e-05 9.99987235e-01 1.36621638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:271.09, Y:1.68, Z:1.37 [[ 9.99984696e-01 -2.25492465e-03 -5.05198771e-03 2.71088803e+02] [ 2.25536971e-03 9.99997453e-01 8.24004435e-05 1.68433561e+00] [ 5.05178904e-03 -9.37932825e-05 9.99987235e-01 1.36584086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:271.12, Y:1.68, Z:1.37 [[ 9.99979680e-01 -3.88814608e-03 -5.05199571e-03 2.71117498e+02] [ 3.88860948e-03 9.99992436e-01 8.19069600e-05 1.68300803e+00] [ 5.05163903e-03 -1.01550534e-04 9.99987235e-01 1.36599743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444391418 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:271.15, Y:1.68, Z:1.37 [[ 9.99965647e-01 -6.57124039e-03 -5.05200190e-03 2.71147596e+02] [ 6.57173608e-03 9.99978403e-01 8.15230909e-05 1.68044128e+00] [ 5.05135709e-03 -1.14720714e-04 9.99987235e-01 1.36596071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:271.18, Y:1.68, Z:1.37 [[ 9.99959913e-01 -7.39255790e-03 -5.05200498e-03 2.71178496e+02] [ 7.39306310e-03 9.99972668e-01 8.13319116e-05 1.67879208e+00] [ 5.05126565e-03 -1.18678443e-04 9.99987235e-01 1.36602968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:271.21, Y:1.68, Z:1.37 [[ 9.99953896e-01 -8.16597955e-03 -5.05200498e-03 2.71208940e+02] [ 8.16649462e-03 9.99966650e-01 8.13319116e-05 1.67726077e+00] [ 5.05117235e-03 -1.22585333e-04 9.99987235e-01 1.36614014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:271.24, Y:1.67, Z:1.37 [[ 9.99942295e-01 -9.48069838e-03 -5.05200498e-03 2.71238168e+02] [ 9.48123021e-03 9.99955049e-01 8.13319116e-05 1.67479850e+00] [ 5.05100681e-03 -1.29226441e-04 9.99987235e-01 1.36643411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:271.27, Y:1.67, Z:1.37 [[ 9.99936662e-01 -1.00572792e-02 -5.05200651e-03 2.71269056e+02] [ 1.00578179e-02 9.99949416e-01 8.12372288e-05 1.67375068e+00] [ 5.05093393e-03 -1.32044245e-04 9.99987235e-01 1.36702783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:271.30, Y:1.67, Z:1.37 [[ 9.99937548e-01 -9.96886681e-03 -5.05200651e-03 2.71299993e+02] [ 9.96940439e-03 9.99950301e-01 8.12372288e-05 1.67231031e+00] [ 5.05094558e-03 -1.31597651e-04 9.99987235e-01 1.36965714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:271.33, Y:1.67, Z:1.37 [[ 9.99941287e-01 -9.58640819e-03 -5.05200328e-03 2.71330763e+02] [ 9.58694190e-03 9.99954041e-01 8.14374850e-05 1.67136891e+00] [ 5.05099040e-03 -1.29865965e-04 9.99987235e-01 1.36947659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:271.36, Y:1.67, Z:1.37 [[ 9.99951412e-01 -8.46468363e-03 -5.05200168e-03 2.71361388e+02] [ 8.46520354e-03 9.99964166e-01 8.15367407e-05 1.67003037e+00] [ 5.05113046e-03 -1.24299001e-04 9.99987235e-01 1.36929332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:271.39, Y:1.67, Z:1.37 [[ 9.99966932e-01 -6.37273667e-03 -5.05200168e-03 2.71391405e+02] [ 6.37322990e-03 9.99979687e-01 8.15367407e-05 1.66859291e+00] [ 5.05137944e-03 -1.13731613e-04 9.99987235e-01 1.36935641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:271.42, Y:1.67, Z:1.37 [[ 9.99973148e-01 -5.30846304e-03 -5.05200168e-03 2.71421169e+02] [ 5.30894269e-03 9.99985904e-01 8.15367407e-05 1.66779134e+00] [ 5.05149763e-03 -1.08355339e-04 9.99987235e-01 1.36985573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:271.45, Y:1.67, Z:1.37 [[ 9.99979013e-01 -4.05584801e-03 -5.05200490e-03 2.71450487e+02] [ 4.05631067e-03 9.99991770e-01 8.13367082e-05 1.66676053e+00] [ 5.05163343e-03 -1.01827503e-04 9.99987235e-01 1.37013093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:271.48, Y:1.67, Z:1.37 [[ 9.99983110e-01 -2.87333091e-03 -5.05200809e-03 2.71480344e+02] [ 2.87377748e-03 9.99995867e-01 8.11380628e-05 1.66567069e+00] [ 5.05175407e-03 -9.56550395e-05 9.99987235e-01 1.37092728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.804391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:271.51, Y:1.66, Z:1.37 [[ 9.99985909e-01 -1.63044150e-03 -5.05201133e-03 2.71509455e+02] [ 1.63087119e-03 9.99998667e-01 8.09356756e-05 1.66424178e+00] [ 5.05187263e-03 -8.91737149e-05 9.99987235e-01 1.37112740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:271.54, Y:1.66, Z:1.37 [[ 9.99986089e-01 -1.51627136e-03 -5.05203389e-03 2.71538123e+02] [ 1.51669236e-03 9.99998847e-01 7.95022926e-05 1.66310150e+00] [ 5.05190751e-03 -8.71635678e-05 9.99987235e-01 1.37082391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.864391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:271.57, Y:1.66, Z:1.37 [[ 9.99986343e-01 -1.33838016e-03 -5.05205626e-03 2.71567209e+02] [ 1.33879157e-03 9.99999101e-01 7.80543383e-05 1.66168791e+00] [ 5.05194725e-03 -8.48169226e-05 9.99987235e-01 1.36950379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:271.60, Y:1.66, Z:1.37 [[ 9.99985058e-01 -2.08832840e-03 -5.05206098e-03 2.71596298e+02] [ 2.08874783e-03 9.99997816e-01 7.77472909e-05 1.65898923e+00] [ 5.05188758e-03 -8.82986105e-05 9.99987235e-01 1.36812094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.924391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:271.62, Y:1.66, Z:1.37 [[ 9.99987162e-01 -3.90535047e-04 -5.05206713e-03 2.71624270e+02] [ 3.90930788e-04 9.99999921e-01 7.73453783e-05 1.65708631e+00] [ 5.05203653e-03 -7.93193939e-05 9.99987235e-01 1.36637391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:271.66, Y:1.66, Z:1.37 [[ 9.99982159e-01 -3.18608031e-03 -5.05277521e-03 2.71656475e+02] [ 3.18627430e-03 9.99994923e-01 3.03442546e-05 1.65605350e+00] [ 5.05265288e-03 -4.64432411e-05 9.99987234e-01 1.36717284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98439141800003 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:271.68, Y:1.65, Z:1.37 [[ 9.99978166e-01 -4.25955889e-03 -5.05205700e-03 2.71684701e+02] [ 4.26000371e-03 9.99990923e-01 7.72900839e-05 1.65405581e+00] [ 5.05168192e-03 -9.88101779e-05 9.99987235e-01 1.36736573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:271.71, Y:1.65, Z:1.37 [[ 9.99977252e-01 -4.46890367e-03 -5.05207778e-03 2.71714428e+02] [ 4.46934418e-03 9.99990010e-01 7.59073599e-05 1.65263271e+00] [ 5.05168808e-03 -9.84851077e-05 9.99987235e-01 1.36795295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:271.74, Y:1.65, Z:1.37 [[ 9.99976995e-01 -4.52614805e-03 -5.05208073e-03 2.71743000e+02] [ 4.52658830e-03 9.99989752e-01 7.57101017e-05 1.65149626e+00] [ 5.05168629e-03 -9.85770495e-05 9.99987235e-01 1.36855289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:271.77, Y:1.65, Z:1.37 [[ 9.99976263e-01 -4.68515858e-03 -5.05208650e-03 2.71772759e+02] [ 4.68559890e-03 9.99989020e-01 7.53236260e-05 1.64911733e+00] [ 5.05167812e-03 -9.89938889e-05 9.99987235e-01 1.37046605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:271.80, Y:1.65, Z:1.37 [[ 9.99976338e-01 -4.66893058e-03 -5.05208951e-03 2.71801357e+02] [ 4.66936967e-03 9.99989096e-01 7.51211170e-05 1.64757138e+00] [ 5.05168368e-03 -9.87094131e-05 9.99987235e-01 1.37077539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:271.83, Y:1.64, Z:1.37 [[ 9.99973647e-01 -5.21351212e-03 -5.05209398e-03 2.71830622e+02] [ 5.21395664e-03 9.99986404e-01 7.48193494e-05 1.64437646e+00] [ 5.05163522e-03 -1.01158777e-04 9.99987235e-01 1.37216762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:271.86, Y:1.64, Z:1.37 [[ 9.99969535e-01 -5.95028453e-03 -5.05209694e-03 2.71860136e+02] [ 5.95073743e-03 9.99982291e-01 7.46190103e-05 1.64271891e+00] [ 5.05156347e-03 -1.04680439e-04 9.99987235e-01 1.37244523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:271.89, Y:1.64, Z:1.37 [[ 9.99966468e-01 -6.44516946e-03 -5.05209665e-03 2.71890088e+02] [ 6.44562877e-03 9.99979224e-01 7.46385561e-05 1.64090482e+00] [ 5.05151063e-03 -1.07199993e-04 9.99987235e-01 1.37270709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:271.92, Y:1.64, Z:1.37 [[ 9.99961546e-01 -7.16813609e-03 -5.05209810e-03 2.71919115e+02] [ 7.16860413e-03 9.99974302e-01 7.45400187e-05 1.63823573e+00] [ 5.05143396e-03 -1.10753644e-04 9.99987235e-01 1.37215978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:271.95, Y:1.64, Z:1.37 [[ 9.99959660e-01 -7.42659007e-03 -5.05209953e-03 2.71948286e+02] [ 7.42706092e-03 9.99972416e-01 7.44428293e-05 1.63656197e+00] [ 5.05140732e-03 -1.11962077e-04 9.99987235e-01 1.37191313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:271.98, Y:1.63, Z:1.37 [[ 9.99974521e-01 -5.04313123e-03 -5.05210240e-03 2.71976464e+02] [ 5.04357068e-03 9.99987278e-01 7.42475194e-05 1.63406677e+00] [ 5.05166369e-03 -9.97262632e-05 9.99987235e-01 1.37169162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:272.01, Y:1.63, Z:1.37 [[ 9.99959532e-01 -7.44331058e-03 -5.05283841e-03 2.72006740e+02] [ 7.44352020e-03 9.99972296e-01 2.26824735e-05 1.63220413e+00] [ 5.05252959e-03 -6.02924604e-05 9.99987234e-01 1.37036452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:272.04, Y:1.63, Z:1.37 [[ 9.99963703e-01 -6.86066224e-03 -5.05211211e-03 2.72036681e+02] [ 6.86111843e-03 9.99976460e-01 7.29692772e-05 1.63091275e+00] [ 5.05149256e-03 -1.07629768e-04 9.99987235e-01 1.37041134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:272.07, Y:1.63, Z:1.37 [[ 9.99965885e-01 -6.53496350e-03 -5.05211348e-03 2.72066117e+02] [ 6.53541505e-03 9.99978641e-01 7.28740893e-05 1.63009167e+00] [ 5.05152934e-03 -1.05889262e-04 9.99987235e-01 1.37064918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:272.10, Y:1.63, Z:1.37 [[ 9.99973728e-01 -5.19799071e-03 -5.05211619e-03 2.72095943e+02] [ 5.19842425e-03 9.99986485e-01 7.26856300e-05 1.62857337e+00] [ 5.05167010e-03 -9.89467638e-05 9.99987235e-01 1.37106363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:272.13, Y:1.63, Z:1.37 [[ 9.99975808e-01 -4.78111115e-03 -5.05211890e-03 2.72125198e+02] [ 4.78153842e-03 9.99988566e-01 7.24969849e-05 1.62731719e+00] [ 5.05171452e-03 -9.66521317e-05 9.99987235e-01 1.37146864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:272.15, Y:1.63, Z:1.37 [[ 9.99978335e-01 -4.21976995e-03 -5.05212169e-03 2.72153899e+02] [ 4.22018907e-03 9.99991092e-01 7.23016529e-05 1.62595814e+00] [ 5.05177160e-03 -9.36209952e-05 9.99987235e-01 1.37080413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:272.18, Y:1.62, Z:1.37 [[ 9.99979401e-01 -3.95904228e-03 -5.05212583e-03 2.72183057e+02] [ 3.95945661e-03 9.99992159e-01 7.20116261e-05 1.62451196e+00] [ 5.05180112e-03 -9.20138157e-05 9.99987235e-01 1.37107583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:272.21, Y:1.62, Z:1.37 [[ 9.99978320e-01 -4.22324689e-03 -5.05212856e-03 2.72212772e+02] [ 4.22366362e-03 9.99991078e-01 7.18193302e-05 1.62218540e+00] [ 5.05178017e-03 -9.31562647e-05 9.99987235e-01 1.37114913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.554391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:272.24, Y:1.62, Z:1.37 [[ 9.99975095e-01 -4.92810665e-03 -5.05213129e-03 2.72242844e+02] [ 4.92853140e-03 9.99987852e-01 7.16268407e-05 1.62078253e+00] [ 5.05171693e-03 -9.65246445e-05 9.99987235e-01 1.37178786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:272.27, Y:1.62, Z:1.37 [[ 9.99971435e-01 -5.62185234e-03 -5.05213410e-03 2.72271485e+02] [ 5.62228494e-03 9.99984192e-01 7.14280982e-05 1.61928038e+00] [ 5.05165268e-03 -9.98305953e-05 9.99987235e-01 1.37104309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.614391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:272.30, Y:1.62, Z:1.37 [[ 9.99951729e-01 -8.42705458e-03 -5.05213826e-03 2.72300658e+02] [ 8.42752147e-03 9.99964485e-01 7.11324846e-05 1.61665957e+00] [ 5.05135940e-03 -1.13706055e-04 9.99987235e-01 1.37166158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:272.33, Y:1.62, Z:1.37 [[ 9.99934497e-01 -1.02702281e-02 -5.05214090e-03 2.72331093e+02] [ 1.02707175e-02 9.99947252e-01 7.09447444e-05 1.61500103e+00] [ 5.05114579e-03 -1.22829209e-04 9.99987235e-01 1.37205140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.674391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:272.36, Y:1.61, Z:1.37 [[ 9.99878892e-01 -1.47199447e-02 -5.05214090e-03 2.72361734e+02] [ 1.47204909e-02 9.99891645e-01 7.09447444e-05 1.61149718e+00] [ 5.05054917e-03 -1.45306147e-04 9.99987235e-01 1.37232215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:272.39, Y:1.61, Z:1.37 [[ 9.99836242e-01 -1.73771253e-02 -5.05214090e-03 2.72392749e+02] [ 1.73777054e-02 9.99848994e-01 7.09447444e-05 1.60962224e+00] [ 5.05014518e-03 -1.58727743e-04 9.99987235e-01 1.37277725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73439141800003 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:272.42, Y:1.61, Z:1.37 [[ 9.99791688e-01 -1.97751428e-02 -5.05213799e-03 2.72424320e+02] [ 1.97757546e-02 9.99804438e-01 7.11510612e-05 1.60741762e+00] [ 5.04974297e-03 -1.71046080e-04 9.99987235e-01 1.37245370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:272.46, Y:1.60, Z:1.37 [[ 9.99682417e-01 -2.46888815e-02 -5.05213364e-03 2.72455299e+02] [ 2.46895574e-02 9.99695164e-01 7.14588583e-05 1.60403890e+00] [ 5.04882933e-03 -1.96171108e-04 9.99987235e-01 1.37207277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:272.49, Y:1.60, Z:1.37 [[ 9.99684175e-01 -2.46175978e-02 -5.05212499e-03 2.72487982e+02] [ 2.46182759e-02 9.99696922e-01 7.20653128e-05 1.60348608e+00] [ 5.04881972e-03 -1.96417160e-04 9.99987235e-01 1.37223779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:272.52, Y:1.60, Z:1.37 [[ 9.99631504e-01 -2.66708311e-02 -5.05211982e-03 2.72520293e+02] [ 2.66715372e-02 9.99644249e-01 7.24255495e-05 1.60172806e+00] [ 5.04839088e-03 -2.07146663e-04 9.99987235e-01 1.37239361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:272.55, Y:1.60, Z:1.37 [[ 9.99581444e-01 -2.84853170e-02 -5.05211413e-03 2.72551998e+02] [ 2.84860482e-02 9.99594188e-01 7.28203622e-05 1.60023845e+00] [ 5.04798961e-03 -2.16704649e-04 9.99987235e-01 1.37231626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:272.58, Y:1.60, Z:1.37 [[ 9.99489708e-01 -3.15404522e-02 -5.05210811e-03 2.72583841e+02] [ 3.15412245e-02 9.99502449e-01 7.32358805e-05 1.59846178e+00] [ 5.04728454e-03 -2.32548185e-04 9.99987235e-01 1.37161100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:272.62, Y:1.60, Z:1.37 [[ 9.99452923e-01 -3.26853187e-02 -5.05210205e-03 2.72615428e+02] [ 3.26861076e-02 9.99465664e-01 7.36513983e-05 1.59725455e+00] [ 5.04699521e-03 -2.38744657e-04 9.99987235e-01 1.37129899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:272.65, Y:1.60, Z:1.37 [[ 9.99415176e-01 -3.38198395e-02 -5.05209187e-03 2.72646175e+02] [ 3.38206464e-02 9.99427916e-01 7.43432326e-05 1.59639282e+00] [ 5.04668737e-03 -2.45164768e-04 9.99987235e-01 1.37112444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:272.68, Y:1.60, Z:1.37 [[ 9.99386312e-01 -3.46622985e-02 -5.05208736e-03 2.72677246e+02] [ 3.46631177e-02 9.99399051e-01 7.46489457e-05 1.59567744e+00] [ 5.04646380e-03 -2.49724233e-04 9.99987235e-01 1.37125286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:272.71, Y:1.60, Z:1.37 [[ 9.99292161e-01 -3.72780514e-02 -5.05208288e-03 2.72710555e+02] [ 3.72789054e-02 9.99304897e-01 7.49506547e-05 1.59667048e+00] [ 5.04577715e-03 -2.63233721e-04 9.99987235e-01 1.37207314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:272.74, Y:1.60, Z:1.37 [[ 9.99286075e-01 -3.74408692e-02 -5.05192972e-03 2.72740884e+02] [ 3.74417765e-02 9.99298807e-01 8.51071497e-05 1.59607689e+00] [ 5.04520086e-03 -2.74199613e-04 9.99987235e-01 1.37281912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:272.77, Y:1.60, Z:1.37 [[ 9.99193333e-01 -3.98391629e-02 -5.05216703e-03 2.72773403e+02] [ 3.98400206e-02 9.99206069e-01 6.92058759e-05 1.59700220e+00] [ 5.04539885e-03 -2.70428488e-04 9.99987235e-01 1.37285796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:272.81, Y:1.60, Z:1.37 [[ 9.99156799e-01 -4.07451458e-02 -5.05216070e-03 2.72805224e+02] [ 4.07460172e-02 9.99169534e-01 6.96256974e-05 1.59702784e+00] [ 5.04512814e-03 -2.75422416e-04 9.99987235e-01 1.37222380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:272.84, Y:1.60, Z:1.37 [[ 9.99108828e-01 -4.19049558e-02 -5.05212151e-03 2.72837978e+02] [ 4.19058550e-02 9.99121561e-01 7.22144198e-05 1.59710652e+00] [ 5.04465739e-03 -2.83863536e-04 9.99987235e-01 1.37162847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:272.87, Y:1.60, Z:1.37 [[ 9.99029974e-01 -4.37445671e-02 -5.05205343e-03 2.72869740e+02] [ 4.37455123e-02 9.99042704e-01 7.66988722e-05 1.59811064e+00] [ 5.04386196e-03 -2.97629138e-04 9.99987235e-01 1.37053593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:272.90, Y:1.60, Z:1.37 [[ 9.98995623e-01 -4.45221540e-02 -5.05204735e-03 2.72901695e+02] [ 4.45231111e-02 9.99008352e-01 7.70971111e-05 1.59870605e+00] [ 5.04360497e-03 -3.01952542e-04 9.99987235e-01 1.37002433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:272.93, Y:1.60, Z:1.37 [[ 9.98975836e-01 -4.49639516e-02 -5.05204125e-03 2.72934350e+02] [ 4.49649164e-02 9.98988564e-01 7.74953018e-05 1.59965191e+00] [ 5.04344693e-03 -3.04580546e-04 9.99987235e-01 1.37010996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:272.97, Y:1.60, Z:1.37 [[ 9.98960252e-01 -4.53088482e-02 -5.05203511e-03 2.72965681e+02] [ 4.53098194e-02 9.98972980e-01 7.78931246e-05 1.60041206e+00] [ 5.04331732e-03 -3.06718934e-04 9.99987235e-01 1.36960869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:273.00, Y:1.60, Z:1.37 [[ 9.98946193e-01 -4.56177564e-02 -5.05203053e-03 2.72997857e+02] [ 4.56187330e-02 9.98958921e-01 7.81892516e-05 1.60208606e+00] [ 5.04320415e-03 -3.08574087e-04 9.99987235e-01 1.36893788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.304391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:273.03, Y:1.60, Z:1.37 [[ 9.98952613e-01 -4.54769601e-02 -5.05202446e-03 2.73030307e+02] [ 4.54779369e-02 9.98965340e-01 7.85793987e-05 1.60276002e+00] [ 5.04322378e-03 -3.08252746e-04 9.99987235e-01 1.36892861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:273.06, Y:1.61, Z:1.37 [[ 9.99021726e-01 -4.39325351e-02 -5.05201841e-03 2.73062493e+02] [ 4.39334942e-02 9.99034455e-01 7.89663416e-05 1.60518503e+00] [ 5.04367127e-03 -3.00841913e-04 9.99987235e-01 1.36994280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.364391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:273.09, Y:1.61, Z:1.37 [[ 9.99085575e-01 -4.24557624e-02 -5.05201083e-03 2.73094253e+02] [ 4.24567051e-02 9.99098304e-01 7.94483615e-05 1.60654427e+00] [ 5.04408242e-03 -2.93867446e-04 9.99987235e-01 1.37133594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:273.13, Y:1.61, Z:1.37 [[ 9.99172204e-01 -4.03656303e-02 -5.05200440e-03 2.73125754e+02] [ 4.03665484e-02 9.99184936e-01 7.98551717e-05 1.60804746e+00] [ 5.04466329e-03 -2.83721048e-04 9.99987235e-01 1.37185760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.424391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:273.16, Y:1.61, Z:1.37 [[ 9.99405782e-01 -3.40963286e-02 -5.05199362e-03 2.73157819e+02] [ 3.40971702e-02 9.99418519e-01 8.05319187e-05 1.61251115e+00] [ 5.04631014e-03 -2.52742751e-04 9.99987235e-01 1.37357504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:273.19, Y:1.61, Z:1.37 [[ 9.99541447e-01 -2.98558665e-02 -5.05198761e-03 2.73190369e+02] [ 2.98566560e-02 9.99554187e-01 8.09071633e-05 1.61464621e+00] [ 5.04731981e-03 -2.31705519e-04 9.99987235e-01 1.37422357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48439141800003 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:273.22, Y:1.62, Z:1.37 [[ 9.99788588e-01 -1.99313240e-02 -5.05198148e-03 2.73221996e+02] [ 1.99319889e-02 9.99801335e-01 8.12875959e-05 1.61940496e+00] [ 5.04935766e-03 -1.81966449e-04 9.99987235e-01 1.37459786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:273.25, Y:1.62, Z:1.38 [[ 9.99879328e-01 -1.46903837e-02 -5.05197123e-03 2.73253125e+02] [ 1.46909850e-02 9.99892078e-01 8.19198858e-05 1.62146092e+00] [ 5.05022258e-03 -1.56128434e-04 9.99987235e-01 1.37501824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:273.28, Y:1.62, Z:1.38 [[ 9.99939860e-01 -9.73414478e-03 -5.05196122e-03 2.73284899e+02] [ 9.73468591e-03 9.99952613e-01 8.25326343e-05 1.62368930e+00] [ 5.05091844e-03 -1.31706927e-04 9.99987235e-01 1.37516723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:273.32, Y:1.63, Z:1.38 [[ 9.99974362e-01 -5.07472318e-03 -5.05195803e-03 2.73315004e+02] [ 5.07520585e-03 9.99987118e-01 8.27272886e-05 1.62594986e+00] [ 5.05147313e-03 -1.08364895e-04 9.99987235e-01 1.37557666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:273.34, Y:1.63, Z:1.38 [[ 9.99985100e-01 2.06813473e-03 -5.05195645e-03 2.73344344e+02] [-2.06774268e-03 9.99997859e-01 8.28237478e-05 1.62984551e+00] [ 5.05211693e-03 -7.23763678e-05 9.99987235e-01 1.37525225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:273.37, Y:1.63, Z:1.37 [[ 9.99976854e-01 4.55732454e-03 -5.05195975e-03 2.73371945e+02] [-4.55696528e-03 9.99989614e-01 8.26218852e-05 1.63095077e+00] [ 5.05228382e-03 -5.95983677e-05 9.99987235e-01 1.37450692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:273.40, Y:1.63, Z:1.37 [[ 9.99957492e-01 7.71314613e-03 -5.05197225e-03 2.73398512e+02] [-7.71283104e-03 9.99970252e-01 8.18507171e-05 1.63273795e+00] [ 5.05245329e-03 -4.28822294e-05 9.99987235e-01 1.37305948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694391418 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:273.43, Y:1.63, Z:1.37 [[ 9.99952393e-01 8.34803392e-03 -5.05198288e-03 2.73426190e+02] [-8.34773026e-03 9.99965154e-01 8.11891324e-05 1.63320072e+00] [ 5.05248461e-03 -3.90126768e-05 9.99987235e-01 1.37279698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:273.45, Y:1.63, Z:1.37 [[ 9.99951290e-01 8.47905777e-03 -5.05199239e-03 2.73453882e+02] [-8.47875880e-03 9.99964051e-01 8.05928655e-05 1.63349954e+00] [ 5.05249413e-03 -3.77543149e-05 9.99987235e-01 1.37236659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:273.48, Y:1.64, Z:1.37 [[ 9.99954305e-01 8.11573614e-03 -5.05200020e-03 2.73482393e+02] [-8.11543502e-03 9.99967066e-01 8.01006242e-05 1.63500431e+00] [ 5.05248389e-03 -3.90977847e-05 9.99987235e-01 1.37185284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:273.51, Y:1.64, Z:1.37 [[ 9.99960493e-01 7.31364201e-03 -5.05200645e-03 2.73511585e+02] [-7.31333266e-03 9.99973254e-01 7.97041385e-05 1.63564694e+00] [ 5.05245426e-03 -4.27539858e-05 9.99987235e-01 1.37209169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:273.54, Y:1.64, Z:1.37 [[ 9.99964378e-01 6.76168599e-03 -5.05201286e-03 2.73539034e+02] [-6.76137166e-03 9.99977139e-01 7.92960291e-05 1.63562911e+00] [ 5.05243354e-03 -4.51346679e-05 9.99987235e-01 1.37214420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:273.57, Y:1.64, Z:1.37 [[ 9.99974151e-01 5.11610969e-03 -5.05202073e-03 2.73568150e+02] [-5.11577691e-03 9.99986911e-01 7.87912420e-05 1.63502401e+00] [ 5.05235771e-03 -5.29441943e-05 9.99987235e-01 1.37261715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:273.60, Y:1.63, Z:1.37 [[ 9.99979226e-01 4.00307550e-03 -5.05202696e-03 2.73597185e+02] [-4.00273055e-03 9.99991986e-01 7.83899423e-05 1.63453676e+00] [ 5.05230027e-03 -5.81664112e-05 9.99987235e-01 1.37246782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:273.63, Y:1.63, Z:1.37 [[ 9.99985934e-01 1.61519302e-03 -5.05203313e-03 2.73625284e+02] [-1.61481962e-03 9.99998693e-01 7.79900429e-05 1.63418985e+00] [ 5.05215250e-03 -6.98308236e-05 9.99987235e-01 1.37195474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:273.65, Y:1.63, Z:1.37 [[ 9.99987067e-01 5.84819113e-04 -5.05204072e-03 2.73653765e+02] [-5.84435060e-04 9.99999826e-01 7.74953609e-05 1.63367396e+00] [ 5.05208516e-03 -7.45417689e-05 9.99987235e-01 1.37201935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:273.68, Y:1.63, Z:1.37 [[ 9.99986881e-01 -8.45457754e-04 -5.05204636e-03 2.73682347e+02] [ 8.45858189e-04 9.99999639e-01 7.71258036e-05 1.63327725e+00] [ 5.05197933e-03 -8.13981066e-05 9.99987235e-01 1.37199741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:273.71, Y:1.63, Z:1.37 [[ 9.99985389e-01 -1.92295683e-03 -5.05205229e-03 2.73709788e+02] [ 1.92336904e-03 9.99998147e-01 7.67357458e-05 1.63247869e+00] [ 5.05189537e-03 -8.64515856e-05 9.99987235e-01 1.37207237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:273.74, Y:1.63, Z:1.37 [[ 9.99979939e-01 -3.82070094e-03 -5.05205958e-03 2.73739051e+02] [ 3.82113492e-03 9.99992697e-01 7.62523568e-05 1.63092983e+00] [ 5.05173135e-03 -9.55554284e-05 9.99987235e-01 1.37161502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.054391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:273.77, Y:1.63, Z:1.37 [[ 9.99976736e-01 -4.58296706e-03 -5.05206557e-03 2.73767627e+02] [ 4.58340875e-03 9.99989493e-01 7.58532444e-05 1.63007557e+00] [ 5.05166486e-03 -9.90071613e-05 9.99987235e-01 1.37145900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:273.80, Y:1.63, Z:1.37 [[ 9.99977269e-01 -4.46530354e-03 -5.05207001e-03 2.73797452e+02] [ 4.46574223e-03 9.99990026e-01 7.55564444e-05 1.62949377e+00] [ 5.05168224e-03 -9.81159693e-05 9.99987235e-01 1.37132532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.114391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:273.83, Y:1.63, Z:1.37 [[ 9.99980491e-01 -3.67357699e-03 -5.05207306e-03 2.73827522e+02] [ 3.67400454e-03 9.99993248e-01 7.53522765e-05 1.62911905e+00] [ 5.05176213e-03 -9.39121458e-05 9.99987235e-01 1.37152279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:273.86, Y:1.63, Z:1.37 [[ 9.99984327e-01 -2.41307946e-03 -5.05207608e-03 2.73857445e+02] [ 2.41348991e-03 9.99997085e-01 7.51488336e-05 1.62882816e+00] [ 5.05188002e-03 -8.73407904e-05 9.99987235e-01 1.37155267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.174391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:273.89, Y:1.63, Z:1.37 [[ 9.99987102e-01 -5.22398053e-04 -5.05207914e-03 2.73886000e+02] [ 5.22783340e-04 9.99999861e-01 7.49428558e-05 1.62860248e+00] [ 5.05203928e-03 -7.75830320e-05 9.99987235e-01 1.37156872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:273.92, Y:1.63, Z:1.37 [[ 9.99985996e-01 1.57618644e-03 -5.05208366e-03 2.73915045e+02] [-1.57582947e-03 9.99998756e-01 7.46370457e-05 1.62856048e+00] [ 5.05219501e-03 -6.66747782e-05 9.99987235e-01 1.37203747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23439141800003 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:273.94, Y:1.63, Z:1.37 [[ 9.99959512e-01 7.44653093e-03 -5.05210447e-03 2.73942757e+02] [-7.44625613e-03 9.99972274e-01 7.32006822e-05 1.62832642e+00] [ 5.05250948e-03 -3.55784546e-05 9.99987235e-01 1.37257890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264391418 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:273.97, Y:1.63, Z:1.37 [[ 9.99932536e-01 1.04594360e-02 -5.05212759e-03 2.73970033e+02] [-1.04592079e-02 9.99945298e-01 7.15686564e-05 1.62790353e+00] [ 5.05259980e-03 -1.87225754e-05 9.99987235e-01 1.37233379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:274.00, Y:1.63, Z:1.37 [[ 9.99870789e-01 1.52604644e-02 -5.05213747e-03 2.73998287e+02] [-1.52603012e-02 9.99883552e-01 7.08641383e-05 1.62698601e+00] [ 5.05263058e-03 6.24215739e-06 9.99987235e-01 1.37196549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:274.03, Y:1.63, Z:1.37 [[ 9.99841728e-01 1.70585585e-02 -5.05215967e-03 2.74025926e+02] [-1.70584264e-02 9.99854492e-01 6.92445927e-05 1.62624613e+00] [ 5.05260575e-03 1.69482607e-05 9.99987235e-01 1.37164577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:274.05, Y:1.62, Z:1.37 [[ 9.99818052e-01 1.83939967e-02 -5.05216792e-03 2.74052771e+02] [-1.83938847e-02 9.99830816e-01 6.86370672e-05 1.62452331e+00] [ 5.05257568e-03 2.43044156e-05 9.99987235e-01 1.36986159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:274.08, Y:1.62, Z:1.37 [[ 9.99825060e-01 1.80090136e-02 -5.05217734e-03 2.74080951e+02] [-1.80089002e-02 9.99837824e-01 6.79367281e-05 1.62348214e+00] [ 5.05258147e-03 2.30593141e-05 9.99987235e-01 1.36927467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:274.11, Y:1.62, Z:1.37 [[ 9.99842988e-01 1.69845390e-02 -5.05218541e-03 2.74108568e+02] [-1.69844156e-02 9.99855752e-01 6.73309868e-05 1.62226562e+00] [ 5.05260023e-03 1.84880016e-05 9.99987235e-01 1.36861099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:274.14, Y:1.62, Z:1.37 [[ 9.99873567e-01 1.50773403e-02 -5.05219340e-03 2.74136011e+02] [-1.50771957e-02 9.99886330e-01 6.67261679e-05 1.62110545e+00] [ 5.05262517e-03 9.45517694e-06 9.99987235e-01 1.36823864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:274.16, Y:1.62, Z:1.37 [[ 9.99932911e-01 1.04234792e-02 -5.05220254e-03 2.74163437e+02] [-1.04232786e-02 9.99945674e-01 6.60268832e-05 1.61848142e+00] [ 5.05261630e-03 -1.33619390e-05 9.99987235e-01 1.36810884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:274.19, Y:1.62, Z:1.37 [[ 9.99956232e-01 7.87454145e-03 -5.05220896e-03 2.74192669e+02] [-7.87431086e-03 9.99968995e-01 6.55319014e-05 1.61681409e+00] [ 5.05256835e-03 -2.57463693e-05 9.99987235e-01 1.36872357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:274.22, Y:1.62, Z:1.37 [[ 9.99975460e-01 4.85340378e-03 -5.05221396e-03 2.74221760e+02] [-4.85313659e-03 9.99988221e-01 6.51439007e-05 1.61527630e+00] [ 5.05247062e-03 -4.06232176e-05 9.99987235e-01 1.36950266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:274.25, Y:1.61, Z:1.37 [[ 9.99986060e-01 -1.53479908e-03 -5.05221920e-03 2.74249584e+02] [ 1.53514572e-03 9.99998820e-01 6.47350972e-05 1.61257718e+00] [ 5.05211388e-03 -7.24900874e-05 9.99987235e-01 1.36970691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:274.28, Y:1.61, Z:1.37 [[ 9.99976161e-01 -4.70658665e-03 -5.05222564e-03 2.74277233e+02] [ 4.70697120e-03 9.99988920e-01 6.42282643e-05 1.61131308e+00] [ 5.05186737e-03 -8.80074138e-05 9.99987235e-01 1.36961614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:274.31, Y:1.61, Z:1.37 [[ 9.99958957e-01 -7.52061184e-03 -5.05223198e-03 2.74306209e+02] [ 7.52102977e-03 9.99971715e-01 6.37260497e-05 1.61007583e+00] [ 5.05160981e-03 -1.01721421e-04 9.99987235e-01 1.36987599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:274.34, Y:1.61, Z:1.37 [[ 9.99897391e-01 -1.34045973e-02 -5.05223439e-03 2.74336924e+02] [ 1.34050894e-02 9.99910146e-01 6.35340118e-05 1.60800248e+00] [ 5.05092878e-03 -1.31253146e-04 9.99987235e-01 1.37066903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:274.37, Y:1.61, Z:1.37 [[ 9.99856541e-01 -1.61670236e-02 -5.05223439e-03 2.74368595e+02] [ 1.61675509e-02 9.99869295e-01 6.35340118e-05 1.60620581e+00] [ 5.05054688e-03 -1.45207154e-04 9.99987235e-01 1.37070956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:274.40, Y:1.61, Z:1.37 [[ 9.99857837e-01 -1.60866417e-02 -5.05222567e-03 2.74401283e+02] [ 1.60871714e-02 9.99870591e-01 6.42199568e-05 1.60571281e+00] [ 5.05053879e-03 -1.45486847e-04 9.99987235e-01 1.37087456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:274.43, Y:1.60, Z:1.37 [[ 9.99729403e-01 -2.27067159e-02 -5.05222048e-03 2.74433576e+02] [ 2.27073321e-02 9.99742153e-01 6.46261099e-05 1.60339282e+00] [ 5.04945033e-03 -1.79331070e-04 9.99987235e-01 1.37160017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:274.47, Y:1.60, Z:1.37 [[ 9.99642581e-01 -2.62523408e-02 -5.05221524e-03 2.74465603e+02] [ 2.62530042e-02 9.99655328e-01 6.50329371e-05 1.60235769e+00] [ 5.04876662e-03 -1.97645521e-04 9.99987235e-01 1.37239930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.804391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:274.50, Y:1.60, Z:1.37 [[ 9.99551131e-01 -2.95298481e-02 -5.05220995e-03 2.74498033e+02] [ 2.95305554e-02 9.99563876e-01 6.54417929e-05 1.60116186e+00] [ 5.04807407e-03 -2.14606984e-04 9.99987235e-01 1.37305364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:274.53, Y:1.60, Z:1.37 [[ 9.99436812e-01 -3.31743070e-02 -5.05220461e-03 2.74529634e+02] [ 3.31750628e-02 9.99449554e-01 6.58513319e-05 1.60019719e+00] [ 5.04723907e-03 -2.33421450e-04 9.99987235e-01 1.37368787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.864391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:274.56, Y:1.60, Z:1.37 [[ 9.99058739e-01 -4.30826099e-02 -5.05220061e-03 2.74556952e+02] [ 4.30834935e-02 9.99071473e-01 6.61569078e-05 1.60382627e+00] [ 5.04465929e-03 -2.83761089e-04 9.99987235e-01 1.37412321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:274.59, Y:1.60, Z:1.37 [[ 9.99116546e-01 -4.17204112e-02 -5.05310183e-03 2.74592783e+02] [ 4.17209268e-02 9.99129303e-01 -3.37160611e-06 1.59819459e+00] [ 5.04884277e-03 -2.07451464e-04 9.99987233e-01 1.37383546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.924391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:274.63, Y:1.60, Z:1.37 [[ 9.98981299e-01 -4.48424008e-02 -5.05212646e-03 2.74625617e+02] [ 4.48433188e-02 9.98994030e-01 6.85322352e-05 1.59821056e+00] [ 5.04397103e-03 -2.95016539e-04 9.99987236e-01 1.37380750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:274.66, Y:1.60, Z:1.37 [[ 9.98960715e-01 -4.52986415e-02 -5.05211800e-03 2.74658294e+02] [ 4.52995685e-02 9.98973445e-01 6.91504030e-05 1.59819882e+00] [ 5.04379931e-03 -2.97937302e-04 9.99987236e-01 1.37379668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98439141800003 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:274.69, Y:1.60, Z:1.37 [[ 9.98950095e-01 -4.55322363e-02 -5.05210949e-03 2.74691468e+02] [ 4.55331694e-02 9.98962825e-01 6.97669414e-05 1.59923583e+00] [ 5.04369292e-03 -2.99732250e-04 9.99987236e-01 1.37366925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:274.72, Y:1.60, Z:1.37 [[ 9.98971684e-01 -4.50560914e-02 -5.05210081e-03 2.74723360e+02] [ 4.50570216e-02 9.98984414e-01 7.03899600e-05 1.59979165e+00] [ 5.04379847e-03 -2.97950192e-04 9.99987236e-01 1.37312746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:274.76, Y:1.60, Z:1.37 [[ 9.99012837e-01 -4.41341924e-02 -5.05209357e-03 2.74756111e+02] [ 4.41351134e-02 9.99025569e-01 7.09058272e-05 1.60042432e+00] [ 5.04404128e-03 -2.93810554e-04 9.99987236e-01 1.37314877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:274.79, Y:1.60, Z:1.37 [[ 9.99065219e-01 -4.29320951e-02 -5.05208457e-03 2.74788405e+02] [ 4.29330040e-02 9.99077951e-01 7.15408951e-05 1.60128768e+00] [ 5.04435490e-03 -2.88375187e-04 9.99987236e-01 1.37244310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:274.82, Y:1.60, Z:1.37 [[ 9.99209653e-01 -3.94277343e-02 -5.05207709e-03 2.74821862e+02] [ 3.94286012e-02 9.99222388e-01 7.20657676e-05 1.60362099e+00] [ 5.04530714e-03 -2.71205143e-04 9.99987236e-01 1.37262653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:274.85, Y:1.61, Z:1.37 [[ 9.99292189e-01 -3.72773091e-02 -5.05206812e-03 2.74853013e+02] [ 3.72781517e-02 9.99304926e-01 7.26887822e-05 1.60525036e+00] [ 5.04584692e-03 -2.60969094e-04 9.99987236e-01 1.37271250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:274.88, Y:1.61, Z:1.37 [[ 9.99467601e-01 -3.22333955e-02 -5.05206368e-03 2.74883958e+02] [ 3.22341754e-02 9.99480341e-01 7.29965751e-05 1.60885459e+00] [ 5.04708540e-03 -2.35806818e-04 9.99987236e-01 1.37422785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:274.92, Y:1.61, Z:1.38 [[ 9.99558720e-01 -2.92718598e-02 -5.05205937e-03 2.74915932e+02] [ 2.92726034e-02 9.99571463e-01 7.32934544e-05 1.61029069e+00] [ 5.04774894e-03 -2.21148042e-04 9.99987236e-01 1.37528177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:274.95, Y:1.61, Z:1.38 [[ 9.99640136e-01 -2.63453247e-02 -5.05205345e-03 2.74947663e+02] [ 2.63460330e-02 9.99652880e-01 7.36994029e-05 1.61214793e+00] [ 5.04835814e-03 -2.06774448e-04 9.99987236e-01 1.37623639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:274.98, Y:1.62, Z:1.38 [[ 9.99796219e-01 -1.95447741e-02 -5.05204750e-03 2.74980325e+02] [ 1.95453978e-02 9.99808968e-01 7.41045385e-05 1.61686511e+00] [ 5.04963404e-03 -1.72833715e-04 9.99987236e-01 1.37798991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:275.01, Y:1.62, Z:1.38 [[ 9.99858907e-01 -1.60201083e-02 -5.05204130e-03 2.75011129e+02] [ 1.60206892e-02 9.99871658e-01 7.45250806e-05 1.61894143e+00] [ 5.05019901e-03 -1.55451749e-04 9.99987236e-01 1.37858286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:275.04, Y:1.62, Z:1.38 [[ 9.99913090e-01 -1.21774271e-02 -5.05203669e-03 2.75042055e+02] [ 1.21779605e-02 9.99925843e-01 7.48365904e-05 1.62050558e+00] [ 5.05075073e-03 -1.36353590e-04 9.99987236e-01 1.37870085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:275.07, Y:1.62, Z:1.38 [[ 9.99949439e-01 -8.69467679e-03 -5.05203365e-03 2.75072368e+02] [ 8.69516682e-03 9.99962194e-01 7.50411848e-05 1.62223428e+00] [ 5.05119019e-03 -1.18965666e-04 9.99987236e-01 1.37848391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:275.10, Y:1.63, Z:1.38 [[ 9.99984412e-01 -2.37764756e-03 -5.05202846e-03 2.75102971e+02] [ 2.37805876e-03 9.99997170e-01 7.53884664e-05 1.62570383e+00] [ 5.05183492e-03 -8.74013118e-05 9.99987236e-01 1.37752594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:275.13, Y:1.63, Z:1.38 [[ 9.99987230e-01 1.32713613e-04 -5.05202699e-03 2.75131514e+02] [-1.32333937e-04 9.99999988e-01 7.54873343e-05 1.62704990e+00] [ 5.05203695e-03 -7.48178156e-05 9.99987236e-01 1.37754681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:275.16, Y:1.63, Z:1.38 [[ 9.99977933e-01 4.31404094e-03 -5.05204745e-03 2.75160657e+02] [-4.31372166e-03 9.99990693e-01 7.40917673e-05 1.62950485e+00] [ 5.05232007e-03 -5.22970057e-05 9.99987236e-01 1.37714689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:275.19, Y:1.63, Z:1.38 [[ 9.99959182e-01 7.49068478e-03 -5.05206746e-03 2.75186834e+02] [-7.49041307e-03 9.99971944e-01 7.27017734e-05 1.63029164e+00] [ 5.05247030e-03 -3.48567338e-05 9.99987236e-01 1.37682163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494391418 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:275.22, Y:1.63, Z:1.38 [[ 9.99955116e-01 8.01489308e-03 -5.05242802e-03 2.75216752e+02] [-8.01475623e-03 9.99967880e-01 4.73333432e-05 1.63135579e+00] [ 5.05264511e-03 -6.83723971e-06 9.99987235e-01 1.37650409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:275.24, Y:1.63, Z:1.38 [[ 9.99921604e-01 1.14569496e-02 -5.05206687e-03 2.75244158e+02] [-1.14567295e-02 9.99934367e-01 7.25000995e-05 1.63390622e+00] [ 5.05256591e-03 -1.46142521e-05 9.99987236e-01 1.37634240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.554391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:275.27, Y:1.63, Z:1.38 [[ 9.99904526e-01 1.28614173e-02 -5.05207670e-03 2.75271292e+02] [-1.28612186e-02 9.99917289e-01 7.18082260e-05 1.63466318e+00] [ 5.05258239e-03 -6.82550707e-06 9.99987236e-01 1.37687989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:275.30, Y:1.63, Z:1.38 [[ 9.99891737e-01 1.38199327e-02 -5.05208782e-03 2.75299833e+02] [-1.38197503e-02 9.99904500e-01 7.10168203e-05 1.63496276e+00] [ 5.05258680e-03 -1.19053941e-06 9.99987236e-01 1.37743153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.614391418 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:275.33, Y:1.63, Z:1.38 [[ 9.99893348e-01 1.37028651e-02 -5.05209323e-03 2.75328838e+02] [-1.37026832e-02 9.99906111e-01 7.06299638e-05 1.63482283e+00] [ 5.05258673e-03 -1.39519806e-06 9.99987236e-01 1.37853753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:275.36, Y:1.63, Z:1.38 [[ 9.99912159e-01 1.22536325e-02 -5.05209872e-03 2.75356423e+02] [-1.22534340e-02 9.99924921e-01 7.02350202e-05 1.63419844e+00] [ 5.05258005e-03 -8.32329231e-06 9.99987236e-01 1.37914313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.674391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:275.39, Y:1.63, Z:1.38 [[ 9.99938049e-01 9.91838152e-03 -5.05210548e-03 2.75385053e+02] [-9.91815573e-03 9.99950811e-01 6.97454591e-05 1.63347408e+00] [ 5.05254874e-03 -1.96335693e-05 9.99987236e-01 1.37913741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:275.41, Y:1.63, Z:1.38 [[ 9.99983003e-01 2.91045463e-03 -5.05211067e-03 2.75413879e+02] [-2.91014131e-03 9.99995763e-01 6.93672801e-05 1.63149769e+00] [ 5.05229116e-03 -5.46637451e-05 9.99987236e-01 1.37899326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73439141800003 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:275.44, Y:1.63, Z:1.38 [[ 9.99985471e-01 -1.87968403e-03 -5.05211623e-03 2.75442007e+02] [ 1.88005642e-03 9.99998230e-01 6.89599384e-05 1.63013041e+00] [ 5.05197767e-03 -7.84572000e-05 9.99987236e-01 1.37879050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:275.47, Y:1.63, Z:1.38 [[ 9.99962502e-01 -7.03351314e-03 -5.05212336e-03 2.75470864e+02] [ 7.03394862e-03 9.99975259e-01 6.84337785e-05 1.62847000e+00] [ 5.05151704e-03 -1.03967588e-04 9.99987236e-01 1.37874918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:275.50, Y:1.63, Z:1.38 [[ 9.99836436e-01 -1.73659959e-02 -5.05212890e-03 2.75500772e+02] [ 1.73665611e-02 9.99849188e-01 6.80224394e-05 1.62502608e+00] [ 5.05018570e-03 -1.55749419e-04 9.99987236e-01 1.37792862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:275.53, Y:1.62, Z:1.38 [[ 9.99744052e-01 -2.20523759e-02 -5.05213027e-03 2.75532586e+02] [ 2.20530004e-02 9.99756801e-01 6.79203927e-05 1.62295175e+00] [ 5.04940379e-03 -1.79317639e-04 9.99987236e-01 1.37773343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:275.56, Y:1.62, Z:1.38 [[ 9.99542492e-01 -2.98208344e-02 -5.05212466e-03 2.75563710e+02] [ 2.98215600e-02 9.99555236e-01 6.83350091e-05 1.61993374e+00] [ 5.04783985e-03 -2.18965984e-04 9.99987236e-01 1.37685921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:275.60, Y:1.62, Z:1.38 [[ 9.99460182e-01 -3.24626197e-02 -5.05212046e-03 2.75595423e+02] [ 3.24633805e-02 9.99472923e-01 6.86443923e-05 1.61861561e+00] [ 5.04722923e-03 -2.32616246e-04 9.99987236e-01 1.37678492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:275.63, Y:1.62, Z:1.38 [[ 9.99399503e-01 -3.42798692e-02 -5.05211480e-03 2.75627562e+02] [ 3.42806553e-02 9.99412243e-01 6.90584110e-05 1.61781273e+00] [ 5.04677807e-03 -2.42206748e-04 9.99987236e-01 1.37657378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944391418 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:275.66, Y:1.62, Z:1.38 [[ 9.99354395e-01 -3.55706224e-02 -5.05210770e-03 2.75660331e+02] [ 3.55714276e-02 9.99367134e-01 6.95742796e-05 1.61734247e+00] [ 5.04643559e-03 -2.49240045e-04 9.99987236e-01 1.37655157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:275.69, Y:1.62, Z:1.38 [[ 9.99322500e-01 -3.64556874e-02 -5.05209904e-03 2.75692630e+02] [ 3.64565070e-02 9.99335238e-01 7.01973819e-05 1.61707413e+00] [ 5.04618150e-03 -2.54331707e-04 9.99987236e-01 1.37656200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:275.73, Y:1.62, Z:1.38 [[ 9.99333468e-01 -3.61537761e-02 -5.05209181e-03 2.75725949e+02] [ 3.61545945e-02 9.99346206e-01 7.07134937e-05 1.61685088e+00] [ 5.04623223e-03 -2.53322692e-04 9.99987236e-01 1.37649809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:275.76, Y:1.62, Z:1.38 [[ 9.99340596e-01 -3.59562185e-02 -5.05208329e-03 2.75758904e+02] [ 3.59570373e-02 9.99353334e-01 7.13176203e-05 1.61675635e+00] [ 5.04625196e-03 -2.52928541e-04 9.99987236e-01 1.37656048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:275.79, Y:1.62, Z:1.38 [[ 9.99340592e-01 -3.59563188e-02 -5.05207463e-03 2.75791567e+02] [ 3.59571407e-02 9.99353330e-01 7.19256518e-05 1.61669016e+00] [ 5.04622143e-03 -2.53536382e-04 9.99987236e-01 1.37674214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094391418 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:275.82, Y:1.62, Z:1.38 [[ 9.99325684e-01 -3.63683208e-02 -5.05206590e-03 2.75824352e+02] [ 3.63691510e-02 9.99338421e-01 7.25336823e-05 1.61663458e+00] [ 5.04608563e-03 -2.56224119e-04 9.99987236e-01 1.37679599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124391418 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:275.85, Y:1.62, Z:1.38 [[ 9.99311322e-01 -3.67608196e-02 -5.05205700e-03 2.75854807e+02] [ 3.67616579e-02 9.99324059e-01 7.31483043e-05 1.61721642e+00] [ 5.04595312e-03 -2.58819920e-04 9.99987236e-01 1.37703327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:275.89, Y:1.62, Z:1.38 [[ 9.99251889e-01 -3.83423679e-02 -5.05230384e-03 2.75888300e+02] [ 3.83431399e-02 9.99264630e-01 5.59842594e-05 1.61755623e+00] [ 5.04644195e-03 -2.49663570e-04 9.99987235e-01 1.37710378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184391418 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:275.92, Y:1.62, Z:1.38 [[ 9.99213757e-01 -3.93236024e-02 -5.05204179e-03 2.75921010e+02] [ 3.93244771e-02 9.99226491e-01 7.38987098e-05 1.61765937e+00] [ 5.04522803e-03 -2.72509509e-04 9.99987236e-01 1.37669965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:275.95, Y:1.62, Z:1.37 [[ 9.99143222e-01 -4.10767457e-02 -5.05203437e-03 2.75952010e+02] [ 4.10776454e-02 9.99155955e-01 7.44025018e-05 1.61828932e+00] [ 5.04471402e-03 -2.81864432e-04 9.99987236e-01 1.37447862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:275.98, Y:1.62, Z:1.37 [[ 9.99114044e-01 -4.17804308e-02 -5.05202993e-03 2.75984803e+02] [ 4.17813409e-02 9.99126776e-01 7.47029765e-05 1.61815672e+00] [ 5.04449725e-03 -2.85717378e-04 9.99987236e-01 1.37357965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:276.02, Y:1.62, Z:1.37 [[ 9.99085581e-01 -4.24556151e-02 -5.05202119e-03 2.76016700e+02] [ 4.24565369e-02 9.99098312e-01 7.52895078e-05 1.61799402e+00] [ 5.04426938e-03 -2.89711986e-04 9.99987236e-01 1.37310955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.304391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:276.05, Y:1.62, Z:1.37 [[ 9.99066088e-01 -4.29118855e-02 -5.05201511e-03 2.76049548e+02] [ 4.29128151e-02 9.99078818e-01 7.56952125e-05 1.61799938e+00] [ 5.04411306e-03 -2.92420710e-04 9.99987236e-01 1.37287772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:276.08, Y:1.62, Z:1.37 [[ 9.99031468e-01 -4.37104494e-02 -5.05200569e-03 2.76080929e+02] [ 4.37113923e-02 9.99044197e-01 7.63189003e-05 1.61998917e+00] [ 5.04384104e-03 -2.97075185e-04 9.99987236e-01 1.37273459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.364391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:276.11, Y:1.62, Z:1.37 [[ 9.99047567e-01 -4.33409346e-02 -5.05200101e-03 2.76113911e+02] [ 4.33418744e-02 9.99060297e-01 7.66271676e-05 1.62078016e+00] [ 5.04393254e-03 -2.95517379e-04 9.99987236e-01 1.37308606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394391418 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:276.15, Y:1.62, Z:1.37 [[ 9.99141775e-01 -4.11119201e-02 -5.05199160e-03 2.76146330e+02] [ 4.11128346e-02 9.99154507e-01 7.72428172e-05 1.62348000e+00] [ 5.04454458e-03 -2.84878220e-04 9.99987236e-01 1.37398760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.424391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:276.18, Y:1.62, Z:1.38 [[ 9.99225754e-01 -3.90175538e-02 -5.05198376e-03 2.76177455e+02] [ 3.90184441e-02 9.99238488e-01 7.77523145e-05 1.62495984e+00] [ 5.04510291e-03 -2.74812661e-04 9.99987236e-01 1.37503749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:276.21, Y:1.63, Z:1.38 [[ 9.99291207e-01 -3.73036108e-02 -5.05209469e-03 2.76210316e+02] [ 3.73044430e-02 9.99303945e-01 7.05643824e-05 1.62680001e+00] [ 5.04594585e-03 -2.58979945e-04 9.99987236e-01 1.37657632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48439141800003 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:276.24, Y:1.63, Z:1.38 [[ 9.99434499e-01 -3.32439410e-02 -5.05196357e-03 2.76242123e+02] [ 3.32447638e-02 9.99447237e-01 7.89539703e-05 1.63087612e+00] [ 5.04654630e-03 -2.46860658e-04 9.99987236e-01 1.37903952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:276.28, Y:1.63, Z:1.38 [[ 9.99489361e-01 -3.15514765e-02 -5.05195729e-03 2.76275009e+02] [ 3.15522797e-02 9.99502100e-01 7.93541464e-05 1.63235144e+00] [ 5.04693818e-03 -2.38714395e-04 9.99987236e-01 1.38045047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:276.31, Y:1.63, Z:1.38 [[ 9.99552685e-01 -2.94772431e-02 -5.05194767e-03 2.76305580e+02] [ 2.94780230e-02 9.99565425e-01 7.99615953e-05 1.63380091e+00] [ 5.04739518e-03 -2.28847257e-04 9.99987236e-01 1.38265650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:276.34, Y:1.64, Z:1.38 [[ 9.99552847e-01 -2.94716925e-02 -5.05222002e-03 2.76337941e+02] [ 2.94723851e-02 9.99565593e-01 6.26741793e-05 1.63679217e+00] [ 5.04817819e-03 -2.11547128e-04 9.99987235e-01 1.38268912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:276.37, Y:1.64, Z:1.38 [[ 9.99556266e-01 -2.93555714e-02 -5.05193378e-03 2.76371479e+02] [ 2.93563530e-02 9.99569006e-01 8.06127826e-05 1.63612687e+00] [ 5.04738999e-03 -2.28883363e-04 9.99987236e-01 1.38285267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:276.40, Y:1.64, Z:1.38 [[ 9.99551847e-01 -2.95056408e-02 -5.05192435e-03 2.76404998e+02] [ 2.95064272e-02 9.99564587e-01 8.11992288e-05 1.63673461e+00] [ 5.04732885e-03 -2.30227077e-04 9.99987236e-01 1.38323759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:276.44, Y:1.64, Z:1.38 [[ 9.99539101e-01 -2.99343134e-02 -5.05191427e-03 2.76437242e+02] [ 2.99351084e-02 9.99551841e-01 8.18216289e-05 1.63717396e+00] [ 5.04720094e-03 -2.33013519e-04 9.99987236e-01 1.38354449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:276.47, Y:1.64, Z:1.38 [[ 9.99478571e-01 -3.18914554e-02 -5.05190587e-03 2.76469664e+02] [ 3.18922780e-02 9.99491309e-01 8.23371615e-05 1.63923218e+00] [ 5.04671016e-03 -2.43411015e-04 9.99987236e-01 1.38286990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:276.50, Y:1.64, Z:1.38 [[ 9.99444397e-01 -3.29450541e-02 -5.05189753e-03 2.76502885e+02] [ 3.29458927e-02 9.99457133e-01 8.28461043e-05 1.63976699e+00] [ 5.04642565e-03 -2.49239348e-04 9.99987236e-01 1.38219324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:276.54, Y:1.64, Z:1.38 [[ 9.99416248e-01 -3.37881973e-02 -5.05188754e-03 2.76536279e+02] [ 3.37890497e-02 9.99428984e-01 8.34504093e-05 1.64021467e+00] [ 5.04618319e-03 -2.54100174e-04 9.99987236e-01 1.38133257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:276.57, Y:1.64, Z:1.38 [[ 9.99365143e-01 -3.52674093e-02 -5.05187753e-03 2.76568621e+02] [ 3.52682836e-02 9.99377877e-01 8.40520426e-05 1.64201502e+00] [ 5.04577035e-03 -2.62169731e-04 9.99987236e-01 1.38033591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:276.60, Y:1.64, Z:1.38 [[ 9.99337456e-01 -3.60434022e-02 -5.05204049e-03 2.76602079e+02] [ 3.60442373e-02 9.99350193e-01 7.43182409e-05 1.64223338e+00] [ 5.04607896e-03 -2.56365948e-04 9.99987236e-01 1.37824047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:276.63, Y:1.64, Z:1.38 [[ 9.99345727e-01 -3.58133619e-02 -5.05185620e-03 2.76633594e+02] [ 3.58142492e-02 9.99358460e-01 8.52404343e-05 1.64265212e+00] [ 5.04556249e-03 -2.66113100e-04 9.99987236e-01 1.37724047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:276.67, Y:1.64, Z:1.38 [[ 9.99441024e-01 -3.30472079e-02 -5.05185117e-03 2.76666128e+02] [ 3.30480614e-02 9.99453760e-01 8.55373014e-05 1.64481474e+00] [ 5.04626488e-03 -2.52443376e-04 9.99987236e-01 1.37743913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:276.70, Y:1.65, Z:1.38 [[ 9.99520795e-01 -3.05394768e-02 -5.05184446e-03 2.76698666e+02] [ 3.05403003e-02 9.99533533e-01 8.59319592e-05 1.64581471e+00] [ 5.04686362e-03 -2.40175627e-04 9.99987236e-01 1.37771194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:276.73, Y:1.65, Z:1.38 [[ 9.99608416e-01 -2.75226056e-02 -5.05183606e-03 2.76730675e+02] [ 2.75233932e-02 9.99621156e-01 8.64232731e-05 1.64703360e+00] [ 5.04754360e-03 -2.25433101e-04 9.99987236e-01 1.37966960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:276.76, Y:1.65, Z:1.38 [[ 9.99789839e-01 -1.98684664e-02 -5.05182931e-03 2.76762621e+02] [ 1.98691584e-02 9.99802585e-01 8.68155883e-05 1.65015035e+00] [ 5.04910711e-03 -1.87172940e-04 9.99987236e-01 1.38199912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:276.79, Y:1.65, Z:1.38 [[ 9.99867236e-01 -1.54916153e-02 -5.05182249e-03 2.76794963e+02] [ 1.54922535e-02 9.99879984e-01 8.72110155e-05 1.65163241e+00] [ 5.04986515e-03 -1.65463551e-04 9.99987236e-01 1.38320809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:276.83, Y:1.65, Z:1.38 [[ 9.99929362e-01 -1.07587354e-02 -5.05181556e-03 2.76826436e+02] [ 1.07593152e-02 9.99942113e-01 8.76102059e-05 1.65288880e+00] [ 5.05058056e-03 -1.41958093e-04 9.99987236e-01 1.38390160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.054391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:276.86, Y:1.66, Z:1.39 [[ 9.99984626e-01 -2.28619478e-03 -5.05180406e-03 2.76858152e+02] [ 2.28666986e-03 9.99997382e-01 8.82689033e-05 1.65580814e+00] [ 5.05158903e-03 -9.98193543e-05 9.99987236e-01 1.38530810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:276.89, Y:1.66, Z:1.39 [[ 9.99986453e-01 1.25417211e-03 -5.05180053e-03 2.76887277e+02] [-1.25374117e-03 9.99999210e-01 8.84700879e-05 1.65690141e+00] [ 5.05190750e-03 -8.21352391e-05 9.99987236e-01 1.38501887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.114391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:276.92, Y:1.66, Z:1.39 [[ 9.99959957e-01 7.38675300e-03 -5.05180734e-03 2.76915222e+02] [-7.38640228e-03 9.99972716e-01 8.80794443e-05 1.65870583e+00] [ 5.05232013e-03 -5.07612360e-05 9.99987236e-01 1.38512684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:276.94, Y:1.66, Z:1.38 [[ 9.99938779e-01 9.84462497e-03 -5.05183516e-03 2.76942621e+02] [-9.84431382e-03 9.99951540e-01 8.64541155e-05 1.65925130e+00] [ 5.05244145e-03 -3.67169720e-05 9.99987236e-01 1.38418792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.174391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:276.97, Y:1.66, Z:1.38 [[ 9.99911213e-01 1.23306702e-02 -5.05184369e-03 2.76971278e+02] [-1.23303933e-02 9.99923974e-01 8.59529356e-05 1.65965051e+00] [ 5.05251947e-03 -2.36540847e-05 9.99987236e-01 1.38377129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:277.00, Y:1.66, Z:1.38 [[ 9.99880081e-01 1.46390977e-02 -5.05185045e-03 2.76998838e+02] [-1.46388523e-02 9.99892843e-01 8.55536542e-05 1.65983036e+00] [ 5.05256153e-03 -1.15901020e-05 9.99987236e-01 1.38273243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23439141800003 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:277.03, Y:1.66, Z:1.38 [[ 9.99813659e-01 1.86313299e-02 -5.05185877e-03 2.77027749e+02] [-1.86311379e-02 9.99826422e-01 8.50592184e-05 1.66035748e+00] [ 5.05256665e-03 9.07850915e-06 9.99987236e-01 1.38052848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:277.06, Y:1.66, Z:1.38 [[ 9.99767033e-01 2.09847207e-02 -5.05186533e-03 2.77057053e+02] [-2.09845608e-02 9.99779796e-01 8.46676208e-05 1.66018692e+00] [ 5.05252962e-03 2.13632791e-05 9.99987236e-01 1.38091835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:277.08, Y:1.66, Z:1.38 [[ 9.99650540e-01 2.59475695e-02 -5.05187037e-03 2.77083959e+02] [-2.59474744e-02 9.99663304e-01 8.43658913e-05 1.66072190e+00] [ 5.05235852e-03 4.67468685e-05 9.99987236e-01 1.38125536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:277.11, Y:1.66, Z:1.38 [[ 9.99556290e-01 2.93547436e-02 -5.05188839e-03 2.77111558e+02] [-2.93546976e-02 9.99569055e-01 8.32730838e-05 1.66056925e+00] [ 5.05215576e-03 6.50605213e-05 9.99987236e-01 1.38232814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:277.14, Y:1.66, Z:1.38 [[ 9.99492193e-01 3.14616115e-02 -5.05206409e-03 2.77140082e+02] [-3.14616472e-02 9.99504957e-01 7.24298496e-05 1.66066774e+00] [ 5.05184186e-03 8.65531885e-05 9.99987236e-01 1.38385465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:277.17, Y:1.66, Z:1.39 [[ 9.99337885e-01 3.60315112e-02 -5.05191545e-03 2.77167512e+02] [-3.60315588e-02 9.99350649e-01 8.16291082e-05 1.66028070e+00] [ 5.05157620e-03 1.00453328e-04 9.99987236e-01 1.38593515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:277.20, Y:1.66, Z:1.39 [[ 9.99285734e-01 3.74499591e-02 -5.05192342e-03 2.77196547e+02] [-3.74500272e-02 9.99298498e-01 8.11327232e-05 1.65925890e+00] [ 5.05141790e-03 1.08119897e-04 9.99987236e-01 1.38670771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:277.22, Y:1.66, Z:1.39 [[ 9.99252825e-01 3.83180010e-02 -5.05192974e-03 2.77224200e+02] [-3.83180823e-02 9.99265589e-01 8.07372023e-05 1.65783845e+00] [ 5.05131324e-03 1.12903382e-04 9.99987236e-01 1.38784987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:277.25, Y:1.65, Z:1.39 [[ 9.99354939e-01 3.55553330e-02 -5.05210439e-03 2.77251734e+02] [-3.55554354e-02 9.99367703e-01 6.95807679e-05 1.65495632e+00] [ 5.05138393e-03 1.10093887e-04 9.99987236e-01 1.38722332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:277.28, Y:1.65, Z:1.39 [[ 9.99439632e-01 3.30892685e-02 -5.05196184e-03 2.77279676e+02] [-3.30892931e-02 9.99452396e-01 7.87282307e-05 1.65269740e+00] [ 5.05180043e-03 8.84817323e-05 9.99987236e-01 1.38696109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:277.31, Y:1.65, Z:1.39 [[ 9.99560682e-01 2.92047948e-02 -5.05197095e-03 2.77307209e+02] [-2.92047728e-02 9.99573447e-01 7.81390500e-05 1.65054308e+00] [ 5.05209805e-03 6.94369419e-05 9.99987236e-01 1.38667655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:277.33, Y:1.65, Z:1.39 [[ 9.99806843e-01 1.89935086e-02 -5.05198026e-03 2.77334715e+02] [-1.89933593e-02 9.99819607e-01 7.75324071e-05 1.64506719e+00] [ 5.05254153e-03 1.84366452e-05 9.99987236e-01 1.38509971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:277.36, Y:1.64, Z:1.38 [[ 9.99902152e-01 1.30446593e-02 -5.05198792e-03 2.77363603e+02] [-1.30444366e-02 9.99914915e-01 7.70304521e-05 1.64160288e+00] [ 5.05256290e-03 -1.11225787e-05 9.99987236e-01 1.38429075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:277.39, Y:1.64, Z:1.38 [[ 9.99964173e-01 6.79195599e-03 -5.05199396e-03 2.77392421e+02] [-6.79165550e-03 9.99976934e-01 7.66321763e-05 1.63802414e+00] [ 5.05239791e-03 -4.23180282e-05 9.99987236e-01 1.38363131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:277.42, Y:1.63, Z:1.38 [[ 9.99971875e-01 -5.54315975e-03 -5.05200002e-03 2.77420076e+02] [ 5.54361559e-03 9.99984631e-01 7.62302691e-05 1.63157994e+00] [ 5.05149982e-03 -1.04234471e-04 9.99987236e-01 1.38175036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:277.45, Y:1.63, Z:1.38 [[ 9.99925683e-01 -1.10953449e-02 -5.05200751e-03 2.77449595e+02] [ 1.10958690e-02 9.99938436e-01 7.57308768e-05 1.62830359e+00] [ 5.05085623e-03 -1.31781662e-04 9.99987236e-01 1.38191498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:277.48, Y:1.62, Z:1.38 [[ 9.99864637e-01 -1.56583501e-02 -5.05201053e-03 2.77480298e+02] [ 1.56589314e-02 9.99877389e-01 7.55284667e-05 1.62497929e+00] [ 5.05020845e-03 -1.54627329e-04 9.99987236e-01 1.38000299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:277.51, Y:1.62, Z:1.38 [[ 9.99724939e-01 -2.29024869e-02 -5.05200063e-03 2.77513290e+02] [ 2.29031639e-02 9.99737685e-01 7.61854123e-05 1.61961897e+00] [ 5.04893058e-03 -1.91871255e-04 9.99987236e-01 1.38261861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:277.54, Y:1.62, Z:1.38 [[ 9.99653931e-01 -2.58165937e-02 -5.05197546e-03 2.77544840e+02] [ 2.58173161e-02 9.99666675e-01 7.78195478e-05 1.61722769e+00] [ 5.04828247e-03 -2.08221064e-04 9.99987236e-01 1.38316809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.804391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:277.58, Y:1.61, Z:1.38 [[ 9.99585793e-01 -2.83323142e-02 -5.05196501e-03 2.77577035e+02] [ 2.83330720e-02 9.99598535e-01 7.84919397e-05 1.61498799e+00] [ 5.04771296e-03 -2.21597116e-04 9.99987236e-01 1.38469461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:277.61, Y:1.61, Z:1.39 [[ 9.99458548e-01 -3.25129084e-02 -5.05195868e-03 2.77609606e+02] [ 3.25137216e-02 9.99471286e-01 7.88974491e-05 1.61194885e+00] [ 5.04672245e-03 -2.43112708e-04 9.99987236e-01 1.38723384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.864391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:277.64, Y:1.61, Z:1.39 [[ 9.99402693e-01 -3.41867619e-02 -5.05195233e-03 2.77641918e+02] [ 3.41875985e-02 9.99415430e-01 7.93015291e-05 1.61001923e+00] [ 5.04628805e-03 -2.51968280e-04 9.99987236e-01 1.38842849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894391418 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:277.68, Y:1.61, Z:1.39 [[ 9.99296684e-01 -3.71566319e-02 -5.05194598e-03 2.77675388e+02] [ 3.71575083e-02 9.99309418e-01 7.97040017e-05 1.60657489e+00] [ 5.04549567e-03 -2.67365670e-04 9.99987236e-01 1.38894742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.924391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:277.71, Y:1.60, Z:1.39 [[ 9.99261296e-01 -3.80964555e-02 -5.05193623e-03 2.77707690e+02] [ 3.80973470e-02 9.99274029e-01 8.03176797e-05 1.60480389e+00] [ 5.04520885e-03 -2.72723716e-04 9.99987236e-01 1.38879895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:277.74, Y:1.60, Z:1.39 [[ 9.99219474e-01 -3.91780629e-02 -5.05192047e-03 2.77741094e+02] [ 3.91789732e-02 9.99232206e-01 8.12970556e-05 1.60341304e+00] [ 5.04485657e-03 -2.79162657e-04 9.99987236e-01 1.38900167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98439141800003 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:277.77, Y:1.60, Z:1.39 [[ 9.99133639e-01 -4.13091861e-02 -5.05191052e-03 2.77773183e+02] [ 4.13101266e-02 9.99146369e-01 8.19107093e-05 1.60100097e+00] [ 5.04421438e-03 -2.90534808e-04 9.99987236e-01 1.38771362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:277.80, Y:1.60, Z:1.39 [[ 9.99088386e-01 -4.23895687e-02 -5.05190223e-03 2.77804249e+02] [ 4.23905255e-02 9.99101114e-01 8.24186331e-05 1.59951539e+00] [ 5.04386746e-03 -2.96496289e-04 9.99987236e-01 1.38638389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:277.84, Y:1.60, Z:1.38 [[ 9.99009718e-01 -4.42047625e-02 -5.05189735e-03 2.77836658e+02] [ 4.42057439e-02 9.99022445e-01 8.27169789e-05 1.59688818e+00] [ 5.04330235e-03 -3.05957946e-04 9.99987236e-01 1.38328027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:277.87, Y:1.60, Z:1.38 [[ 9.98983492e-01 -4.47935403e-02 -5.05189083e-03 2.77868764e+02] [ 4.47945312e-02 9.98996218e-01 8.31128217e-05 1.59549673e+00] [ 5.04309692e-03 -3.09325418e-04 9.99987236e-01 1.38170061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:277.90, Y:1.59, Z:1.38 [[ 9.98973114e-01 -4.50243860e-02 -5.05188426e-03 2.77899906e+02] [ 4.50253819e-02 9.98985840e-01 8.35106326e-05 1.59470492e+00] [ 5.04300082e-03 -3.10887895e-04 9.99987236e-01 1.38061442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134391418 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:277.93, Y:1.59, Z:1.38 [[ 9.98987532e-01 -4.47033466e-02 -5.05187129e-03 2.77931780e+02] [ 4.47043423e-02 9.99000258e-01 8.42877936e-05 1.59438643e+00] [ 5.04305277e-03 -3.10043038e-04 9.99987236e-01 1.37988987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:277.96, Y:1.60, Z:1.38 [[ 9.99115088e-01 -4.17554738e-02 -5.05186474e-03 2.77964512e+02] [ 4.17564339e-02 9.99127816e-01 8.46785507e-05 1.59533174e+00] [ 5.04392279e-03 -2.95551474e-04 9.99987236e-01 1.38091588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:278.00, Y:1.60, Z:1.38 [[ 9.99209573e-01 -3.94297941e-02 -5.05185246e-03 2.77995522e+02] [ 3.94307282e-02 9.99222303e-01 8.54048670e-05 1.59586860e+00] [ 5.04455615e-03 -2.84535582e-04 9.99987236e-01 1.37998673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:278.03, Y:1.60, Z:1.38 [[ 9.99487021e-01 -3.16255215e-02 -5.05184724e-03 2.78027977e+02] [ 3.16263577e-02 9.99499758e-01 8.57127929e-05 1.59792856e+00] [ 5.04660938e-03 -2.45440352e-04 9.99987236e-01 1.38337938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:278.06, Y:1.60, Z:1.38 [[ 9.99630718e-01 -2.67003225e-02 -5.05184027e-03 2.78058738e+02] [ 2.67010980e-02 9.99643458e-01 8.61214756e-05 1.59916883e+00] [ 5.04773961e-03 -2.20979355e-04 9.99987236e-01 1.38415503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:278.09, Y:1.60, Z:1.39 [[ 9.99759574e-01 -2.13371261e-02 -5.05183507e-03 2.78090671e+02] [ 2.13378348e-02 9.99772319e-01 8.64253007e-05 1.60042942e+00] [ 5.04884080e-03 -1.94199744e-04 9.99987236e-01 1.38676066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:278.12, Y:1.60, Z:1.39 [[ 9.99863238e-01 -1.57475167e-02 -5.05182805e-03 2.78121671e+02] [ 1.57481563e-02 9.99875986e-01 8.68341255e-05 1.60186231e+00] [ 5.04983413e-03 -1.66379227e-04 9.99987236e-01 1.38825890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:278.15, Y:1.60, Z:1.39 [[ 9.99978918e-01 -4.07955556e-03 -5.05182280e-03 2.78153535e+02] [ 4.08004781e-03 9.99991673e-01 8.71384159e-05 1.60495822e+00] [ 5.05142524e-03 -1.07748257e-04 9.99987236e-01 1.39089243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:278.18, Y:1.61, Z:1.39 [[ 9.99986780e-01 9.58541742e-04 -5.05181928e-03 2.78183449e+02] [-9.58112731e-04 9.99999537e-01 8.73416703e-05 1.60628776e+00] [ 5.05190066e-03 -8.25003032e-05 9.99987236e-01 1.39184033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:278.21, Y:1.61, Z:1.39 [[ 9.99971658e-01 5.58224231e-03 -5.05182278e-03 2.78211022e+02] [-5.58187331e-03 9.99984417e-01 8.71386693e-05 1.60724226e+00] [ 5.05223049e-03 -5.89375649e-05 9.99987236e-01 1.39166198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:278.24, Y:1.61, Z:1.39 [[ 9.99907262e-01 1.26470217e-02 -5.05183140e-03 2.78237727e+02] [-1.26467454e-02 9.99920023e-01 8.66362025e-05 1.60854096e+00] [ 5.05252306e-03 -2.27389425e-05 9.99987236e-01 1.39066556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:278.27, Y:1.61, Z:1.39 [[ 9.99875222e-01 1.49672975e-02 -5.05184276e-03 2.78265284e+02] [-1.49670542e-02 9.99887984e-01 8.59689137e-05 1.60886969e+00] [ 5.05256359e-03 -1.03469823e-05 9.99987236e-01 1.39035973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:278.29, Y:1.61, Z:1.39 [[ 9.99836515e-01 1.73615165e-02 -5.05185292e-03 2.78293638e+02] [-1.73613068e-02 9.99849278e-01 8.53672379e-05 1.60873947e+00] [ 5.05257360e-03 2.35348669e-06 9.99987236e-01 1.38848963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:278.32, Y:1.61, Z:1.39 [[ 9.99838604e-01 1.72407738e-02 -5.05185977e-03 2.78322089e+02] [-1.72405646e-02 9.99851367e-01 8.49599633e-05 1.60837368e+00] [ 5.05257367e-03 2.15066372e-06 9.99987236e-01 1.38863353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.554391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:278.35, Y:1.61, Z:1.39 [[ 9.99835559e-01 1.74164765e-02 -5.05186996e-03 2.78349435e+02] [-1.74162726e-02 9.99848322e-01 8.43498904e-05 1.60792911e+00] [ 5.05257278e-03 3.64872450e-06 9.99987236e-01 1.38765818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:278.38, Y:1.61, Z:1.39 [[ 9.99841831e-01 1.70526082e-02 -5.05188567e-03 2.78377444e+02] [-1.70524045e-02 9.99854594e-01 8.33983991e-05 1.60751973e+00] [ 5.05257325e-03 2.76158957e-06 9.99987236e-01 1.38721859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.614391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:278.40, Y:1.61, Z:1.39 [[ 9.99865898e-01 1.55776862e-02 -5.05189531e-03 2.78404283e+02] [-1.55774667e-02 9.99878660e-01 8.28101008e-05 1.60622768e+00] [ 5.05257231e-03 -4.10326499e-06 9.99987236e-01 1.38668062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:278.43, Y:1.60, Z:1.39 [[ 9.99883902e-01 1.43757020e-02 -5.05190638e-03 2.78432281e+02] [-1.43754705e-02 9.99896664e-01 8.21294416e-05 1.60496952e+00] [ 5.05256500e-03 -9.49637547e-06 9.99987236e-01 1.38679310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.674391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:278.46, Y:1.60, Z:1.39 [[ 9.99906338e-01 1.27197912e-02 -5.05191569e-03 2.78461104e+02] [-1.27195416e-02 9.99919100e-01 8.15522047e-05 1.60360360e+00] [ 5.05254432e-03 -1.72865148e-05 9.99987236e-01 1.38770079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:278.49, Y:1.60, Z:1.39 [[ 9.99948436e-01 8.80926053e-03 -5.05192219e-03 2.78490104e+02] [-8.80896297e-03 9.99961197e-01 8.11478461e-05 1.60086512e+00] [ 5.05244101e-03 -3.66414663e-05 9.99987236e-01 1.38833348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73439141800003 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:278.52, Y:1.60, Z:1.39 [[ 9.99966305e-01 6.47047255e-03 -5.05192864e-03 2.78518292e+02] [-6.47014718e-03 9.99979065e-01 8.07442486e-05 1.59958268e+00] [ 5.05234533e-03 -4.80548061e-05 9.99987236e-01 1.38877234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:278.55, Y:1.60, Z:1.39 [[ 9.99978905e-01 4.08259503e-03 -5.05193659e-03 2.78545888e+02] [-4.08224173e-03 9.99991664e-01 8.02435843e-05 1.59817440e+00] [ 5.05222208e-03 -5.96186651e-05 9.99987236e-01 1.38923134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:278.57, Y:1.59, Z:1.39 [[ 9.99986336e-01 -1.34339908e-03 -5.05194438e-03 2.78574926e+02] [ 1.34381912e-03 9.99999094e-01 7.97503875e-05 1.59468908e+00] [ 5.05183266e-03 -8.65381973e-05 9.99987236e-01 1.39009471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:278.60, Y:1.59, Z:1.39 [[ 9.99978725e-01 -4.12647674e-03 -5.05195071e-03 2.78603805e+02] [ 4.12693025e-03 9.99991481e-01 7.93474032e-05 1.59223064e+00] [ 5.05158024e-03 -1.00194763e-04 9.99987236e-01 1.39033714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:278.63, Y:1.59, Z:1.39 [[ 9.99941117e-01 -9.60418870e-03 -5.05195714e-03 2.78631914e+02] [ 9.60471000e-03 9.99953871e-01 7.89356829e-05 1.58766790e+00] [ 5.05096598e-03 -1.27453618e-04 9.99987236e-01 1.39016227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:278.66, Y:1.59, Z:1.39 [[ 9.99912296e-01 -1.22425068e-02 -5.05196055e-03 2.78663209e+02] [ 1.22430606e-02 9.99925048e-01 7.87169126e-05 1.58517116e+00] [ 5.05061820e-03 -1.40561468e-04 9.99987236e-01 1.39005556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:278.69, Y:1.58, Z:1.39 [[ 9.99881614e-01 -1.45339595e-02 -5.05195739e-03 2.78694713e+02] [ 1.45345436e-02 9.99894365e-01 7.89193352e-05 1.58269838e+00] [ 5.05027671e-03 -1.52337887e-04 9.99987236e-01 1.38990878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:278.73, Y:1.58, Z:1.39 [[ 9.99822116e-01 -1.81718148e-02 -5.05195264e-03 2.78726026e+02] [ 1.81724468e-02 9.99834864e-01 7.92219569e-05 1.57853546e+00] [ 5.04967878e-03 -1.71014205e-04 9.99987236e-01 1.38934289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:278.76, Y:1.58, Z:1.39 [[ 9.99795636e-01 -1.95745766e-02 -5.05194799e-03 2.78758635e+02] [ 1.95752280e-02 9.99808384e-01 7.95171976e-05 1.57628965e+00] [ 5.04942344e-03 -1.78393981e-04 9.99987236e-01 1.38889706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:278.79, Y:1.57, Z:1.39 [[ 9.99765930e-01 -2.10371636e-02 -5.05194183e-03 2.78790622e+02] [ 2.10378356e-02 9.99778677e-01 7.99069856e-05 1.57209489e+00] [ 5.04914270e-03 -1.86170204e-04 9.99987236e-01 1.38830767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:278.82, Y:1.57, Z:1.39 [[ 9.99768170e-01 -2.09304842e-02 -5.05193565e-03 2.78823200e+02] [ 2.09311568e-02 9.99780916e-01 8.02959784e-05 1.57012515e+00] [ 5.04914821e-03 -1.86020221e-04 9.99987236e-01 1.38829582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:278.86, Y:1.57, Z:1.39 [[ 9.99781818e-01 -2.02680549e-02 -5.05192942e-03 2.78855189e+02] [ 2.02687210e-02 9.99794565e-01 8.06861181e-05 1.56845871e+00] [ 5.04925622e-03 -1.83064662e-04 9.99987236e-01 1.38785080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:278.89, Y:1.57, Z:1.39 [[ 9.99831121e-01 -1.76693697e-02 -5.05192312e-03 2.78886851e+02] [ 1.76700047e-02 9.99843870e-01 8.10784406e-05 1.56686326e+00] [ 5.04970176e-03 -1.70332253e-04 9.99987236e-01 1.38748186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:278.92, Y:1.57, Z:1.39 [[ 9.99866494e-01 -1.55393747e-02 -5.05191255e-03 2.78918602e+02] [ 1.55399858e-02 9.99879244e-01 8.17314163e-05 1.56624722e+00] [ 5.05003245e-03 -1.60227154e-04 9.99987236e-01 1.38757493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:278.95, Y:1.57, Z:1.39 [[ 9.99932839e-01 -1.04304984e-02 -5.05190631e-03 2.78950228e+02] [ 1.04310463e-02 9.99945592e-01 8.21157122e-05 1.56545570e+00] [ 5.05077494e-03 -1.34806866e-04 9.99987236e-01 1.38732187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:278.98, Y:1.56, Z:1.39 [[ 9.99958020e-01 -7.64440026e-03 -5.05190164e-03 2.78981421e+02] [ 7.64491406e-03 9.99970774e-01 8.24016240e-05 1.56437768e+00] [ 5.05112409e-03 -1.21019519e-04 9.99987236e-01 1.38691282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:279.01, Y:1.56, Z:1.39 [[ 9.99973842e-01 -5.17633355e-03 -5.05189829e-03 2.79010513e+02] [ 5.17681691e-03 9.99986597e-01 8.26068716e-05 1.56349908e+00] [ 5.05140298e-03 -1.08757463e-04 9.99987236e-01 1.38607163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:279.04, Y:1.56, Z:1.39 [[ 9.99986985e-01 -7.12591702e-04 -5.05189995e-03 2.79039595e+02] [ 7.13017605e-04 9.99999742e-01 8.25050951e-05 1.56274802e+00] [ 5.05183986e-03 -8.61061149e-05 9.99987236e-01 1.38539383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:279.07, Y:1.56, Z:1.39 [[ 9.99987009e-01 6.78582725e-04 -5.05190145e-03 2.79068808e+02] [-6.78175033e-04 9.99999767e-01 8.24131781e-05 1.56223191e+00] [ 5.05195620e-03 -7.89860341e-05 9.99987236e-01 1.38599159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.304391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:279.10, Y:1.56, Z:1.39 [[ 9.99986071e-01 1.52849417e-03 -5.05192450e-03 2.79096611e+02] [-1.52810458e-03 9.99998829e-01 8.09750040e-05 1.56194129e+00] [ 5.05204236e-03 -7.32540070e-05 9.99987236e-01 1.38613948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:279.12, Y:1.56, Z:1.39 [[ 9.99984681e-01 2.26184917e-03 -5.05195040e-03 2.79124806e+02] [-2.26147728e-03 9.99997440e-01 7.93256934e-05 1.56151245e+00] [ 5.05211689e-03 -6.78996072e-05 9.99987236e-01 1.38645359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.364391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:279.15, Y:1.56, Z:1.39 [[ 9.99984646e-01 2.27710629e-03 -5.05195835e-03 2.79152889e+02] [-2.27673716e-03 9.99997405e-01 7.88163040e-05 1.56019160e+00] [ 5.05212471e-03 -6.73131126e-05 9.99987236e-01 1.38596754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:279.18, Y:1.56, Z:1.39 [[ 9.99985892e-01 1.64126663e-03 -5.05196673e-03 2.79181196e+02] [-1.64089212e-03 9.99998651e-01 7.82750733e-05 1.55881276e+00] [ 5.05208839e-03 -6.99842366e-05 9.99987236e-01 1.38602467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.424391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:279.21, Y:1.56, Z:1.39 [[ 9.99986874e-01 8.54433477e-04 -5.05197306e-03 2.79209614e+02] [-8.54051004e-04 9.99999632e-01 7.78643856e-05 1.55744614e+00] [ 5.05203773e-03 -7.35487208e-05 9.99987236e-01 1.38566672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:279.24, Y:1.56, Z:1.39 [[ 9.99985084e-01 -2.07567781e-03 -5.05197933e-03 2.79237756e+02] [ 2.07609561e-03 9.99997842e-01 7.74558431e-05 1.55585971e+00] [ 5.05180765e-03 -8.79430799e-05 9.99987236e-01 1.38506027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48439141800003 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:279.27, Y:1.55, Z:1.39 [[ 9.99979636e-01 -3.89931470e-03 -5.05198769e-03 2.79266998e+02] [ 3.89975299e-03 9.99992393e-01 7.69064179e-05 1.55487790e+00] [ 5.05164938e-03 -9.66063559e-05 9.99987236e-01 1.38505890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514391418 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:279.30, Y:1.55, Z:1.39 [[ 9.99957445e-01 -7.71911391e-03 -5.05199381e-03 2.79296476e+02] [ 7.71959888e-03 9.99970201e-01 7.65022442e-05 1.55300222e+00] [ 5.05125273e-03 -1.15498354e-04 9.99987236e-01 1.38587429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:279.33, Y:1.55, Z:1.39 [[ 9.99937190e-01 -1.00047139e-02 -5.05199684e-03 2.79327241e+02] [ 1.00052270e-02 9.99949944e-01 7.63013944e-05 1.55175217e+00] [ 5.05098059e-03 -1.26842977e-04 9.99987236e-01 1.38618201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574391418 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:279.36, Y:1.55, Z:1.39 [[ 9.99905522e-01 -1.27837681e-02 -5.05199684e-03 2.79357696e+02] [ 1.27843167e-02 9.99918274e-01 7.63013944e-05 1.55072199e+00] [ 5.05060855e-03 -1.40880513e-04 9.99987236e-01 1.38665403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:279.39, Y:1.55, Z:1.39 [[ 9.99805827e-01 -1.90469316e-02 -5.05199684e-03 2.79389359e+02] [ 1.90475600e-02 9.99818576e-01 7.63013944e-05 1.54901376e+00] [ 5.04962698e-03 -1.72514792e-04 9.99987236e-01 1.38690023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634391418 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:279.42, Y:1.55, Z:1.39 [[ 9.99733304e-01 -2.25344031e-02 -5.05197683e-03 2.79421870e+02] [ 2.25350825e-02 9.99746050e-01 7.76044670e-05 1.54782196e+00] [ 5.04894511e-03 -1.91430485e-04 9.99987236e-01 1.38758605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:279.45, Y:1.55, Z:1.39 [[ 9.99645719e-01 -2.61326124e-02 -5.05197071e-03 2.79453219e+02] [ 2.61333398e-02 9.99658463e-01 7.80008620e-05 1.54690552e+00] [ 5.04820690e-03 -2.09998095e-04 9.99987236e-01 1.38809204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694391418 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:279.48, Y:1.55, Z:1.39 [[ 9.99460900e-01 -3.24405035e-02 -5.05196045e-03 2.79484982e+02] [ 3.24413145e-02 9.99473639e-01 7.86593333e-05 1.54616275e+00] [ 5.04674955e-03 -2.42509166e-04 9.99987236e-01 1.38981151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:279.52, Y:1.55, Z:1.39 [[ 9.99361106e-01 -3.53816030e-02 -5.05195436e-03 2.79517275e+02] [ 3.53824536e-02 9.99373842e-01 7.90489004e-05 1.54535845e+00] [ 5.04599416e-03 -2.57748937e-04 9.99987236e-01 1.39012807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:279.55, Y:1.54, Z:1.39 [[ 9.99274703e-01 -3.77431623e-02 -5.05194822e-03 2.79550211e+02] [ 3.77440448e-02 9.99287437e-01 7.94390875e-05 1.54420953e+00] [ 5.04535011e-03 -2.70062431e-04 9.99987236e-01 1.39077946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:279.58, Y:1.54, Z:1.39 [[ 9.99120046e-01 -4.16366714e-02 -5.05193893e-03 2.79582902e+02] [ 4.16376066e-02 9.99132776e-01 8.00258738e-05 1.54263739e+00] [ 5.04422575e-03 -2.90306100e-04 9.99987236e-01 1.39110931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:279.61, Y:1.54, Z:1.39 [[ 9.99051757e-01 -4.32442405e-02 -5.05192949e-03 2.79614552e+02] [ 4.32451991e-02 9.99064486e-01 8.06172988e-05 1.54179915e+00] [ 5.04371710e-03 -2.99012551e-04 9.99987236e-01 1.39082417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:279.65, Y:1.54, Z:1.39 [[ 9.98908889e-01 -4.64274604e-02 -5.05191450e-03 2.79646903e+02] [ 4.64284642e-02 9.98921614e-01 8.15460882e-05 1.54077306e+00] [ 5.04268061e-03 -3.16009744e-04 9.99987236e-01 1.39017231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:279.68, Y:1.54, Z:1.39 [[ 9.98844422e-01 -4.77943425e-02 -5.05190783e-03 2.79679411e+02] [ 4.77953658e-02 9.98857145e-01 8.19573179e-05 1.54015227e+00] [ 5.04221713e-03 -3.23320392e-04 9.99987236e-01 1.38920768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:279.71, Y:1.54, Z:1.39 [[ 9.98800546e-01 -4.87026455e-02 -5.05189945e-03 2.79711180e+02] [ 4.87036830e-02 9.98813268e-01 8.24702079e-05 1.53934231e+00] [ 5.04188769e-03 -3.28417398e-04 9.99987236e-01 1.38878284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934391418 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:279.74, Y:1.54, Z:1.39 [[ 9.98757985e-01 -4.95677817e-02 -5.05189273e-03 2.79742786e+02] [ 4.95688323e-02 9.98770706e-01 8.28801109e-05 1.53877031e+00] [ 5.04157429e-03 -3.33193596e-04 9.99987236e-01 1.38804873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:279.77, Y:1.54, Z:1.39 [[ 9.98720517e-01 -5.03170725e-02 -5.05188770e-03 2.79773751e+02] [ 5.03181342e-02 9.98733237e-01 8.31853416e-05 1.53866605e+00] [ 5.04130252e-03 -3.37280471e-04 9.99987236e-01 1.38656496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:279.81, Y:1.54, Z:1.39 [[ 9.98740646e-01 -4.99159285e-02 -5.05188273e-03 2.79806383e+02] [ 4.99169866e-02 9.98753367e-01 8.34864405e-05 1.53861934e+00] [ 5.04141758e-03 -3.35556064e-04 9.99987236e-01 1.38746994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:279.84, Y:1.54, Z:1.39 [[ 9.98825691e-01 -4.81842094e-02 -5.05187266e-03 2.79838692e+02] [ 4.81852484e-02 9.98838413e-01 8.40911033e-05 1.54029981e+00] [ 5.04195261e-03 -3.27418093e-04 9.99987236e-01 1.38819875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.054391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:279.87, Y:1.54, Z:1.39 [[ 9.98898273e-01 -4.66553274e-02 -5.05186429e-03 2.79871584e+02] [ 4.66563495e-02 9.98910996e-01 8.45910429e-05 1.54090887e+00] [ 5.04241617e-03 -3.20199393e-04 9.99987236e-01 1.38924408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:279.90, Y:1.54, Z:1.39 [[ 9.98983973e-01 -4.47828074e-02 -5.05185406e-03 2.79904733e+02] [ 4.47838086e-02 9.98996698e-01 8.51975520e-05 1.54171694e+00] [ 5.04297014e-03 -3.11352255e-04 9.99987236e-01 1.39012774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.114391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:279.94, Y:1.54, Z:1.39 [[ 9.99180884e-01 -4.01502211e-02 -5.05184367e-03 2.79937531e+02] [ 4.01511664e-02 9.99193613e-01 8.58093863e-05 1.54421440e+00] [ 5.04432466e-03 -2.88576514e-04 9.99987236e-01 1.39067069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:279.97, Y:1.55, Z:1.39 [[ 9.99282169e-01 -3.75449804e-02 -5.05183329e-03 2.79970119e+02] [ 3.75458956e-02 9.99294901e-01 8.64164585e-05 1.54516220e+00] [ 5.04502674e-03 -2.76030031e-04 9.99987236e-01 1.39021574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.174391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:280.00, Y:1.55, Z:1.39 [[ 9.99369779e-01 -3.51357996e-02 -5.05181680e-03 2.80002439e+02] [ 3.51366890e-02 9.99382512e-01 8.73695211e-05 1.54601771e+00] [ 5.04562757e-03 -2.64818575e-04 9.99987236e-01 1.39059128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:280.03, Y:1.55, Z:1.39 [[ 9.99484868e-01 -3.16935012e-02 -5.05180987e-03 2.80034754e+02] [ 3.16943487e-02 9.99497604e-01 8.77684783e-05 1.54842872e+00] [ 5.04649017e-03 -2.47837089e-04 9.99987236e-01 1.39005451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:280.07, Y:1.55, Z:1.39 [[ 9.99528739e-01 -3.02783749e-02 -5.05180296e-03 2.80067151e+02] [ 3.02792064e-02 9.99541476e-01 8.81646780e-05 1.54898596e+00] [ 5.04681710e-03 -2.41087714e-04 9.99987236e-01 1.38997120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:280.10, Y:1.55, Z:1.39 [[ 9.99558051e-01 -2.92947480e-02 -5.05179600e-03 2.80099664e+02] [ 2.92955689e-02 9.99570789e-01 8.85612415e-05 1.54942516e+00] [ 5.04703334e-03 -2.36517340e-04 9.99987236e-01 1.38962527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:280.13, Y:1.55, Z:1.39 [[ 9.99590630e-01 -2.81611908e-02 -5.05178905e-03 2.80132089e+02] [ 2.81619993e-02 9.99603368e-01 8.89562567e-05 1.55057851e+00] [ 5.04728024e-03 -2.31188320e-04 9.99987236e-01 1.38916814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:280.16, Y:1.55, Z:1.39 [[ 9.99604265e-01 -2.76729636e-02 -5.05178212e-03 2.80162860e+02] [ 2.76737678e-02 9.99617004e-01 8.93481190e-05 1.55099436e+00] [ 5.04737478e-03 -2.29114606e-04 9.99987236e-01 1.38910104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:280.19, Y:1.55, Z:1.39 [[ 9.99644875e-01 -2.61649170e-02 -5.05177694e-03 2.80194644e+02] [ 2.61657035e-02 9.99657615e-01 8.96397449e-05 1.55279771e+00] [ 5.04770188e-03 -2.21791209e-04 9.99987236e-01 1.39014623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:280.23, Y:1.55, Z:1.39 [[ 9.99697325e-01 -2.40777529e-02 -5.05177010e-03 2.80225656e+02] [ 2.40785147e-02 9.99710066e-01 9.00236438e-05 1.55294441e+00] [ 5.04813786e-03 -2.11635516e-04 9.99987236e-01 1.39130945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:280.26, Y:1.55, Z:1.39 [[ 9.99701149e-01 -2.39183873e-02 -5.05215440e-03 2.80258366e+02] [ 2.39190378e-02 9.99713897e-01 6.83811228e-05 1.55222141e+00] [ 5.04907340e-03 -1.89203359e-04 9.99987235e-01 1.39148154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:280.29, Y:1.55, Z:1.39 [[ 9.99710786e-01 -2.35121471e-02 -5.05213371e-03 2.80291356e+02] [ 2.35127983e-02 9.99723534e-01 6.95332365e-05 1.55253445e+00] [ 5.04910209e-03 -1.88302927e-04 9.99987235e-01 1.39135581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:280.32, Y:1.55, Z:1.39 [[ 9.99748242e-01 -2.18616666e-02 -5.05173927e-03 2.80323611e+02] [ 2.18624069e-02 9.99760985e-01 9.13470579e-05 1.55298234e+00] [ 5.04853483e-03 -2.01767240e-04 9.99987236e-01 1.39232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:280.35, Y:1.55, Z:1.39 [[ 9.99863503e-01 -1.57306913e-02 -5.05173207e-03 2.80352558e+02] [ 1.57313553e-02 9.99876250e-01 9.17436639e-05 1.55427065e+00] [ 5.04966373e-03 -1.71201733e-04 9.99987236e-01 1.39342578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:280.38, Y:1.56, Z:1.39 [[ 9.99865125e-01 -1.56270420e-02 -5.05240907e-03 2.80384734e+02] [ 1.56275166e-02 9.99877881e-01 5.44582075e-05 1.55509570e+00] [ 5.05094106e-03 -1.33407469e-04 9.99987235e-01 1.39324653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:280.42, Y:1.56, Z:1.39 [[ 9.99927182e-01 -1.09595160e-02 -5.05170615e-03 2.80415834e+02] [ 1.09601243e-02 9.99939932e-01 9.27452356e-05 1.55680706e+00] [ 5.05038626e-03 -1.48105810e-04 9.99987236e-01 1.39289734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:280.45, Y:1.56, Z:1.39 [[ 9.99950576e-01 -8.56306721e-03 -5.05170076e-03 2.80446784e+02] [ 8.56364643e-03 9.99963327e-01 9.30382813e-05 1.55764728e+00] [ 5.05071880e-03 -1.36294662e-04 9.99987236e-01 1.39338170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:280.48, Y:1.56, Z:1.39 [[ 9.99968463e-01 -6.12815354e-03 -5.05169720e-03 2.80477329e+02] [ 6.12870268e-03 9.99981215e-01 9.32309614e-05 1.55812650e+00] [ 5.05103097e-03 -1.24188371e-04 9.99987236e-01 1.39419454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:280.51, Y:1.56, Z:1.39 [[ 9.99985710e-01 -1.74930634e-03 -5.05169720e-03 2.80506732e+02] [ 1.74979963e-03 9.99998465e-01 9.32309614e-05 1.55939564e+00] [ 5.05152636e-03 -1.02069087e-04 9.99987236e-01 1.39474361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:280.54, Y:1.56, Z:1.39 [[ 9.99987162e-01 3.95003575e-04 -5.05169900e-03 2.80535175e+02] [-3.94538125e-04 9.99999918e-01 9.31334382e-05 1.55968470e+00] [ 5.05173537e-03 -9.11391547e-05 9.99987236e-01 1.39451558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:280.56, Y:1.56, Z:1.40 [[ 9.99985733e-01 1.73603586e-03 -5.05170566e-03 2.80563377e+02] [-1.73558935e-03 9.99998490e-01 9.27705493e-05 1.56007316e+00] [ 5.05185909e-03 -8.40015392e-05 9.99987236e-01 1.39607877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:280.59, Y:1.56, Z:1.40 [[ 9.99980317e-01 3.72103787e-03 -5.05173340e-03 2.80591212e+02] [-3.72062445e-03 9.99993074e-01 9.12344906e-05 1.56039754e+00] [ 5.05203790e-03 -7.24370920e-05 9.99987236e-01 1.39572597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:280.62, Y:1.56, Z:1.40 [[ 9.99978988e-01 4.06244229e-03 -5.05174194e-03 2.80619974e+02] [-4.06203562e-03 9.99991746e-01 9.07594658e-05 1.56011288e+00] [ 5.05206895e-03 -7.02372031e-05 9.99987236e-01 1.39597818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.804391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:280.65, Y:1.56, Z:1.40 [[ 9.99977980e-01 4.30345464e-03 -5.05174860e-03 2.80649066e+02] [-4.30305292e-03 9.99990738e-01 9.03871303e-05 1.55923743e+00] [ 5.05209079e-03 -6.86471984e-05 9.99987236e-01 1.39598982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:280.68, Y:1.56, Z:1.40 [[ 9.99980017e-01 3.80078575e-03 -5.05175523e-03 2.80678095e+02] [-3.80037950e-03 9.99992774e-01 9.00151563e-05 1.55790289e+00] [ 5.05206086e-03 -7.08147705e-05 9.99987236e-01 1.39693537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.864391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:280.71, Y:1.56, Z:1.40 [[ 9.99982267e-01 3.15377182e-03 -5.05176216e-03 2.80706886e+02] [-3.15335928e-03 9.99995024e-01 8.96243239e-05 1.55726908e+00] [ 5.05201968e-03 -7.36927134e-05 9.99987236e-01 1.39723404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:280.74, Y:1.56, Z:1.40 [[ 9.99986420e-01 1.28065984e-03 -5.05176917e-03 2.80735507e+02] [-1.28022541e-03 9.99999177e-01 8.92278127e-05 1.55618489e+00] [ 5.05187928e-03 -8.27591977e-05 9.99987236e-01 1.39774465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.924391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:280.76, Y:1.56, Z:1.40 [[ 9.99987221e-01 -1.95754568e-04 -5.05177632e-03 2.80763580e+02] [ 1.96205774e-04 9.99999977e-01 8.88209315e-05 1.55536777e+00] [ 5.05175882e-03 -8.98109841e-05 9.99987236e-01 1.39713844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:280.79, Y:1.55, Z:1.40 [[ 9.99984931e-01 -2.14868359e-03 -5.05178513e-03 2.80792865e+02] [ 2.14915716e-03 9.99997687e-01 8.83167001e-05 1.55458487e+00] [ 5.05158368e-03 -9.91724494e-05 9.99987236e-01 1.39705928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:280.82, Y:1.55, Z:1.40 [[ 9.99977397e-01 -4.43665902e-03 -5.05179211e-03 2.80821275e+02] [ 4.43715975e-03 9.99990152e-01 8.79159820e-05 1.55367047e+00] [ 5.05135230e-03 -1.10329603e-04 9.99987236e-01 1.39736417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:280.85, Y:1.55, Z:1.40 [[ 9.99930557e-01 -1.06470588e-02 -5.05179911e-03 2.80849487e+02] [ 1.06476367e-02 9.99943308e-01 8.75118238e-05 1.55194609e+00] [ 5.05058097e-03 -1.41295468e-04 9.99987236e-01 1.39599422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:280.88, Y:1.55, Z:1.40 [[ 9.99882595e-01 -1.44663636e-02 -5.05180430e-03 2.80880864e+02] [ 1.44669886e-02 9.99895344e-01 8.72112700e-05 1.55067655e+00] [ 5.05001397e-03 -1.60285426e-04 9.99987236e-01 1.39541580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:280.91, Y:1.55, Z:1.39 [[ 9.99735665e-01 -2.24294422e-02 -5.05180081e-03 2.80911879e+02] [ 2.24301698e-02 9.99748408e-01 8.74127384e-05 1.54832958e+00] [ 5.04856920e-03 -2.00702382e-04 9.99987236e-01 1.39399236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:280.94, Y:1.55, Z:1.39 [[ 9.99642153e-01 -2.62687202e-02 -5.05177807e-03 2.80943800e+02] [ 2.62695033e-02 9.99654893e-01 8.87079068e-05 1.54694197e+00] [ 5.04770442e-03 -2.21383864e-04 9.99987236e-01 1.39369407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:280.98, Y:1.55, Z:1.39 [[ 9.99455942e-01 -3.25929297e-02 -5.05177099e-03 2.80975434e+02] [ 3.25937954e-02 9.99468677e-01 8.91095182e-05 1.54576735e+00] [ 5.04618252e-03 -2.53717427e-04 9.99987236e-01 1.39235152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:281.01, Y:1.54, Z:1.39 [[ 9.99394326e-01 -3.44305274e-02 -5.05175389e-03 2.81008828e+02] [ 3.44314213e-02 9.99407059e-01 9.00686328e-05 1.54498702e+00] [ 5.04565738e-03 -2.63953147e-04 9.99987236e-01 1.39265785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:281.04, Y:1.54, Z:1.39 [[ 9.99343630e-01 -3.58718440e-02 -5.05174328e-03 2.81040610e+02] [ 3.58727593e-02 9.99356361e-01 9.06597674e-05 1.54487665e+00] [ 5.04523965e-03 -2.71820232e-04 9.99987236e-01 1.39343629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:281.07, Y:1.54, Z:1.39 [[ 9.99330707e-01 -3.62300725e-02 -5.05173620e-03 2.81073986e+02] [ 3.62309943e-02 9.99343438e-01 9.10526581e-05 1.54491475e+00] [ 5.04512057e-03 -2.74021143e-04 9.99987236e-01 1.39417453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:281.10, Y:1.55, Z:1.40 [[ 9.99373520e-01 -3.50292288e-02 -5.05172550e-03 2.81104758e+02] [ 3.50301383e-02 9.99386252e-01 9.16423015e-05 1.54624533e+00] [ 5.04541485e-03 -2.68547533e-04 9.99987236e-01 1.39513382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:281.14, Y:1.55, Z:1.40 [[ 9.99421929e-01 -3.36197451e-02 -5.05172019e-03 2.81137431e+02] [ 3.36206381e-02 9.99434662e-01 9.19337930e-05 1.54676356e+00] [ 5.04577348e-03 -2.61722705e-04 9.99987236e-01 1.39667125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:281.17, Y:1.55, Z:1.40 [[ 9.99528294e-01 -3.02930535e-02 -5.05171280e-03 2.81169108e+02] [ 3.02939062e-02 9.99541030e-01 9.23380432e-05 1.54898108e+00] [ 5.04659702e-03 -2.45330600e-04 9.99987236e-01 1.39686430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:281.20, Y:1.55, Z:1.40 [[ 9.99589104e-01 -2.82152943e-02 -5.05170728e-03 2.81201205e+02] [ 2.82161220e-02 9.99601842e-01 9.26390942e-05 1.54966228e+00] [ 5.04708207e-03 -2.35140618e-04 9.99987236e-01 1.39815669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:281.23, Y:1.55, Z:1.40 [[ 9.99640911e-01 -2.63159361e-02 -5.05169992e-03 2.81233743e+02] [ 2.63167417e-02 9.99653650e-01 9.30390643e-05 1.55064178e+00] [ 5.04750185e-03 -2.25949937e-04 9.99987236e-01 1.39830616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:281.27, Y:1.55, Z:1.40 [[ 9.99737507e-01 -2.23472116e-02 -5.05169069e-03 2.81266065e+02] [ 2.23479691e-02 9.99750249e-01 9.35375455e-05 1.55308563e+00] [ 5.04833872e-03 -2.06408020e-04 9.99987236e-01 1.39837439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:281.30, Y:1.55, Z:1.40 [[ 9.99779123e-01 -2.04006320e-02 -5.05168335e-03 2.81297565e+02] [ 2.04013667e-02 9.99791866e-01 9.39323245e-05 1.55396607e+00] [ 5.04871564e-03 -1.96972821e-04 9.99987236e-01 1.39789065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:281.33, Y:1.55, Z:1.40 [[ 9.99816575e-01 -1.84742123e-02 -5.05167787e-03 2.81329366e+02] [ 1.84749239e-02 9.99829320e-01 9.42259710e-05 1.55481532e+00] [ 5.04907490e-03 -1.87538052e-04 9.99987236e-01 1.39765650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:281.36, Y:1.56, Z:1.40 [[ 9.99873621e-01 -1.50738743e-02 -5.05167062e-03 2.81361632e+02] [ 1.50745445e-02 9.99886368e-01 9.46132347e-05 1.55786411e+00] [ 5.04967040e-03 -1.70752911e-04 9.99987236e-01 1.39648225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:281.39, Y:1.56, Z:1.40 [[ 9.99900147e-01 -1.31976135e-02 -5.05166339e-03 2.81394212e+02] [ 1.31982617e-02 9.99912895e-01 9.49973410e-05 1.55941399e+00] [ 5.04996963e-03 -1.61661031e-04 9.99987236e-01 1.39603598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.554391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:281.43, Y:1.56, Z:1.40 [[ 9.99949094e-01 -8.73443555e-03 -5.05165620e-03 2.81425272e+02] [ 8.73502877e-03 9.99961844e-01 9.53783405e-05 1.56318284e+00] [ 5.05063037e-03 -1.39499847e-04 9.99987236e-01 1.39521723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.46, Y:1.57, Z:1.39 [[ 9.99965637e-01 -6.57317611e-03 -5.05165082e-03 2.81455827e+02] [ 6.57374320e-03 9.99978388e-01 9.56623171e-05 1.56505390e+00] [ 5.05091284e-03 -1.28867285e-04 9.99987236e-01 1.39490006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.614391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:281.49, Y:1.57, Z:1.39 [[ 9.99979089e-01 -4.03758993e-03 -5.05164906e-03 2.81486823e+02] [ 4.03812516e-03 9.99991842e-01 9.57554172e-05 1.56682782e+00] [ 5.05122123e-03 -1.16152606e-04 9.99987236e-01 1.39480480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:281.52, Y:1.57, Z:1.39 [[ 9.99986823e-01 9.13799660e-04 -5.05164906e-03 2.81515933e+02] [-9.13327587e-04 9.99999578e-01 9.57554172e-05 1.57081560e+00] [ 5.05173443e-03 -9.11403450e-05 9.99987236e-01 1.39468654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.674391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:281.55, Y:1.57, Z:1.40 [[ 9.99982053e-01 3.22095587e-03 -5.05165564e-03 2.81545071e+02] [-3.22051498e-03 9.99994810e-01 9.54067877e-05 1.57246985e+00] [ 5.05193672e-03 -7.91361427e-05 9.99987236e-01 1.39518517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:281.57, Y:1.57, Z:1.40 [[ 9.99973129e-01 5.31233675e-03 -5.05167939e-03 2.81573267e+02] [-5.31192898e-03 9.99985887e-01 9.41323537e-05 1.57426261e+00] [ 5.05210816e-03 -6.72956621e-05 9.99987236e-01 1.39585387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:281.60, Y:1.58, Z:1.40 [[ 9.99937515e-01 9.97229721e-03 -5.05170600e-03 2.81602325e+02] [-9.97195623e-03 9.99950275e-01 9.26820723e-05 1.57814903e+00] [ 5.05237905e-03 -4.23008899e-05 9.99987236e-01 1.39911476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:281.63, Y:1.58, Z:1.40 [[ 9.99913178e-01 1.21702939e-02 -5.05173097e-03 2.81631444e+02] [-1.21699879e-02 9.99925939e-01 9.13004684e-05 1.57973074e+00] [ 5.05246798e-03 -2.98130367e-05 9.99987236e-01 1.40021327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:281.66, Y:1.58, Z:1.40 [[ 9.99887897e-01 1.40951385e-02 -5.05173803e-03 2.81658929e+02] [-1.40948591e-02 9.99900658e-01 9.09078976e-05 1.58103801e+00] [ 5.05251754e-03 -1.96941710e-05 9.99987236e-01 1.40069138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:281.69, Y:1.58, Z:1.40 [[ 9.99813476e-01 1.86411643e-02 -5.05174673e-03 2.81685534e+02] [-1.86409453e-02 9.99826238e-01 9.04216953e-05 1.58211611e+00] [ 5.05255450e-03 3.76450520e-06 9.99987236e-01 1.40256074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:281.72, Y:1.58, Z:1.40 [[ 9.99840229e-01 1.71461643e-02 -5.05229890e-03 2.81716175e+02] [-1.71460830e-02 9.99852993e-01 5.93969379e-05 1.58250255e+00] [ 5.05257461e-03 2.72396885e-05 9.99987235e-01 1.40241877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:281.74, Y:1.58, Z:1.40 [[ 9.99849552e-01 1.65937757e-02 -5.05174753e-03 2.81742875e+02] [-1.65935315e-02 9.99862314e-01 9.02577542e-05 1.58165108e+00] [ 5.05254969e-03 -6.41784330e-06 9.99987236e-01 1.40290884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:281.77, Y:1.58, Z:1.40 [[ 9.99886789e-01 1.41733386e-02 -5.05224099e-03 2.81771710e+02] [-1.41732058e-02 9.99899553e-01 6.20751914e-05 1.58095979e+00] [ 5.05261332e-03 9.53828760e-06 9.99987235e-01 1.40217367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:281.80, Y:1.58, Z:1.40 [[ 9.99910682e-01 1.23735570e-02 -5.05210089e-03 2.81801724e+02] [-1.23733612e-02 9.99923445e-01 7.00129143e-05 1.57884136e+00] [ 5.05258044e-03 -7.49519158e-06 9.99987236e-01 1.40320671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:281.83, Y:1.58, Z:1.40 [[ 9.99950433e-01 8.57975287e-03 -5.05175570e-03 2.81829283e+02] [-8.57941021e-03 9.99963192e-01 8.94978955e-05 1.57876065e+00] [ 5.05233762e-03 -4.61523749e-05 9.99987236e-01 1.40123522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:281.86, Y:1.58, Z:1.40 [[ 9.99980659e-01 3.62791429e-03 -5.05176516e-03 2.81857743e+02] [-3.62751116e-03 9.99993417e-01 8.89603036e-05 1.57573659e+00] [ 5.05205464e-03 -7.06332485e-05 9.99987236e-01 1.40039050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:281.89, Y:1.57, Z:1.40 [[ 9.99986533e-01 1.18888781e-03 -5.05177225e-03 2.81886248e+02] [-1.18845560e-03 9.99999290e-01 8.85561019e-05 1.57405746e+00] [ 5.05187394e-03 -8.25511023e-05 9.99987236e-01 1.40007391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:281.91, Y:1.57, Z:1.40 [[ 9.99985047e-01 -2.09428479e-03 -5.05177934e-03 2.81914254e+02] [ 2.09475683e-03 9.99997802e-01 8.81498454e-05 1.57159544e+00] [ 5.05158362e-03 -9.87307765e-05 9.99987236e-01 1.40011024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:281.94, Y:1.57, Z:1.40 [[ 9.99981709e-01 -3.32593108e-03 -5.05178808e-03 2.81942815e+02] [ 3.32641628e-03 9.99994464e-01 8.76459079e-05 1.57042306e+00] [ 5.05146861e-03 -1.04448655e-04 9.99987236e-01 1.40005493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:281.97, Y:1.57, Z:1.40 [[ 9.99976115e-01 -4.71696440e-03 -5.05179326e-03 2.81972856e+02] [ 4.71746583e-03 9.99988869e-01 8.73464359e-05 1.56830346e+00] [ 5.05132502e-03 -1.11176012e-04 9.99987236e-01 1.40000229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:282.00, Y:1.57, Z:1.40 [[ 9.99972857e-01 -5.36330832e-03 -5.05179668e-03 2.82002667e+02] [ 5.36381699e-03 9.99985611e-01 8.71480968e-05 1.56741079e+00] [ 5.05125659e-03 -1.14242644e-04 9.99987236e-01 1.40006812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:282.03, Y:1.57, Z:1.40 [[ 9.99972394e-01 -5.44897657e-03 -5.05180006e-03 2.82032455e+02] [ 5.44948534e-03 9.99985148e-01 8.69514144e-05 1.56601575e+00] [ 5.05125124e-03 -1.14478724e-04 9.99987236e-01 1.40026805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:282.06, Y:1.56, Z:1.40 [[ 9.99972912e-01 -5.35293647e-03 -5.05180342e-03 2.82062428e+02] [ 5.35344303e-03 9.99985666e-01 8.67562051e-05 1.56458581e+00] [ 5.05126661e-03 -1.13798397e-04 9.99987236e-01 1.40050831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:282.09, Y:1.56, Z:1.40 [[ 9.99977614e-01 -4.38760594e-03 -5.05180674e-03 2.82091811e+02] [ 4.38809920e-03 9.99990369e-01 8.65621203e-05 1.56162618e+00] [ 5.05137829e-03 -1.08728012e-04 9.99987236e-01 1.40103461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:282.12, Y:1.56, Z:1.40 [[ 9.99976634e-01 -4.60540796e-03 -5.05194700e-03 2.82121190e+02] [ 4.60586250e-03 9.99989390e-01 7.83427485e-05 1.56014921e+00] [ 5.05153260e-03 -1.01609491e-04 9.99987236e-01 1.40045047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.304391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:282.15, Y:1.56, Z:1.40 [[ 9.99983934e-01 -2.57101380e-03 -5.05182952e-03 2.82150014e+02] [ 2.57147752e-03 9.99996690e-01 8.53001611e-05 1.55724683e+00] [ 5.05159350e-03 -9.82894568e-05 9.99987236e-01 1.40036435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:282.18, Y:1.56, Z:1.40 [[ 9.99983199e-01 -2.84277921e-03 -5.05183092e-03 2.82179234e+02] [ 2.84324598e-03 9.99995954e-01 8.52171714e-05 1.55689522e+00] [ 5.05156823e-03 -9.95793376e-05 9.99987236e-01 1.40051203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.364391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:282.21, Y:1.56, Z:1.40 [[ 9.99985172e-01 -2.03349866e-03 -5.05185397e-03 2.82209073e+02] [ 2.03394808e-03 9.99997928e-01 8.38260757e-05 1.55555831e+00] [ 5.05167305e-03 -9.41000414e-05 9.99987236e-01 1.40095469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:282.24, Y:1.55, Z:1.40 [[ 9.99987116e-01 -4.95747221e-04 -5.05187630e-03 2.82237881e+02] [ 4.96170119e-04 9.99999874e-01 8.24581946e-05 1.55399948e+00] [ 5.05183478e-03 -8.49637224e-05 9.99987236e-01 1.40076241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.424391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:282.27, Y:1.55, Z:1.40 [[ 9.99984571e-01 2.30992596e-03 -5.05188121e-03 2.82266868e+02] [-2.30954039e-03 9.99997330e-01 8.21561220e-05 1.55167856e+00] [ 5.05205750e-03 -7.04873308e-05 9.99987236e-01 1.40044447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:282.29, Y:1.55, Z:1.40 [[ 9.99980894e-01 3.56223885e-03 -5.05190368e-03 2.82294063e+02] [-3.56187635e-03 9.99993653e-01 8.07507036e-05 1.55042631e+00] [ 5.05215927e-03 -6.27549045e-05 9.99987236e-01 1.39997343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:282.32, Y:1.55, Z:1.40 [[ 9.99971495e-01 5.61144325e-03 -5.05191469e-03 2.82322197e+02] [-5.61111040e-03 9.99984254e-01 8.00557360e-05 1.54786498e+00] [ 5.05228437e-03 -5.17066029e-05 9.99987236e-01 1.39897763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:282.35, Y:1.55, Z:1.40 [[ 9.99966746e-01 6.40197743e-03 -5.05193915e-03 2.82350854e+02] [-6.40166263e-03 9.99979506e-01 7.84811703e-05 1.54620348e+00] [ 5.05233805e-03 -4.61377504e-05 9.99987236e-01 1.39854205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:282.38, Y:1.55, Z:1.40 [[ 9.99985794e-01 1.70002726e-03 -5.05194526e-03 2.82375283e+02] [-1.69965445e-03 9.99998553e-01 7.80860130e-05 1.55153103e+00] [ 5.05207069e-03 -6.94983424e-05 9.99987236e-01 1.39894133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:282.41, Y:1.54, Z:1.40 [[ 9.99960259e-01 7.34454867e-03 -5.05353530e-03 2.82410756e+02] [-7.34479418e-03 9.99973026e-01 -3.00237628e-05 1.54214586e+00] [ 5.05317848e-03 6.71397463e-05 9.99987230e-01 1.39679398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:282.44, Y:1.54, Z:1.40 [[ 9.99958603e-01 7.56768896e-03 -5.05187798e-03 2.82439120e+02] [-7.56739292e-03 9.99971364e-01 7.77140717e-05 1.53877593e+00] [ 5.05232143e-03 -3.94813090e-05 9.99987236e-01 1.39721604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:282.46, Y:1.55, Z:1.40 [[ 9.99982961e-01 2.92503964e-03 -5.05188394e-03 2.82462745e+02] [-2.92468632e-03 9.99995720e-01 7.73247781e-05 1.54514131e+00] [ 5.05208850e-03 -6.25482847e-05 9.99987236e-01 1.39675562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:282.50, Y:1.54, Z:1.40 [[ 9.99973076e-01 5.32074383e-03 -5.05347604e-03 2.82501878e+02] [-5.32096724e-03 9.99985843e-01 -3.07655268e-05 1.53521237e+00] [ 5.05324080e-03 5.76540789e-05 9.99987231e-01 1.39582564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:282.53, Y:1.53, Z:1.40 [[ 9.99974196e-01 5.10781401e-03 -5.05140936e-03 2.82527274e+02] [-5.10736050e-03 9.99986952e-01 1.02674847e-04 1.53350382e+00] [ 5.05186789e-03 -7.68728288e-05 9.99987236e-01 1.39798200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:282.55, Y:1.54, Z:1.40 [[ 9.99986830e-01 9.05581891e-04 -5.05180152e-03 2.82552625e+02] [-9.05204858e-04 9.99999587e-01 7.69192740e-05 1.53719724e+00] [ 5.05186909e-03 -7.23453456e-05 9.99987237e-01 1.39759965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:282.59, Y:1.53, Z:1.40 [[ 9.99985823e-01 1.67850518e-03 -5.05330204e-03 2.82586355e+02] [-1.67865917e-03 9.99998591e-01 -2.62314317e-05 1.53063497e+00] [ 5.05325089e-03 3.47138316e-05 9.99987232e-01 1.39889712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:282.61, Y:1.53, Z:1.40 [[ 9.99976207e-01 -4.69746048e-03 -5.05174005e-03 2.82614388e+02] [ 4.69790777e-03 9.99988962e-01 7.66782801e-05 1.52752108e+00] [ 5.05132409e-03 -1.00409064e-04 9.99987237e-01 1.39839391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:282.64, Y:1.53, Z:1.40 [[ 9.99896426e-01 -1.34765583e-02 -5.05174601e-03 2.82637915e+02] [ 1.34771156e-02 9.99909177e-01 7.62835896e-05 1.53409790e+00] [ 5.05025915e-03 -1.44358653e-04 9.99987237e-01 1.39893760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:282.67, Y:1.52, Z:1.40 [[ 9.99915190e-01 -1.20030994e-02 -5.05353672e-03 2.82674681e+02] [ 1.20030243e-02 9.99927960e-01 -4.52048477e-05 1.52306633e+00] [ 5.05371526e-03 -1.54567100e-05 9.99987230e-01 1.39949154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:282.71, Y:1.52, Z:1.40 [[ 9.99768868e-01 -2.08971963e-02 -5.05160112e-03 2.82706431e+02] [ 2.08978611e-02 9.99781613e-01 7.88320078e-05 1.51938173e+00] [ 5.04885054e-03 -1.84381445e-04 9.99987237e-01 1.39834274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:282.74, Y:1.52, Z:1.40 [[ 9.99657780e-01 -2.56671928e-02 -5.05156368e-03 2.82737824e+02] [ 2.56679304e-02 9.99670521e-01 8.12279496e-05 1.51749469e+00] [ 5.04781440e-03 -2.10863337e-04 9.99987237e-01 1.39962597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:282.76, Y:1.52, Z:1.40 [[ 9.99238086e-01 -3.87004948e-02 -5.05159154e-03 2.82763926e+02] [ 3.87013896e-02 9.99250817e-01 7.94567790e-05 1.52066318e+00] [ 5.04473196e-03 -2.74899852e-04 9.99987237e-01 1.39845343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:282.80, Y:1.52, Z:1.40 [[ 9.99149103e-01 -4.09333325e-02 -5.05287682e-03 2.82797435e+02] [ 4.09338441e-02 9.99161859e-01 -2.17288962e-06 1.51828641e+00] [ 5.04873074e-03 -2.04662631e-04 9.99987234e-01 1.39890422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:282.83, Y:1.52, Z:1.40 [[ 9.99061435e-01 -4.30199789e-02 -5.05277254e-03 2.82826468e+02] [ 4.30205496e-02 9.99074188e-01 4.26740214e-06 1.51685919e+00] [ 5.04791103e-03 -2.21636448e-04 9.99987235e-01 1.40066055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:282.86, Y:1.51, Z:1.40 [[ 9.99014660e-01 -4.40928030e-02 -5.05313807e-03 2.82861323e+02] [ 4.40932765e-02 9.99027418e-01 -1.77227565e-05 1.51417462e+00] [ 5.04900493e-03 -2.05104121e-04 9.99987233e-01 1.39918593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.054391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:282.90, Y:1.51, Z:1.40 [[ 9.99149417e-01 -4.09256998e-02 -5.05261323e-03 2.82896900e+02] [ 4.09262887e-02 9.99162168e-01 1.31637140e-05 1.50610099e+00] [ 5.04784126e-03 -2.19937225e-04 9.99987235e-01 1.39990235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:282.93, Y:1.51, Z:1.40 [[ 9.99169336e-01 -4.04366466e-02 -5.05128099e-03 2.82929492e+02] [ 4.04376109e-02 9.99182061e-01 8.88795780e-05 1.50512312e+00] [ 5.04355536e-03 -2.93067485e-04 9.99987238e-01 1.39940717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.114391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:282.96, Y:1.51, Z:1.40 [[ 9.99294626e-01 -3.72120291e-02 -5.05127432e-03 2.82960904e+02] [ 3.72129542e-02 9.99307354e-01 8.92568680e-05 1.50519648e+00] [ 5.04445415e-03 -2.77166749e-04 9.99987238e-01 1.39797994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:282.99, Y:1.51, Z:1.40 [[ 9.99195234e-01 -3.97915677e-02 -5.05126935e-03 2.82986332e+02] [ 3.97925272e-02 9.99207960e-01 8.95374541e-05 1.51240945e+00] [ 5.04370571e-03 -2.90468170e-04 9.99987238e-01 1.39525843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.174391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:283.02, Y:1.51, Z:1.40 [[ 9.99368279e-01 -3.51782664e-02 -5.05297462e-03 2.83020067e+02] [ 3.51786810e-02 9.99381039e-01 -6.83769451e-06 1.51161495e+00] [ 5.05008756e-03 -1.70923607e-04 9.99987234e-01 1.39535934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:283.06, Y:1.51, Z:1.40 [[ 9.99753776e-01 -2.16069053e-02 -5.05263802e-03 2.83055639e+02] [ 2.16072410e-02 9.99766536e-01 1.18660947e-05 1.50724219e+00] [ 5.05120203e-03 -1.21036740e-04 9.99987235e-01 1.39803333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:283.09, Y:1.51, Z:1.40 [[ 9.99855162e-01 -1.62524268e-02 -5.05113051e-03 2.83086592e+02] [ 1.62531057e-02 9.99867905e-01 9.33971007e-05 1.50784561e+00] [ 5.04894535e-03 -1.75480131e-04 9.99987239e-01 1.39763319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264391418 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:283.12, Y:1.51, Z:1.39 [[ 9.99965941e-01 -6.52703508e-03 -5.05112501e-03 2.83117722e+02] [ 6.52759157e-03 9.99978691e-01 9.36934816e-05 1.51129214e+00] [ 5.05040583e-03 -1.26661972e-04 9.99987239e-01 1.39285229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:283.14, Y:1.52, Z:1.39 [[ 9.99981401e-01 -3.41878842e-03 -5.05060999e-03 2.83143896e+02] [ 3.41944212e-03 9.99994146e-01 1.20800746e-04 1.51660955e+00] [ 5.05016743e-03 -1.38068768e-04 9.99987238e-01 1.39168596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:283.18, Y:1.51, Z:1.40 [[ 9.99941960e-01 9.51571052e-03 -5.05247130e-03 2.83178031e+02] [-9.51567057e-03 9.99954724e-01 3.19449112e-05 1.50849413e+00] [ 5.05254652e-03 1.61345954e-05 9.99987236e-01 1.39721563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:283.21, Y:1.51, Z:1.40 [[ 9.99783812e-01 2.01697439e-02 -5.05085004e-03 2.83205748e+02] [-2.01694564e-02 9.99796570e-01 1.07863430e-04 1.51053737e+00] [ 5.05199812e-03 -5.96721142e-06 9.99987239e-01 1.40149228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:283.23, Y:1.51, Z:1.40 [[ 9.99690322e-01 2.43669776e-02 -5.05088387e-03 2.83233559e+02] [-2.43667517e-02 9.99703081e-01 1.06255248e-04 1.51104610e+00] [ 5.05197328e-03 1.68512901e-05 9.99987239e-01 1.39992648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:283.26, Y:1.51, Z:1.40 [[ 9.99458298e-01 3.25207790e-02 -5.05068034e-03 2.83260978e+02] [-3.25206081e-02 9.99471058e-01 1.15976314e-04 1.51141597e+00] [ 5.05178047e-03 4.83377069e-05 9.99987239e-01 1.40269424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:283.29, Y:1.51, Z:1.40 [[ 9.99364002e-01 3.52998487e-02 -5.05090856e-03 2.83287912e+02] [-3.52997688e-02 9.99376763e-01 1.04998228e-04 1.51123472e+00] [ 5.05146707e-03 7.33644550e-05 9.99987239e-01 1.40249393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:283.32, Y:1.51, Z:1.40 [[ 9.99286678e-01 3.74249068e-02 -5.05092287e-03 2.83315467e+02] [-3.74248575e-02 9.99299439e-01 1.04305080e-04 1.51068673e+00] [ 5.05128800e-03 8.47993919e-05 9.99987239e-01 1.40268338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:283.34, Y:1.51, Z:1.40 [[ 9.99246681e-01 3.84780388e-02 -5.05093493e-03 2.83342798e+02] [-3.84780059e-02 9.99259442e-01 1.03717764e-04 1.51026656e+00] [ 5.05118528e-03 9.07102726e-05 9.99987239e-01 1.40233436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:283.37, Y:1.51, Z:1.40 [[ 9.99249200e-01 3.84125429e-02 -5.05094485e-03 2.83370193e+02] [-3.84125117e-02 9.99261962e-01 1.03232406e-04 1.50859194e+00] [ 5.05118248e-03 9.08645792e-05 9.99987239e-01 1.40260483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:283.40, Y:1.51, Z:1.40 [[ 9.99356622e-01 3.55081331e-02 -5.05122448e-03 2.83398279e+02] [-3.55081349e-02 9.99369383e-01 8.93571694e-05 1.50715972e+00] [ 5.05121200e-03 9.00598814e-05 9.99987238e-01 1.40242673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:283.43, Y:1.50, Z:1.40 [[ 9.99579147e-01 2.85660037e-02 -5.05098286e-03 2.83425816e+02] [-2.85658560e-02 9.99591908e-01 1.01393745e-04 1.50263152e+00] [ 5.05181801e-03 4.29345756e-05 9.99987239e-01 1.40339036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:283.45, Y:1.50, Z:1.40 [[ 9.99704269e-01 2.37878512e-02 -5.05099469e-03 2.83454003e+02] [-2.37876455e-02 9.99717029e-01 1.00800885e-04 1.49989056e+00] [ 5.05196324e-03 1.93801957e-05 9.99987239e-01 1.40388648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:283.48, Y:1.50, Z:1.40 [[ 9.99815201e-01 1.85486105e-02 -5.05100663e-03 2.83482431e+02] [-1.85483410e-02 9.99827960e-01 1.00198961e-04 1.49701149e+00] [ 5.05199621e-03 -6.49265125e-06 9.99987239e-01 1.40397198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:283.51, Y:1.49, Z:1.40 [[ 9.99952112e-01 8.38216848e-03 -5.05101452e-03 2.83511241e+02] [-8.38177129e-03 9.99964867e-01 9.97997459e-05 1.49168473e+00] [ 5.05167360e-03 -5.74585182e-05 9.99987239e-01 1.40433870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:283.54, Y:1.49, Z:1.40 [[ 9.99982068e-01 3.21740797e-03 -5.05102242e-03 2.83539187e+02] [-3.21694693e-03 9.99994821e-01 9.93982929e-05 1.48886420e+00] [ 5.05131606e-03 -8.31476393e-05 9.99987239e-01 1.40250357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744391418 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:283.57, Y:1.49, Z:1.40 [[ 9.99985121e-01 -2.06041528e-03 -5.05103218e-03 2.83567917e+02] [ 2.06094110e-03 9.99997871e-01 9.88997500e-05 1.48611665e+00] [ 5.05081765e-03 -1.09308158e-04 9.99987239e-01 1.40249555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:283.60, Y:1.48, Z:1.40 [[ 9.99928378e-01 -1.08501133e-02 -5.05103935e-03 2.83596000e+02] [ 1.08507493e-02 9.99941124e-01 9.85321622e-05 1.48046928e+00] [ 5.04967288e-03 -1.53332667e-04 9.99987239e-01 1.40190398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.804391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:283.63, Y:1.48, Z:1.40 [[ 9.99882071e-01 -1.45027838e-02 -5.05104467e-03 2.83627526e+02] [ 1.45034650e-02 9.99894814e-01 9.82585950e-05 1.47728921e+00] [ 5.04908835e-03 -1.71504657e-04 9.99987239e-01 1.40188488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:283.65, Y:1.48, Z:1.40 [[ 9.99800510e-01 -1.93242636e-02 -5.05104116e-03 2.83654729e+02] [ 1.93250072e-02 9.99813250e-01 9.84388846e-05 1.47792243e+00] [ 5.04819562e-03 -1.96030654e-04 9.99987239e-01 1.40313630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.864391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:283.69, Y:1.47, Z:1.41 [[ 9.99765353e-01 -2.10644878e-02 -5.05233117e-03 2.83687521e+02] [ 2.10649118e-02 9.99778110e-01 3.07139721e-05 1.47017860e+00] [ 5.05056314e-03 -1.37133676e-04 9.99987236e-01 1.40626144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:283.72, Y:1.47, Z:1.41 [[ 9.99763904e-01 -2.11334787e-02 -5.05101095e-03 2.83719648e+02] [ 2.11342454e-02 9.99776642e-01 9.84493235e-05 1.46801897e+00] [ 5.04780219e-03 -2.05175385e-04 9.99987239e-01 1.40645847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.924391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:283.75, Y:1.47, Z:1.41 [[ 9.99790222e-01 -1.98494307e-02 -5.05100306e-03 2.83747055e+02] [ 1.98501830e-02 9.99802961e-01 9.88527113e-05 1.46985817e+00] [ 5.04804564e-03 -1.99095309e-04 9.99987239e-01 1.40672689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:283.78, Y:1.47, Z:1.41 [[ 9.99888535e-01 -1.40496408e-02 -5.05222925e-03 2.83780480e+02] [ 1.40499955e-02 9.99901293e-01 3.47189984e-05 1.46521227e+00] [ 5.05124277e-03 -1.05698926e-04 9.99987237e-01 1.40795824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:283.81, Y:1.46, Z:1.41 [[ 9.99939593e-01 -9.76209547e-03 -5.05099501e-03 2.83810608e+02] [ 9.76271595e-03 9.99952339e-01 9.82021722e-05 1.46451237e+00] [ 5.04979562e-03 -1.47507670e-04 9.99987239e-01 1.40780404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:283.84, Y:1.46, Z:1.41 [[ 9.99974299e-01 -5.08805841e-03 -5.05099311e-03 2.83841554e+02] [ 5.08861980e-03 9.99987048e-01 9.82997074e-05 1.46386806e+00] [ 5.05042754e-03 -1.23999765e-04 9.99987239e-01 1.40922691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:283.87, Y:1.46, Z:1.41 [[ 9.99976592e-01 4.61540774e-03 -5.05099311e-03 2.83870203e+02] [-4.61497009e-03 9.99989346e-01 9.82997074e-05 1.46335400e+00] [ 5.05139299e-03 -7.49872243e-05 9.99987239e-01 1.40826566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:283.90, Y:1.46, Z:1.41 [[ 9.99910867e-01 1.23589996e-02 -5.05099907e-03 2.83899331e+02] [-1.23586623e-02 9.99923624e-01 9.79928710e-05 1.46248103e+00] [ 5.05182439e-03 -3.55605450e-05 9.99987239e-01 1.40755087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:283.93, Y:1.46, Z:1.41 [[ 9.99869419e-01 1.53502810e-02 -5.05102600e-03 2.83928158e+02] [-1.53499889e-02 9.99882177e-01 9.65841277e-05 1.46160825e+00] [ 5.05191347e-03 -1.90383225e-05 9.99987239e-01 1.40664675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:283.96, Y:1.46, Z:1.41 [[ 9.99842264e-01 1.70274777e-02 -5.05103366e-03 2.83955509e+02] [-1.70272091e-02 9.99855022e-01 9.61822974e-05 1.46090130e+00] [ 5.05193911e-03 -1.01621199e-05 9.99987239e-01 1.40509275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:283.98, Y:1.46, Z:1.41 [[ 9.99830591e-01 1.76996118e-02 -5.05104308e-03 2.83983852e+02] [-1.76993543e-02 9.99843350e-01 9.56847354e-05 1.46018341e+00] [ 5.05194542e-03 -6.26832457e-06 9.99987239e-01 1.40517425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:284.01, Y:1.46, Z:1.40 [[ 9.99858358e-01 1.60546025e-02 -5.05105079e-03 2.84012086e+02] [-1.60543261e-02 9.99871116e-01 9.52762680e-05 1.45820873e+00] [ 5.05192941e-03 -1.41715566e-05 9.99987239e-01 1.40220556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:284.04, Y:1.46, Z:1.40 [[ 9.99860264e-01 1.59354496e-02 -5.05105838e-03 2.84040536e+02] [-1.59351737e-02 9.99873023e-01 9.48717417e-05 1.45778816e+00] [ 5.05192884e-03 -1.43689922e-05 9.99987239e-01 1.40234942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:284.07, Y:1.46, Z:1.40 [[ 9.99893161e-01 1.37168623e-02 -5.05106962e-03 2.84069052e+02] [-1.37165611e-02 9.99905919e-01 9.42698100e-05 1.45617593e+00] [ 5.05188750e-03 -2.49764331e-05 9.99987239e-01 1.40126995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:284.10, Y:1.45, Z:1.40 [[ 9.99959796e-01 7.40898114e-03 -5.05107701e-03 2.84097889e+02] [-7.40860148e-03 9.99972552e-01 9.38721609e-05 1.45322362e+00] [ 5.05163386e-03 -5.64469702e-05 9.99987239e-01 1.40126453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:284.13, Y:1.45, Z:1.40 [[ 9.99980336e-01 3.71681110e-03 -5.05108454e-03 2.84126037e+02] [-3.71638640e-03 9.99993090e-01 9.34651421e-05 1.45163021e+00] [ 5.05139703e-03 -7.46915223e-05 9.99987239e-01 1.40092821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:284.15, Y:1.45, Z:1.40 [[ 9.99987233e-01 1.40453611e-04 -5.05109384e-03 2.84154545e+02] [-1.39985846e-04 9.99999986e-01 9.29599714e-05 1.44997025e+00] [ 5.05110682e-03 -9.22517030e-05 9.99987239e-01 1.40172265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:284.18, Y:1.45, Z:1.41 [[ 9.99960022e-01 -7.37834904e-03 -5.05110111e-03 2.84183261e+02] [ 7.37891067e-03 9.99972771e-01 9.25631014e-05 1.44814946e+00] [ 5.05028061e-03 -1.29831025e-04 9.99987239e-01 1.40505105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:284.21, Y:1.45, Z:1.40 [[ 9.99932500e-01 -1.04631657e-02 -5.05152632e-03 2.84213294e+02] [ 1.04636491e-02 9.99945252e-01 6.92734575e-05 1.44562355e+00] [ 5.05052494e-03 -1.22126180e-04 9.99987239e-01 1.40450097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:284.24, Y:1.44, Z:1.41 [[ 9.99894508e-01 -1.36183761e-02 -5.05109487e-03 2.84243949e+02] [ 1.36190183e-02 9.99907253e-01 9.27657356e-05 1.44405578e+00] [ 5.04936308e-03 -1.61546903e-04 9.99987239e-01 1.40617313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:284.27, Y:1.44, Z:1.41 [[ 9.99827888e-01 -1.78516501e-02 -5.05109487e-03 2.84274982e+02] [ 1.78523462e-02 9.99840630e-01 9.27657356e-05 1.44105678e+00] [ 5.04863386e-03 -1.82923664e-04 9.99987239e-01 1.40868544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:284.31, Y:1.44, Z:1.41 [[ 9.99750910e-01 -2.17393782e-02 -5.05155266e-03 2.84307229e+02] [ 2.17399975e-02 9.99763656e-01 6.77092994e-05 1.43942963e+00] [ 5.04888679e-03 -1.77513176e-04 9.99987239e-01 1.40876486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:284.33, Y:1.44, Z:1.40 [[ 9.99526096e-01 -3.03656070e-02 -5.05107226e-03 2.84331459e+02] [ 3.03664669e-02 9.99538828e-01 9.36263440e-05 1.44499086e+00] [ 5.04589983e-03 -2.46965193e-04 9.99987239e-01 1.40474011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.554391418 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:284.37, Y:1.44, Z:1.41 [[ 9.99570360e-01 -2.88714655e-02 -5.05301263e-03 2.84367959e+02] [ 2.88717637e-02 9.99583124e-01 -1.39508778e-05 1.43561782e+00] [ 5.05130893e-03 -1.31944503e-04 9.99987233e-01 1.41091820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:284.40, Y:1.43, Z:1.41 [[ 9.99501515e-01 -3.11642230e-02 -5.05097728e-03 2.84400150e+02] [ 3.11650983e-02 9.99514246e-01 9.46577197e-05 1.43463839e+00] [ 5.04557382e-03 -2.52024738e-04 9.99987239e-01 1.41213205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.614391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:284.43, Y:1.43, Z:1.41 [[ 9.99353502e-01 -3.55958649e-02 -5.05096980e-03 2.84430981e+02] [ 3.55967986e-02 9.99366229e-01 9.50552276e-05 1.43361187e+00] [ 5.04438507e-03 -2.74792130e-04 9.99987239e-01 1.41313367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:284.46, Y:1.43, Z:1.41 [[ 9.99291979e-01 -3.72830935e-02 -5.05095753e-03 2.84464046e+02] [ 3.72840520e-02 9.99304703e-01 9.57028050e-05 1.43290164e+00] [ 5.04387752e-03 -2.83955209e-04 9.99987239e-01 1.41368439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.674391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:284.50, Y:1.43, Z:1.41 [[ 9.99242270e-01 -3.85923962e-02 -5.05094604e-03 2.84496004e+02] [ 3.85933744e-02 9.99254994e-01 9.63055199e-05 1.43255550e+00] [ 5.04346639e-03 -2.91165598e-04 9.99987239e-01 1.41371144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:284.53, Y:1.43, Z:1.41 [[ 9.99206276e-01 -3.95133618e-02 -5.05093838e-03 2.84528586e+02] [ 3.95143538e-02 9.99218998e-01 9.67054297e-05 1.43235296e+00] [ 5.04317244e-03 -2.96213239e-04 9.99987239e-01 1.41309011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:284.56, Y:1.43, Z:1.41 [[ 9.99195492e-01 -3.97851386e-02 -5.05093075e-03 2.84559645e+02] [ 3.97861360e-02 9.99208214e-01 9.71023379e-05 1.43317145e+00] [ 5.04306827e-03 -2.97981236e-04 9.99987239e-01 1.41187853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:284.59, Y:1.43, Z:1.41 [[ 9.99259991e-01 -3.81308012e-02 -5.05092506e-03 2.84591514e+02] [ 3.81317790e-02 9.99272715e-01 9.73976894e-05 1.43411992e+00] [ 5.04353774e-03 -2.89926372e-04 9.99987239e-01 1.41055493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:284.62, Y:1.43, Z:1.41 [[ 9.99299419e-01 -3.70831366e-02 -5.05091754e-03 2.84623431e+02] [ 3.70841031e-02 9.99312143e-01 9.77859031e-05 1.43448839e+00] [ 5.04381703e-03 -2.85026143e-04 9.99987239e-01 1.40996943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:284.66, Y:1.44, Z:1.41 [[ 9.99344738e-01 -3.58410692e-02 -5.05091003e-03 2.84655714e+02] [ 3.58420218e-02 9.99357464e-01 9.81721960e-05 1.43506896e+00] [ 5.04414604e-03 -2.79142695e-04 9.99987239e-01 1.40972462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:284.69, Y:1.44, Z:1.41 [[ 9.99393291e-01 -3.44606670e-02 -5.05090249e-03 2.84687339e+02] [ 3.44616039e-02 9.99406018e-01 9.85587064e-05 1.43613289e+00] [ 5.04450595e-03 -2.72561111e-04 9.99987239e-01 1.40929308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:284.71, Y:1.45, Z:1.40 [[ 9.99354473e-01 -3.55686062e-02 -5.05089685e-03 2.84713548e+02] [ 3.55695587e-02 9.99367198e-01 9.88467642e-05 1.44526335e+00] [ 5.04418480e-03 -2.78441128e-04 9.99987239e-01 1.40405804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:284.75, Y:1.44, Z:1.41 [[ 9.99594626e-01 -2.80189137e-02 -5.05216417e-03 2.84749665e+02] [ 2.80194521e-02 9.99607377e-01 3.57939221e-05 1.44003511e+00] [ 5.04917767e-03 -1.77338284e-04 9.99987237e-01 1.40961644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:284.78, Y:1.44, Z:1.41 [[ 9.99720239e-01 -2.31069856e-02 -5.05076271e-03 2.84780650e+02] [ 2.31078049e-02 9.99732974e-01 1.03913176e-04 1.44324813e+00] [ 5.04701290e-03 -2.20596145e-04 9.99987239e-01 1.41010239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:284.81, Y:1.44, Z:1.41 [[ 9.99780428e-01 -2.03367899e-02 -5.05075637e-03 2.84812533e+02] [ 2.03375755e-02 9.99793165e-01 1.04220559e-04 1.44487688e+00] [ 5.04759218e-03 -2.06917814e-04 9.99987239e-01 1.41184744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:284.84, Y:1.45, Z:1.41 [[ 9.99887428e-01 -1.41287377e-02 -5.05074786e-03 2.84843633e+02] [ 1.41294463e-02 9.99900169e-01 1.04631200e-04 1.44912812e+00] [ 5.04876533e-03 -1.75983692e-04 9.99987239e-01 1.41370753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:284.88, Y:1.45, Z:1.41 [[ 9.99926022e-01 -1.10652949e-02 -5.05074151e-03 2.84875060e+02] [ 1.10659660e-02 9.99938765e-01 1.04936688e-04 1.45087490e+00] [ 5.04927108e-03 -1.60820258e-04 9.99987239e-01 1.41499108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:284.91, Y:1.45, Z:1.42 [[ 9.99954397e-01 -8.10518406e-03 -5.05073727e-03 2.84905701e+02] [ 8.10581843e-03 9.99967142e-01 1.05140622e-04 1.45218528e+00] [ 5.04971913e-03 -1.46076187e-04 9.99987239e-01 1.41526400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:284.93, Y:1.46, Z:1.41 [[ 9.99947715e-01 -8.89141134e-03 -5.05073516e-03 2.84932336e+02] [ 8.89205623e-03 9.99960459e-01 1.05241626e-04 1.45825676e+00] [ 5.04959971e-03 -1.50147544e-04 9.99987239e-01 1.41418540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:284.96, Y:1.46, Z:1.42 [[ 9.99982029e-01 -3.22728528e-03 -5.05243455e-03 2.84962815e+02] [ 3.22743796e-03 9.99994792e-01 2.20669717e-05 1.46088977e+00] [ 5.05233702e-03 -3.83729942e-05 9.99987236e-01 1.41543135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154391418 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:285.00, Y:1.46, Z:1.42 [[ 9.99983988e-01 2.54873976e-03 -5.05247094e-03 2.84996322e+02] [-2.54866970e-03 9.99996752e-01 2.03054979e-05 1.45677649e+00] [ 5.05250628e-03 -7.42809317e-06 9.99987236e-01 1.41610134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:285.02, Y:1.46, Z:1.42 [[ 9.99966591e-01 6.42718972e-03 -5.05064855e-03 2.85024372e+02] [-6.42673312e-03 9.99979343e-01 1.06627790e-04 1.45921364e+00] [ 5.05122953e-03 -7.41650574e-05 9.99987240e-01 1.41644285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:285.05, Y:1.46, Z:1.42 [[ 9.99955252e-01 7.99909762e-03 -5.05068251e-03 2.85052470e+02] [-7.99866933e-03 9.99968005e-01 1.04994173e-04 1.46026635e+00] [ 5.05136077e-03 -6.45907354e-05 9.99987240e-01 1.41629412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:285.08, Y:1.46, Z:1.42 [[ 9.99926389e-01 1.10321188e-02 -5.05069508e-03 2.85080625e+02] [-1.10317322e-02 9.99939143e-01 1.04385824e-04 1.46220210e+00] [ 5.05153931e-03 -4.86602244e-05 9.99987240e-01 1.41649214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:285.11, Y:1.46, Z:1.42 [[ 9.99910611e-01 1.23798689e-02 -5.05070779e-03 2.85107891e+02] [-1.23795026e-02 9.99923366e-01 1.03767106e-04 1.46244575e+00] [ 5.05160536e-03 -4.12325798e-05 9.99987240e-01 1.41635243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.304391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:285.14, Y:1.46, Z:1.42 [[ 9.99893364e-01 1.37022393e-02 -5.05072238e-03 2.85135364e+02] [-1.37018936e-02 9.99906119e-01 1.03052241e-04 1.46259095e+00] [ 5.05166026e-03 -3.38367911e-05 9.99987240e-01 1.41692599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:285.16, Y:1.46, Z:1.42 [[ 9.99878873e-01 1.47217321e-02 -5.05073493e-03 2.85162690e+02] [-1.47214025e-02 9.99891629e-01 1.02433149e-04 1.46269672e+00] [ 5.05169557e-03 -2.80668403e-05 9.99987240e-01 1.41682582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.364391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:285.19, Y:1.46, Z:1.42 [[ 9.99849422e-01 1.66019359e-02 -5.05074743e-03 2.85191536e+02] [-1.66016334e-02 9.99862178e-01 1.01813404e-04 1.46296724e+00] [ 5.05174162e-03 -1.79474161e-05 9.99987240e-01 1.41735546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:285.22, Y:1.46, Z:1.42 [[ 9.99836631e-01 1.73551612e-02 -5.05075564e-03 2.85218659e+02] [-1.73548704e-02 9.99849388e-01 1.01404087e-04 1.46261582e+00] [ 5.05175482e-03 -1.37323104e-05 9.99987240e-01 1.41751630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.424391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:285.25, Y:1.46, Z:1.42 [[ 9.99827425e-01 1.78776234e-02 -5.05077355e-03 2.85247020e+02] [-1.78773438e-02 9.99840182e-01 1.00504446e-04 1.46222182e+00] [ 5.05176313e-03 -1.01926857e-05 9.99987240e-01 1.41745468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:285.28, Y:1.46, Z:1.42 [[ 9.99812919e-01 1.86712725e-02 -5.05078550e-03 2.85275722e+02] [-1.86710061e-02 9.99825677e-01 9.99001477e-05 1.46086060e+00] [ 5.05177029e-03 -5.57821132e-06 9.99987240e-01 1.41686952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:285.30, Y:1.47, Z:1.42 [[ 9.99911144e-01 1.23366644e-02 -5.05079338e-03 2.85297454e+02] [-1.23363192e-02 9.99923900e-01 9.95001597e-05 1.46784751e+00] [ 5.05163651e-03 -3.71831193e-05 9.99987240e-01 1.41630514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:285.34, Y:1.46, Z:1.42 [[ 9.99793691e-01 1.96733189e-02 -5.05341014e-03 2.85339053e+02] [-1.96737722e-02 9.99806452e-01 -3.99986051e-05 1.45590855e+00] [ 5.05164516e-03 1.39409993e-04 9.99987231e-01 1.41663794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:285.36, Y:1.46, Z:1.42 [[ 9.99854139e-01 1.63159554e-02 -5.04872557e-03 2.85361912e+02] [-1.63152324e-02 9.99866881e-01 1.84362589e-04 1.45580167e+00] [ 5.05106154e-03 -1.01964567e-04 9.99987238e-01 1.41671749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:285.39, Y:1.45, Z:1.42 [[ 9.99883613e-01 1.43963004e-02 -5.05038703e-03 2.85389747e+02] [-1.43959664e-02 9.99896367e-01 1.02498087e-04 1.45456558e+00] [ 5.05133924e-03 -2.97809561e-05 9.99987241e-01 1.41709286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:285.42, Y:1.45, Z:1.42 [[ 9.99921228e-01 1.14904943e-02 -5.05039893e-03 2.85416911e+02] [-1.14901261e-02 9.99933981e-01 1.01908485e-04 1.45234719e+00] [ 5.05123649e-03 -4.38707364e-05 9.99987241e-01 1.41736392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:285.45, Y:1.45, Z:1.42 [[ 9.99933689e-01 1.03494510e-02 -5.05041259e-03 2.85445934e+02] [-1.03490717e-02 9.99946442e-01 1.01226950e-04 1.45057106e+00] [ 5.05118974e-03 -4.89531559e-05 9.99987241e-01 1.41705629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:285.47, Y:1.45, Z:1.42 [[ 9.99940392e-01 9.68016965e-03 -5.05042025e-03 2.85473725e+02] [-9.67978377e-03 9.99953145e-01 1.00843029e-04 1.44864223e+00] [ 5.05115979e-03 -5.19500423e-05 9.99987241e-01 1.41722598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:285.50, Y:1.45, Z:1.42 [[ 9.99943061e-01 9.40046179e-03 -5.05043222e-03 2.85501684e+02] [-9.40007539e-03 9.99955813e-01 1.00240327e-04 1.44695182e+00] [ 5.05115136e-03 -5.27601756e-05 9.99987241e-01 1.41645934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:285.53, Y:1.44, Z:1.42 [[ 9.99933604e-01 1.03576502e-02 -5.05044205e-03 2.85530842e+02] [-1.03572786e-02 9.99946357e-01 9.97425928e-05 1.44480114e+00] [ 5.05120422e-03 -4.74271352e-05 9.99987241e-01 1.41844932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:285.56, Y:1.44, Z:1.42 [[ 9.99925910e-01 1.10755256e-02 -5.05045012e-03 2.85558986e+02] [-1.10751651e-02 9.99938664e-01 9.93322728e-05 1.44362814e+00] [ 5.05124050e-03 -4.33903443e-05 9.99987241e-01 1.41890807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:285.59, Y:1.44, Z:1.42 [[ 9.99899715e-01 1.32307753e-02 -5.05046206e-03 2.85588188e+02] [-1.32304455e-02 9.99912469e-01 9.87214307e-05 1.44135838e+00] [ 5.05132615e-03 -3.18916675e-05 9.99987241e-01 1.41972624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814391418 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:285.62, Y:1.44, Z:1.42 [[ 9.99893545e-01 1.36891083e-02 -5.05046999e-03 2.85615351e+02] [-1.36887863e-02 9.99906299e-01 9.83140280e-05 1.44009229e+00] [ 5.05134259e-03 -2.91687573e-05 9.99987241e-01 1.41957748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:285.65, Y:1.44, Z:1.42 [[ 9.99848860e-01 1.66357737e-02 -5.05048364e-03 2.85647925e+02] [-1.66354929e-02 9.99861616e-01 9.76075102e-05 1.43515861e+00] [ 5.05140851e-03 -1.35754732e-05 9.99987241e-01 1.41820291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:285.67, Y:1.43, Z:1.42 [[ 9.99913800e-01 1.21201059e-02 -5.04925866e-03 2.85671731e+02] [-1.21194508e-02 9.99926544e-01 1.60312698e-04 1.43450368e+00] [ 5.05083077e-03 -9.91046373e-05 9.99987240e-01 1.41892437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:285.70, Y:1.43, Z:1.42 [[ 9.99960927e-01 7.25520908e-03 -5.05047850e-03 2.85700674e+02] [-7.25481465e-03 9.99973679e-01 9.64139980e-05 1.43015242e+00] [ 5.05104507e-03 -5.97699454e-05 9.99987242e-01 1.41792513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:285.73, Y:1.43, Z:1.42 [[ 9.99979818e-01 3.85445620e-03 -5.05048635e-03 2.85727985e+02] [-3.85402048e-03 9.99992569e-01 9.60013111e-05 1.42756462e+00] [ 5.05081885e-03 -7.65346957e-05 9.99987242e-01 1.41731046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:285.76, Y:1.43, Z:1.42 [[ 9.99987240e-01 -1.14992005e-04 -5.05049624e-03 2.85755790e+02] [ 1.15475689e-04 9.99999989e-01 9.54780350e-05 1.42503404e+00] [ 5.05048520e-03 -9.60600262e-05 9.99987242e-01 1.41674573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:285.78, Y:1.42, Z:1.42 [[ 9.99977265e-01 -4.46793578e-03 -5.05050574e-03 2.85784654e+02] [ 4.46847240e-03 9.99990012e-01 9.49726276e-05 1.42246768e+00] [ 5.05003097e-03 -1.17538514e-04 9.99987242e-01 1.41661086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:285.81, Y:1.42, Z:1.42 [[ 9.99896910e-01 -1.34410372e-02 -5.05051342e-03 2.85814120e+02] [ 1.34416862e-02 9.99909652e-01 9.45626950e-05 1.41824225e+00] [ 5.04878609e-03 -1.62440363e-04 9.99987242e-01 1.41595715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.054391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:285.85, Y:1.42, Z:1.42 [[ 9.99829118e-01 -1.77827968e-02 -5.05051723e-03 2.85845073e+02] [ 1.77835000e-02 9.99841857e-01 9.43585900e-05 1.41567474e+00] [ 5.04804057e-03 -1.84158339e-04 9.99987242e-01 1.41556516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:285.88, Y:1.41, Z:1.41 [[ 9.99812299e-01 -1.87045235e-02 -5.05051151e-03 2.85879041e+02] [ 1.87052400e-02 9.99825037e-01 9.46639198e-05 1.40927597e+00] [ 5.04785721e-03 -1.89117181e-04 9.99987242e-01 1.41296467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.114391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:285.90, Y:1.41, Z:1.42 [[ 9.99542165e-01 -2.98323477e-02 -5.04890261e-03 2.85904106e+02] [ 2.98336355e-02 9.99554862e-01 1.79922764e-04 1.41096859e+00] [ 5.04128763e-03 -3.30467509e-04 9.99987238e-01 1.41518219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:285.94, Y:1.41, Z:1.42 [[ 9.99544518e-01 -2.97531218e-02 -5.05050371e-03 2.85936791e+02] [ 2.97539685e-02 9.99557248e-01 9.25631149e-05 1.41033425e+00] [ 5.04551355e-03 -2.42793482e-04 9.99987242e-01 1.41537178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.174391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:285.97, Y:1.41, Z:1.42 [[ 9.99446646e-01 -3.28769448e-02 -5.05049630e-03 2.85968740e+02] [ 3.28778332e-02 9.99459374e-01 9.29656599e-05 1.40856390e+00] [ 5.04470944e-03 -2.58963592e-04 9.99987242e-01 1.41605946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:286.00, Y:1.41, Z:1.42 [[ 9.99250540e-01 -3.83777334e-02 -5.05048881e-03 2.86001352e+02] [ 3.83786939e-02 9.99263262e-01 9.33704802e-05 1.40648701e+00] [ 5.04318458e-03 -2.87131667e-04 9.99987242e-01 1.41818460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:286.03, Y:1.41, Z:1.42 [[ 9.99165244e-01 -4.05377294e-02 -5.05048097e-03 2.86034351e+02] [ 4.05387196e-02 9.99177964e-01 9.37929072e-05 1.40519854e+00] [ 5.04252714e-03 -2.98454645e-04 9.99987242e-01 1.41896036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:286.06, Y:1.40, Z:1.42 [[ 9.99142937e-01 -4.10838706e-02 -5.05046917e-03 2.86064169e+02] [ 4.10848708e-02 9.99155656e-01 9.44240393e-05 1.40378671e+00] [ 5.04232553e-03 -3.01840986e-04 9.99987242e-01 1.41637923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:286.10, Y:1.40, Z:1.42 [[ 9.99022558e-01 -4.39137449e-02 -5.05099945e-03 2.86098111e+02] [ 4.39146358e-02 9.99035285e-01 6.55476602e-05 1.40251517e+00] [ 5.04324823e-03 -2.87296392e-04 9.99987241e-01 1.41955747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:286.13, Y:1.40, Z:1.42 [[ 9.98899082e-01 -4.66381510e-02 -5.05046339e-03 2.86130389e+02] [ 4.66392212e-02 9.98911795e-01 9.42674198e-05 1.40237712e+00] [ 5.04057099e-03 -3.29713318e-04 9.99987242e-01 1.41990443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:286.16, Y:1.40, Z:1.42 [[ 9.98882340e-01 -4.69953633e-02 -5.05045524e-03 2.86161978e+02] [ 4.69964402e-02 9.98895052e-01 9.47021891e-05 1.40208227e+00] [ 5.04042419e-03 -3.31949762e-04 9.99987242e-01 1.41960572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:286.20, Y:1.40, Z:1.42 [[ 9.98998342e-01 -4.44612745e-02 -5.05043552e-03 2.86199441e+02] [ 4.44623244e-02 9.99011057e-01 9.57420787e-05 1.39778327e+00] [ 5.04118412e-03 -3.20200281e-04 9.99987242e-01 1.41801164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:286.22, Y:1.40, Z:1.42 [[ 9.98838080e-01 -4.79270199e-02 -5.04875987e-03 2.86224603e+02] [ 4.79285519e-02 9.98850750e-01 1.82815495e-04 1.40196870e+00] [ 5.03419578e-03 -4.24582828e-04 9.99987238e-01 1.41944910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:286.26, Y:1.40, Z:1.42 [[ 9.98866240e-01 -4.73363194e-02 -5.05041135e-03 2.86256696e+02] [ 4.73374034e-02 9.98878952e-01 9.52579824e-05 1.40242417e+00] [ 5.04024044e-03 -3.34223342e-04 9.99987242e-01 1.41942770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:286.29, Y:1.40, Z:1.42 [[ 9.98897355e-01 -4.66751212e-02 -5.05040162e-03 2.86290110e+02] [ 4.66761995e-02 9.98910068e-01 9.57712746e-05 1.40230035e+00] [ 5.04042689e-03 -3.31399226e-04 9.99987242e-01 1.41937393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:286.32, Y:1.40, Z:1.42 [[ 9.98932696e-01 -4.59125591e-02 -5.05038987e-03 2.86322896e+02] [ 4.59136307e-02 9.98945409e-01 9.63866470e-05 1.40246123e+00] [ 5.04063842e-03 -3.28165509e-04 9.99987242e-01 1.41937522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:286.35, Y:1.40, Z:1.42 [[ 9.99084966e-01 -4.24702808e-02 -5.05037777e-03 2.86354302e+02] [ 4.24713117e-02 9.99097682e-01 9.70166789e-05 1.40394020e+00] [ 5.04170040e-03 -3.11424074e-04 9.99987242e-01 1.41790906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:286.39, Y:1.40, Z:1.42 [[ 9.99187589e-01 -3.99831863e-02 -5.05037177e-03 2.86386637e+02] [ 3.99841872e-02 9.99200308e-01 9.73280859e-05 1.40470957e+00] [ 5.04244154e-03 -2.99184026e-04 9.99987242e-01 1.41767653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594391418 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:286.42, Y:1.40, Z:1.42 [[ 9.99395728e-01 -3.43899970e-02 -5.05036384e-03 2.86422251e+02] [ 3.43909287e-02 9.99408452e-01 9.77381105e-05 1.40199421e+00] [ 5.04401509e-03 -2.71365753e-04 9.99987242e-01 1.41625594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:286.45, Y:1.41, Z:1.42 [[ 9.99421457e-01 -3.36341671e-02 -5.04909334e-03 2.86449663e+02] [ 3.36354138e-02 9.99434156e-01 1.62172270e-04 1.40692150e+00] [ 5.04078181e-03 -3.31906790e-04 9.99987240e-01 1.41819006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:286.48, Y:1.41, Z:1.42 [[ 9.99656618e-01 -2.57126561e-02 -5.05033607e-03 2.86482047e+02] [ 2.57134805e-02 9.99669349e-01 9.83726472e-05 1.41021872e+00] [ 5.04613675e-03 -2.28200586e-04 9.99987242e-01 1.41929120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:286.51, Y:1.41, Z:1.42 [[ 9.99762273e-01 -2.12106584e-02 -5.05032805e-03 2.86513023e+02] [ 2.12114276e-02 9.99775007e-01 9.87824233e-05 1.41168787e+00] [ 5.04709653e-03 -2.05883608e-04 9.99987242e-01 1.42003046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:286.55, Y:1.41, Z:1.42 [[ 9.99856293e-01 -1.61829701e-02 -5.05032208e-03 2.86545680e+02] [ 1.61836768e-02 9.99869031e-01 9.90866615e-05 1.41292539e+00] [ 5.04805713e-03 -1.80805202e-04 9.99987242e-01 1.42159479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:286.58, Y:1.42, Z:1.42 [[ 9.99969997e-01 -5.87368642e-03 -5.05031390e-03 2.86576419e+02] [ 5.87426381e-03 9.99982741e-01 9.95020323e-05 1.41617982e+00] [ 5.04964230e-03 -1.29165923e-04 9.99987242e-01 1.42311301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:286.61, Y:1.42, Z:1.42 [[ 9.99986927e-01 -8.00612122e-04 -5.05030983e-03 2.86605470e+02] [ 8.01125893e-04 9.99999674e-01 9.97084052e-05 1.41725942e+00] [ 5.05022835e-03 -1.03753036e-04 9.99987242e-01 1.42364346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.804391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:286.63, Y:1.42, Z:1.42 [[ 9.99946477e-01 9.02986119e-03 -5.05030997e-03 2.86634230e+02] [-9.02947280e-03 9.99959229e-01 9.97013032e-05 1.41980676e+00] [ 5.05100435e-03 -5.40943304e-05 9.99987242e-01 1.42369886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:286.66, Y:1.42, Z:1.42 [[ 9.99902895e-01 1.29882843e-02 -5.05033728e-03 2.86661881e+02] [-1.29879535e-02 9.99915648e-01 9.82980980e-05 1.42083949e+00] [ 5.05118800e-03 -3.26950072e-05 9.99987242e-01 1.42393970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.864391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:286.69, Y:1.42, Z:1.42 [[ 9.99782195e-01 2.02498719e-02 -5.05036806e-03 2.86689917e+02] [-2.02496419e-02 9.99794950e-01 9.66900805e-05 1.42229614e+00] [ 5.05129045e-03 5.59912364e-06 9.99987242e-01 1.42368935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:286.72, Y:1.42, Z:1.42 [[ 9.99719509e-01 2.31386427e-02 -5.05039873e-03 2.86718285e+02] [-2.31384578e-02 9.99732266e-01 9.50606662e-05 1.42271389e+00] [ 5.05124614e-03 2.18244353e-05 9.99987242e-01 1.42357121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.924391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:286.75, Y:1.42, Z:1.42 [[ 9.99670840e-01 2.51536351e-02 -5.05041006e-03 2.86745659e+02] [-2.51534789e-02 9.99683597e-01 9.44548522e-05 1.42282721e+00] [ 5.05118798e-03 3.26116217e-05 9.99987242e-01 1.42359281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:286.77, Y:1.42, Z:1.42 [[ 9.99641583e-01 2.62906558e-02 -5.05042750e-03 2.86773721e+02] [-2.62905189e-02 9.99654340e-01 9.35129549e-05 1.42259251e+00] [ 5.05114029e-03 3.92989214e-05 9.99987242e-01 1.42345481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:286.80, Y:1.42, Z:1.42 [[ 9.99640747e-01 2.63224176e-02 -5.05043874e-03 2.86801494e+02] [-2.63222841e-02 9.99653504e-01 9.29021157e-05 1.42224225e+00] [ 5.05113419e-03 4.00703432e-05 9.99987242e-01 1.42328479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:286.83, Y:1.42, Z:1.42 [[ 9.99691388e-01 2.43232785e-02 -5.05044980e-03 2.86828673e+02] [-2.43231226e-02 9.99704145e-01 9.22968678e-05 1.42101937e+00] [ 5.05120056e-03 3.05743259e-05 9.99987242e-01 1.42383620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:286.86, Y:1.42, Z:1.43 [[ 9.99796736e-01 1.95187017e-02 -5.05046251e-03 2.86857411e+02] [-1.95184881e-02 9.99809492e-01 9.15961119e-05 1.41893533e+00] [ 5.05128819e-03 6.99989860e-06 9.99987242e-01 1.42521150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:286.89, Y:1.42, Z:1.43 [[ 9.99854101e-01 1.63177763e-02 -5.05046992e-03 2.86885832e+02] [-1.63175238e-02 9.99866856e-01 9.11857902e-05 1.41737447e+00] [ 5.05128543e-03 -8.76132297e-06 9.99987242e-01 1.42554251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:286.91, Y:1.42, Z:1.43 [[ 9.99899342e-01 1.32589171e-02 -5.05048089e-03 2.86912849e+02] [-1.32586288e-02 9.99912096e-01 9.05740037e-05 1.41563596e+00] [ 5.05123785e-03 -2.36024355e-05 9.99987242e-01 1.42578879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:286.94, Y:1.41, Z:1.43 [[ 9.99939979e-01 9.72272478e-03 -5.05049577e-03 2.86941056e+02] [-9.72239555e-03 9.99952732e-01 8.97363695e-05 1.41440165e+00] [ 5.05112953e-03 -4.06280659e-05 9.99987242e-01 1.42612948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:286.97, Y:1.41, Z:1.43 [[ 9.99980387e-01 3.70381690e-03 -5.05050651e-03 2.86970044e+02] [-3.70341398e-03 9.99993138e-01 8.91277552e-05 1.41166606e+00] [ 5.05080197e-03 -7.04218907e-05 9.99987242e-01 1.42687929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:287.00, Y:1.41, Z:1.43 [[ 9.99987094e-01 5.51142421e-04 -5.05051362e-03 2.86998007e+02] [-5.50701345e-04 9.99999844e-01 8.87232726e-05 1.40984248e+00] [ 5.05056173e-03 -8.59408029e-05 9.99987242e-01 1.42674175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:287.03, Y:1.41, Z:1.43 [[ 9.99983610e-01 -2.69670250e-03 -5.05052238e-03 2.87025562e+02] [ 2.69718246e-03 9.99996359e-01 8.82216982e-05 1.40801959e+00] [ 5.05026608e-03 -1.01842433e-04 9.99987242e-01 1.42635868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:287.05, Y:1.40, Z:1.43 [[ 9.99948979e-01 -8.74822585e-03 -5.05053101e-03 2.87054522e+02] [ 8.74878044e-03 9.99961725e-01 8.77246484e-05 1.40435381e+00] [ 5.04957027e-03 -1.31906160e-04 9.99987242e-01 1.42811075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:287.09, Y:1.40, Z:1.43 [[ 9.99919890e-01 -1.16062782e-02 -5.05053780e-03 2.87085415e+02] [ 1.16068672e-02 9.99932634e-01 8.73321709e-05 1.40211876e+00] [ 5.04918397e-03 -1.45946096e-04 9.99987242e-01 1.42882960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:287.12, Y:1.40, Z:1.43 [[ 9.99859277e-01 -1.59974435e-02 -5.05053780e-03 2.87115770e+02] [ 1.59980885e-02 9.99872019e-01 8.73321709e-05 1.39857468e+00] [ 5.04849433e-03 -1.68118832e-04 9.99987242e-01 1.42994301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:287.15, Y:1.40, Z:1.43 [[ 9.99831521e-01 -1.76471580e-02 -5.05053187e-03 2.87147578e+02] [ 1.76478258e-02 9.99844261e-01 8.76740327e-05 1.39665145e+00] [ 5.04819810e-03 -1.76790168e-04 9.99987242e-01 1.43056774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374391418 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:287.18, Y:1.39, Z:1.43 [[ 9.99818946e-01 -1.83457490e-02 -5.05052501e-03 2.87178398e+02] [ 1.83464276e-02 9.99831686e-01 8.80669618e-05 1.39448241e+00] [ 5.04805929e-03 -1.80710109e-04 9.99987242e-01 1.43076036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:287.21, Y:1.39, Z:1.43 [[ 9.99828539e-01 -1.78152917e-02 -5.05051989e-03 2.87210449e+02] [ 1.78159650e-02 9.99841279e-01 8.83599390e-05 1.39154504e+00] [ 5.04814411e-03 -1.78324674e-04 9.99987242e-01 1.43128483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:287.24, Y:1.39, Z:1.43 [[ 9.99849852e-01 -1.65760407e-02 -5.05051267e-03 2.87241435e+02] [ 1.65767003e-02 9.99862593e-01 8.87703660e-05 1.39013673e+00] [ 5.04834724e-03 -1.72477872e-04 9.99987242e-01 1.43081223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:287.27, Y:1.39, Z:1.43 [[ 9.99901871e-01 -1.30668139e-02 -5.05050906e-03 2.87272727e+02] [ 1.30674298e-02 9.99914614e-01 8.89753373e-05 1.38888588e+00] [ 5.04891519e-03 -1.54963779e-04 9.99987242e-01 1.42928973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:287.30, Y:1.39, Z:1.43 [[ 9.99925349e-01 -1.11260221e-02 -5.05049665e-03 2.87302621e+02] [ 1.11266168e-02 9.99938093e-01 8.96742348e-05 1.38825027e+00] [ 5.04918628e-03 -1.45862482e-04 9.99987242e-01 1.42900816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:287.33, Y:1.39, Z:1.43 [[ 9.99941024e-01 -9.61464543e-03 -5.05049499e-03 2.87334252e+02] [ 9.61522138e-03 9.99953769e-01 8.97680656e-05 1.38777376e+00] [ 5.04939841e-03 -1.38324399e-04 9.99987242e-01 1.42983183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.554391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:287.36, Y:1.39, Z:1.43 [[ 9.99961192e-01 -7.21849156e-03 -5.05049138e-03 2.87364736e+02] [ 7.21903799e-03 9.99973938e-01 8.99704294e-05 1.38709413e+00] [ 5.04971031e-03 -1.26426627e-04 9.99987242e-01 1.42958414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:287.39, Y:1.39, Z:1.43 [[ 9.99956210e-01 -7.87834883e-03 -5.05077354e-03 2.87394654e+02] [ 7.87882321e-03 9.99968959e-01 7.40314657e-05 1.38642839e+00] [ 5.05003351e-03 -1.13822376e-04 9.99987242e-01 1.42729775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.614391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:287.43, Y:1.39, Z:1.43 [[ 9.99952434e-01 -8.34401879e-03 -5.05050083e-03 2.87425171e+02] [ 8.34457685e-03 9.99965179e-01 8.94319991e-05 1.38586976e+00] [ 5.04957875e-03 -1.31572037e-04 9.99987242e-01 1.42717080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:287.45, Y:1.39, Z:1.42 [[ 9.99929515e-01 -1.07451301e-02 -5.05050083e-03 2.87454904e+02] [ 1.07457187e-02 9.99942259e-01 8.94319991e-05 1.38512405e+00] [ 5.04924825e-03 -1.43696957e-04 9.99987242e-01 1.42277942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.674391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:287.49, Y:1.39, Z:1.43 [[ 9.99903738e-01 -1.29231408e-02 -5.05050261e-03 2.87485319e+02] [ 1.29237567e-02 9.99916481e-01 8.93315469e-05 1.38534846e+00] [ 5.04892635e-03 -1.54594415e-04 9.99987242e-01 1.42583108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:287.52, Y:1.39, Z:1.43 [[ 9.99881172e-01 -1.45647295e-02 -5.05077590e-03 2.87516394e+02] [ 1.45652877e-02 9.99893918e-01 7.37528963e-05 1.38515586e+00] [ 5.04916591e-03 -1.47310137e-04 9.99987242e-01 1.42558506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:287.55, Y:1.38, Z:1.43 [[ 9.99844938e-01 -1.68697926e-02 -5.05079664e-03 2.87547679e+02] [ 1.68703742e-02 9.99857682e-01 7.25766600e-05 1.38461648e+00] [ 5.04885347e-03 -1.57774235e-04 9.99987242e-01 1.42516141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:287.58, Y:1.38, Z:1.43 [[ 9.99825999e-01 -1.79573111e-02 -5.05048783e-03 2.87579691e+02] [ 1.79579941e-02 9.99838738e-01 8.99209244e-05 1.38450034e+00] [ 5.04805864e-03 -1.80601909e-04 9.99987242e-01 1.42621665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794391418 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:287.61, Y:1.39, Z:1.43 [[ 9.99803841e-01 -1.91513198e-02 -5.05048058e-03 2.87610674e+02] [ 1.91520201e-02 9.99816579e-01 9.03263648e-05 1.38552990e+00] [ 5.04782435e-03 -1.87035552e-04 9.99987242e-01 1.42750867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:287.64, Y:1.39, Z:1.43 [[ 9.99804622e-01 -1.91104934e-02 -5.05047516e-03 2.87641856e+02] [ 1.91111947e-02 9.99817360e-01 9.06287189e-05 1.38569549e+00] [ 5.04782078e-03 -1.87131626e-04 9.99987242e-01 1.42833226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:287.67, Y:1.39, Z:1.43 [[ 9.99806102e-01 -1.90328746e-02 -5.05046983e-03 2.87673707e+02] [ 1.90335764e-02 9.99818841e-01 9.09247905e-05 1.38590677e+00] [ 5.04782433e-03 -1.87035664e-04 9.99987242e-01 1.43004112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:287.70, Y:1.39, Z:1.43 [[ 9.99812478e-01 -1.86949708e-02 -5.05046255e-03 2.87704697e+02] [ 1.86956703e-02 9.99825217e-01 9.13273328e-05 1.38678550e+00] [ 5.04787245e-03 -1.85731990e-04 9.99987242e-01 1.43158862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:287.74, Y:1.39, Z:1.43 [[ 9.99825264e-01 -1.79981681e-02 -5.05045705e-03 2.87735667e+02] [ 1.79988603e-02 9.99838003e-01 9.16300024e-05 1.38715004e+00] [ 5.04798972e-03 -1.82516462e-04 9.99987242e-01 1.43179787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:287.77, Y:1.39, Z:1.43 [[ 9.99859417e-01 -1.59887296e-02 -5.05045151e-03 2.87768291e+02] [ 1.59893977e-02 9.99872157e-01 9.19345344e-05 1.38811681e+00] [ 5.04833593e-03 -1.72675288e-04 9.99987242e-01 1.43436482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:287.80, Y:1.39, Z:1.43 [[ 9.99887929e-01 -1.40933651e-02 -5.05044410e-03 2.87799899e+02] [ 1.40940111e-02 9.99900670e-01 9.23399222e-05 1.38815813e+00] [ 5.04864106e-03 -1.63510589e-04 9.99987242e-01 1.43462532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:287.83, Y:1.39, Z:1.43 [[ 9.99916091e-01 -1.19291680e-02 -5.05043244e-03 2.87831730e+02] [ 1.19297896e-02 9.99928833e-01 9.29732195e-05 1.38819692e+00] [ 5.04896393e-03 -1.53216015e-04 9.99987242e-01 1.43455283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:287.86, Y:1.39, Z:1.43 [[ 9.99916558e-01 -1.18899251e-02 -5.05042878e-03 2.87863568e+02] [ 1.18905472e-02 9.99929301e-01 9.31715410e-05 1.38757030e+00] [ 5.04896392e-03 -1.53216128e-04 9.99987242e-01 1.43471363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:287.89, Y:1.39, Z:1.43 [[ 9.99963381e-01 -6.90870339e-03 -5.05042512e-03 2.87893865e+02] [ 6.90926302e-03 9.99976126e-01 9.33697486e-05 1.38831027e+00] [ 5.04965948e-03 -1.28261045e-04 9.99987242e-01 1.43422716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:287.92, Y:1.39, Z:1.44 [[ 9.99978686e-01 -4.13784375e-03 -5.05042330e-03 2.87924202e+02] [ 4.13836856e-03 9.99991433e-01 9.34679975e-05 1.38835878e+00] [ 5.04999327e-03 -1.14366518e-04 9.99987242e-01 1.43651611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:287.95, Y:1.39, Z:1.43 [[ 9.99985076e-01 -2.08381695e-03 -5.05028521e-03 2.87952306e+02] [ 2.08435358e-03 9.99997823e-01 1.00995987e-04 1.38981175e+00] [ 5.05006375e-03 -1.11521059e-04 9.99987242e-01 1.43477157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154391418 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:287.98, Y:1.39, Z:1.43 [[ 9.99987092e-01 5.56422742e-04 -5.05044897e-03 2.87980512e+02] [-5.55965157e-04 9.99999841e-01 9.20064027e-05 1.39037520e+00] [ 5.05049937e-03 -8.91973414e-05 9.99987242e-01 1.43387245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:288.01, Y:1.39, Z:1.44 [[ 9.99975494e-01 4.84822495e-03 -5.05045421e-03 2.88007899e+02] [-4.84782354e-03 9.99988245e-01 9.17181886e-05 1.39212536e+00] [ 5.05083951e-03 -6.72322301e-05 9.99987242e-01 1.43605726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:288.04, Y:1.39, Z:1.44 [[ 9.99974217e-01 5.10443395e-03 -5.05075580e-03 2.88037786e+02] [-5.10412040e-03 9.99986971e-01 7.49670726e-05 1.39235121e+00] [ 5.05107266e-03 -4.91854740e-05 9.99987242e-01 1.43525268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:288.07, Y:1.39, Z:1.43 [[ 9.99975248e-01 4.89850770e-03 -5.05046025e-03 2.88065203e+02] [-4.89810898e-03 9.99988000e-01 9.13136259e-05 1.39240821e+00] [ 5.05084695e-03 -6.65736610e-05 9.99987242e-01 1.43262638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274391418 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:288.09, Y:1.39, Z:1.43 [[ 9.99980835e-01 3.58071050e-03 -5.05046994e-03 2.88094229e+02] [-3.58029769e-03 9.99993587e-01 9.07745477e-05 1.39180327e+00] [ 5.05076259e-03 -7.26906222e-05 9.99987242e-01 1.43367477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.304391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:288.12, Y:1.39, Z:1.43 [[ 9.99985596e-01 1.81669946e-03 -5.05047714e-03 2.88123196e+02] [-1.81626619e-03 9.99998347e-01 9.03721502e-05 1.39124168e+00] [ 5.05063297e-03 -8.11978376e-05 9.99987242e-01 1.43349330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:288.15, Y:1.39, Z:1.43 [[ 9.99986202e-01 -1.44497888e-03 -5.05048428e-03 2.88150729e+02] [ 1.44545171e-03 9.99998951e-01 8.99717231e-05 1.39010467e+00] [ 5.05034897e-03 -9.72707129e-05 9.99987242e-01 1.43338445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.364391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:288.18, Y:1.39, Z:1.43 [[ 9.99972681e-01 -5.39667205e-03 -5.05096397e-03 2.88181859e+02] [ 5.39705762e-03 9.99985434e-01 6.27083046e-05 1.38983513e+00] [ 5.05055198e-03 -8.99669351e-05 9.99987242e-01 1.43447998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394391418 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:288.21, Y:1.39, Z:1.43 [[ 9.99952982e-01 -8.27810039e-03 -5.05048270e-03 2.88211224e+02] [ 8.27865937e-03 9.99965727e-01 8.97814722e-05 1.38916560e+00] [ 5.04956639e-03 -1.31588477e-04 9.99987242e-01 1.43451388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.424391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:288.24, Y:1.39, Z:1.43 [[ 9.99926746e-01 -1.09997813e-02 -5.05048447e-03 2.88240865e+02] [ 1.10003745e-02 9.99939490e-01 8.96817778e-05 1.38828845e+00] [ 5.04919239e-03 -1.45232429e-04 9.99987242e-01 1.43280442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:288.27, Y:1.39, Z:1.44 [[ 9.99843489e-01 -1.69555371e-02 -5.05048413e-03 2.88271787e+02] [ 1.69562062e-02 9.99856229e-01 8.97011470e-05 1.38648757e+00] [ 5.04823708e-03 -1.75324158e-04 9.99987242e-01 1.43719207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:288.30, Y:1.38, Z:1.44 [[ 9.99794151e-01 -1.96506607e-02 -5.05048042e-03 2.88303054e+02] [ 1.96513652e-02 9.99806889e-01 8.99094703e-05 1.38497272e+00] [ 5.04773834e-03 -1.89139798e-04 9.99987242e-01 1.43725182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:288.33, Y:1.38, Z:1.44 [[ 9.99701101e-01 -2.39207343e-02 -5.05047484e-03 2.88334883e+02] [ 2.39214949e-02 9.99713836e-01 9.02215236e-05 1.38347928e+00] [ 5.04687142e-03 -2.11009465e-04 9.99987242e-01 1.43882945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:288.37, Y:1.38, Z:1.44 [[ 9.99668830e-01 -2.52333773e-02 -5.05046746e-03 2.88366574e+02] [ 2.52341567e-02 9.99681564e-01 9.06327810e-05 1.38282734e+00] [ 5.04657224e-03 -2.18047053e-04 9.99987242e-01 1.43980931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:288.40, Y:1.38, Z:1.44 [[ 9.99661689e-01 -2.55147097e-02 -5.05046183e-03 2.88398957e+02] [ 2.55154942e-02 9.99674423e-01 9.09456269e-05 1.38201538e+00] [ 5.04649706e-03 -2.19779889e-04 9.99987242e-01 1.44066645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:288.43, Y:1.38, Z:1.44 [[ 9.99672141e-01 -2.51018475e-02 -5.05045428e-03 2.88430319e+02] [ 2.51026289e-02 9.99684875e-01 9.13627741e-05 1.38131783e+00] [ 5.04656939e-03 -2.18112499e-04 9.99987242e-01 1.44079992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:288.46, Y:1.38, Z:1.44 [[ 9.99696780e-01 -2.41006552e-02 -5.05044865e-03 2.88462974e+02] [ 2.41014254e-02 9.99709514e-01 9.16732110e-05 1.38087604e+00] [ 5.04677218e-03 -2.13368425e-04 9.99987242e-01 1.44089011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:288.49, Y:1.38, Z:1.44 [[ 9.99759625e-01 -2.13350819e-02 -5.05044123e-03 2.88494733e+02] [ 2.13358188e-02 9.99772361e-01 9.20798953e-05 1.38076679e+00] [ 5.04732703e-03 -1.99813061e-04 9.99987242e-01 1.44106422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:288.53, Y:1.38, Z:1.44 [[ 9.99794380e-01 -1.96390035e-02 -5.05043384e-03 2.88527091e+02] [ 1.96397209e-02 9.99807118e-01 9.24836154e-05 1.38063531e+00] [ 5.04764342e-03 -1.91653710e-04 9.99987242e-01 1.44129459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:288.56, Y:1.38, Z:1.44 [[ 9.99825416e-01 -1.79897340e-02 -5.05042645e-03 2.88559211e+02] [ 1.79904324e-02 9.99838155e-01 9.28854941e-05 1.38066570e+00] [ 5.04793808e-03 -1.83728633e-04 9.99987242e-01 1.44110288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754391418 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:288.59, Y:1.38, Z:1.44 [[ 9.99904670e-01 -1.28508226e-02 -5.05041909e-03 2.88592833e+02] [ 1.28514575e-02 9.99917412e-01 9.32837408e-05 1.37876318e+00] [ 5.04880322e-03 -1.58180095e-04 9.99987242e-01 1.43903558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:288.62, Y:1.38, Z:1.44 [[ 9.99895130e-01 -1.35731575e-02 -5.04967796e-03 2.88620818e+02] [ 1.35740023e-02 9.99907860e-01 1.33048832e-04 1.38146794e+00] [ 5.04740679e-03 -2.01579219e-04 9.99987241e-01 1.43874915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:288.65, Y:1.38, Z:1.44 [[ 9.99953978e-01 -8.15696633e-03 -5.05041375e-03 2.88653136e+02] [ 8.15754081e-03 9.99966722e-01 9.31607260e-05 1.37774618e+00] [ 5.04948578e-03 -1.34355395e-04 9.99987242e-01 1.43624325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:288.68, Y:1.38, Z:1.44 [[ 9.99930461e-01 -1.06573559e-02 -5.04920705e-03 2.88679282e+02] [ 1.06582908e-02 9.99943186e-01 1.58271328e-04 1.38160616e+00] [ 5.04723343e-03 -2.12076239e-04 9.99987240e-01 1.43769719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:288.71, Y:1.38, Z:1.44 [[ 9.99938582e-01 -9.86541841e-03 -5.05041780e-03 2.88710194e+02] [ 9.86600522e-03 9.99951326e-01 9.12895916e-05 1.38147541e+00] [ 5.04927136e-03 -1.41111433e-04 9.99987242e-01 1.43751264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:288.74, Y:1.38, Z:1.44 [[ 9.99973334e-01 -5.27492028e-03 -5.05041435e-03 2.88744034e+02] [ 5.27544955e-03 9.99986081e-01 9.14798984e-05 1.37612257e+00] [ 5.04986150e-03 -1.18120665e-04 9.99987242e-01 1.43583806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:288.77, Y:1.38, Z:1.44 [[ 9.99940435e-01 -9.67661569e-03 -5.04879500e-03 2.88769132e+02] [ 9.67764769e-03 9.99953154e-01 1.80015848e-04 1.38203011e+00] [ 5.04681654e-03 -2.28865585e-04 9.99987239e-01 1.43967321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:288.80, Y:1.38, Z:1.44 [[ 9.99937713e-01 -9.95307523e-03 -5.05039909e-03 2.88799396e+02] [ 9.95365424e-03 9.99950457e-01 8.95236382e-05 1.38179319e+00] [ 5.04925785e-03 -1.39787988e-04 9.99987243e-01 1.44013296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:288.83, Y:1.38, Z:1.44 [[ 9.99917975e-01 -1.17701351e-02 -5.05039909e-03 2.88829740e+02] [ 1.17707373e-02 9.99930718e-01 8.95236382e-05 1.38155858e+00] [ 5.04899549e-03 -1.48963216e-04 9.99987243e-01 1.43896096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:288.86, Y:1.38, Z:1.44 [[ 9.99897374e-01 -1.34065223e-02 -5.05039726e-03 2.88861261e+02] [ 1.34071459e-02 9.99910116e-01 8.96267925e-05 1.38100026e+00] [ 5.04874173e-03 -1.57329007e-04 9.99987243e-01 1.43985524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.054391418 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:288.89, Y:1.38, Z:1.44 [[ 9.99863890e-01 -1.57065119e-02 -5.05039375e-03 2.88893024e+02] [ 1.57071658e-02 9.99876631e-01 8.98243153e-05 1.38044613e+00] [ 5.04835986e-03 -1.69139461e-04 9.99987243e-01 1.44067244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:288.93, Y:1.38, Z:1.44 [[ 9.99764073e-01 -2.11256045e-02 -5.05038651e-03 2.88925540e+02] [ 2.11263294e-02 9.99776810e-01 9.02295080e-05 1.37958090e+00] [ 5.04735316e-03 -1.96904350e-04 9.99987243e-01 1.44131662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.114391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:288.96, Y:1.38, Z:1.44 [[ 9.99697117e-01 -2.40866703e-02 -5.05037924e-03 2.88956647e+02] [ 2.40874350e-02 9.99709852e-01 9.06345098e-05 1.37904766e+00] [ 5.04673080e-03 -2.12257740e-04 9.99987243e-01 1.44161179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:288.99, Y:1.38, Z:1.44 [[ 9.99616527e-01 -2.72266932e-02 -5.05037380e-03 2.88987882e+02] [ 2.72274995e-02 9.99629259e-01 9.09365761e-05 1.37861913e+00] [ 5.04602552e-03 -2.28410754e-04 9.99987243e-01 1.44181910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.174391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:289.02, Y:1.38, Z:1.44 [[ 9.99457241e-01 -3.25532978e-02 -5.05036840e-03 2.89020607e+02] [ 3.25541734e-02 9.99469968e-01 9.12354554e-05 1.37852568e+00] [ 5.04472153e-03 -2.55596505e-04 9.99987243e-01 1.44286731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:289.05, Y:1.38, Z:1.44 [[ 9.99386217e-01 -3.46653140e-02 -5.05035721e-03 2.89052732e+02] [ 3.46662195e-02 9.99398942e-01 9.18509058e-05 1.37813862e+00] [ 5.04413761e-03 -2.66871321e-04 9.99987243e-01 1.44262654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:289.09, Y:1.38, Z:1.44 [[ 9.99264336e-01 -3.80168435e-02 -5.05033902e-03 2.89085269e+02] [ 3.80177967e-02 9.99277058e-01 9.28405874e-05 1.37839731e+00] [ 5.04315841e-03 -2.84775050e-04 9.99987243e-01 1.44382231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:289.12, Y:1.38, Z:1.44 [[ 9.99223490e-01 -3.90757196e-02 -5.05033137e-03 2.89117291e+02] [ 3.90766884e-02 9.99236210e-01 9.32546587e-05 1.37853616e+00] [ 5.04282999e-03 -2.90532471e-04 9.99987243e-01 1.44387360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:289.15, Y:1.38, Z:1.44 [[ 9.99210732e-01 -3.94006095e-02 -5.05032179e-03 2.89150265e+02] [ 3.94015850e-02 9.99223452e-01 9.37708344e-05 1.37835987e+00] [ 5.04270534e-03 -2.92687507e-04 9.99987243e-01 1.44409597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:289.18, Y:1.38, Z:1.44 [[ 9.99209434e-01 -3.94334935e-02 -5.05031045e-03 2.89183221e+02] [ 3.94344725e-02 9.99222154e-01 9.43775201e-05 1.37851431e+00] [ 5.04266045e-03 -2.93459237e-04 9.99987243e-01 1.44464100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:289.22, Y:1.38, Z:1.45 [[ 9.99253275e-01 -3.83064876e-02 -5.05029883e-03 2.89216733e+02] [ 3.83074554e-02 9.99265996e-01 9.49954653e-05 1.37977085e+00] [ 5.04295294e-03 -2.88388627e-04 9.99987243e-01 1.44546239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384391418 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:289.25, Y:1.38, Z:1.45 [[ 9.99295927e-01 -3.71772032e-02 -5.05028716e-03 2.89250037e+02] [ 3.71781597e-02 9.99308649e-01 9.56118635e-05 1.37995498e+00] [ 5.04324105e-03 -2.83304928e-04 9.99987243e-01 1.44585912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:289.28, Y:1.38, Z:1.45 [[ 9.99337551e-01 -3.60409985e-02 -5.05027526e-03 2.89282004e+02] [ 3.60419437e-02 9.99350273e-01 9.62359354e-05 1.37982468e+00] [ 5.04352553e-03 -2.78193921e-04 9.99987243e-01 1.44559943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:289.31, Y:1.38, Z:1.44 [[ 9.99436380e-01 -3.31876156e-02 -5.05026538e-03 2.89312992e+02] [ 3.31885270e-02 9.99449104e-01 9.67521053e-05 1.38057760e+00] [ 5.04427224e-03 -2.64308443e-04 9.99987243e-01 1.44492630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:289.35, Y:1.38, Z:1.45 [[ 9.99496179e-01 -3.13350011e-02 -5.05025961e-03 2.89346420e+02] [ 3.13358904e-02 9.99508906e-01 9.70521965e-05 1.38086463e+00] [ 5.04473832e-03 -2.55257681e-04 9.99987243e-01 1.44553515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:289.38, Y:1.38, Z:1.45 [[ 9.99561854e-01 -2.91649596e-02 -5.05024763e-03 2.89378066e+02] [ 2.91658245e-02 9.99574582e-01 9.76713940e-05 1.38120222e+00] [ 5.04525059e-03 -2.44923236e-04 9.99987243e-01 1.44502894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:289.41, Y:1.38, Z:1.45 [[ 9.99704585e-01 -2.37747252e-02 -5.05024170e-03 2.89409068e+02] [ 2.37755229e-02 9.99717318e-01 9.79771782e-05 1.38316451e+00] [ 5.04648471e-03 -2.18020372e-04 9.99987243e-01 1.44515824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:289.44, Y:1.38, Z:1.45 [[ 9.99772977e-01 -2.06999716e-02 -5.05022884e-03 2.89441508e+02] [ 2.07007335e-02 9.99785712e-01 9.86358753e-05 1.38393405e+00] [ 5.04710487e-03 -2.03156924e-04 9.99987243e-01 1.44557346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:289.47, Y:1.39, Z:1.45 [[ 9.99889649e-01 -1.39708622e-02 -5.05022104e-03 2.89472260e+02] [ 1.39715404e-02 9.99902388e-01 9.90335075e-05 1.38618144e+00] [ 5.04834450e-03 -1.69581946e-04 9.99987243e-01 1.44580634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:289.50, Y:1.39, Z:1.45 [[ 9.99933021e-01 -1.04138895e-02 -5.05021522e-03 2.89503491e+02] [ 1.04145238e-02 9.99945762e-01 9.93292578e-05 1.38697311e+00] [ 5.04890691e-03 -1.51918192e-04 9.99987243e-01 1.44611536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:289.53, Y:1.39, Z:1.45 [[ 9.99963234e-01 -6.93010965e-03 -5.05021136e-03 2.89534570e+02] [ 6.93070061e-03 9.99975977e-01 9.95250186e-05 1.38762211e+00] [ 5.04940033e-03 -1.34522862e-04 9.99987243e-01 1.44635367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:289.56, Y:1.39, Z:1.45 [[ 9.99987009e-01 -6.91408998e-04 -5.05020752e-03 2.89564466e+02] [ 6.91921423e-04 9.99999756e-01 9.97196267e-05 1.38971111e+00] [ 5.05013734e-03 -1.03212678e-04 9.99987243e-01 1.44632103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:289.59, Y:1.39, Z:1.45 [[ 9.99984867e-01 2.18202517e-03 -5.05020701e-03 2.89591889e+02] [-2.18154925e-03 9.99997615e-01 9.97454623e-05 1.39054469e+00] [ 5.05041262e-03 -8.87266775e-05 9.99987243e-01 1.44668492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:289.62, Y:1.39, Z:1.45 [[ 9.99959760e-01 7.41445496e-03 -5.05022107e-03 2.89619665e+02] [-7.41404937e-03 9.99972511e-01 9.90283271e-05 1.39231472e+00] [ 5.05081649e-03 -6.15817538e-05 9.99987243e-01 1.44637695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:289.65, Y:1.39, Z:1.45 [[ 9.99936318e-01 1.00922845e-02 -5.05025026e-03 2.89647043e+02] [-1.00919207e-02 9.99949071e-01 9.75168585e-05 1.39268853e+00] [ 5.05097722e-03 -4.65439235e-05 9.99987243e-01 1.44641334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.804391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:289.67, Y:1.39, Z:1.45 [[ 9.99911048e-01 1.23446845e-02 -5.05025923e-03 2.89674935e+02] [-1.23443518e-02 9.99923801e-01 9.70500221e-05 1.39299724e+00] [ 5.05107246e-03 -3.46992129e-05 9.99987243e-01 1.44675936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:289.70, Y:1.39, Z:1.45 [[ 9.99869819e-01 1.53244897e-02 -5.05026986e-03 2.89702133e+02] [-1.53241978e-02 9.99882573e-01 9.64937652e-05 1.39335211e+00] [ 5.05115554e-03 -1.90898692e-05 9.99987243e-01 1.44693090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.864391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:289.73, Y:1.39, Z:1.45 [[ 9.99857923e-01 1.60819437e-02 -5.05028529e-03 2.89730352e+02] [-1.60816656e-02 9.99870677e-01 9.56793714e-05 1.39317389e+00] [ 5.05117088e-03 -1.44487785e-05 9.99987243e-01 1.44860466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:289.76, Y:1.39, Z:1.45 [[ 9.99846807e-01 1.67587853e-02 -5.05029648e-03 2.89757214e+02] [-1.67585188e-02 9.99859562e-01 9.50850910e-05 1.39261598e+00] [ 5.05118073e-03 -1.04350362e-05 9.99987243e-01 1.44739879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.924391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:289.79, Y:1.39, Z:1.45 [[ 9.99833428e-01 1.75388237e-02 -5.05030932e-03 2.89787470e+02] [-1.75385706e-02 9.99846183e-01 9.43978850e-05 1.39144570e+00] [ 5.05118813e-03 -5.80695426e-06 9.99987243e-01 1.44952522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:289.82, Y:1.39, Z:1.45 [[ 9.99837017e-01 1.73331806e-02 -5.04986836e-03 2.89815895e+02] [-1.73328055e-02 9.99849769e-01 1.18055012e-04 1.39111952e+00] [ 5.05115598e-03 -3.05073850e-05 9.99987242e-01 1.44966091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:289.84, Y:1.39, Z:1.45 [[ 9.99866359e-01 1.55487065e-02 -5.04994515e-03 2.89843676e+02] [-1.55483300e-02 9.99879111e-01 1.13819659e-04 1.39014916e+00] [ 5.05110441e-03 -3.52862350e-05 9.99987242e-01 1.45015233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:289.87, Y:1.39, Z:1.45 [[ 9.99888864e-01 1.40270079e-02 -5.05011871e-03 2.89873144e+02] [-1.40266608e-02 9.99901616e-01 1.04134634e-04 1.38797952e+00] [ 5.05108255e-03 -3.32867581e-05 9.99987243e-01 1.45078144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:289.90, Y:1.39, Z:1.45 [[ 9.99936654e-01 1.00592467e-02 -5.04964211e-03 2.89899539e+02] [-1.00587123e-02 9.99949401e-01 1.31219946e-04 1.38659693e+00] [ 5.05070657e-03 -8.04187365e-05 9.99987242e-01 1.44798171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:289.93, Y:1.38, Z:1.45 [[ 9.99932666e-01 1.04478827e-02 -5.05035500e-03 2.89927525e+02] [-1.04475624e-02 9.99945419e-01 8.98074778e-05 1.38349363e+00] [ 5.05101764e-03 -3.70375318e-05 9.99987243e-01 1.45043663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:289.96, Y:1.38, Z:1.45 [[ 9.99979622e-01 3.90501121e-03 -5.05033195e-03 2.89955062e+02] [-3.90460059e-03 9.99992373e-01 9.11641218e-05 1.38258184e+00] [ 5.05064943e-03 -7.14427350e-05 9.99987243e-01 1.44822174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:289.98, Y:1.38, Z:1.45 [[ 9.99986567e-01 1.16552413e-03 -5.05048965e-03 2.89982587e+02] [-1.16512597e-03 9.99999318e-01 8.17776948e-05 1.38072620e+00] [ 5.05058152e-03 -7.58921396e-05 9.99987243e-01 1.44805190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:290.01, Y:1.38, Z:1.45 [[ 9.99987198e-01 -3.12227560e-04 -5.05047867e-03 2.90010911e+02] [ 3.12647881e-04 9.99999948e-01 8.24347230e-05 1.37884430e+00] [ 5.05045267e-03 -8.40126891e-05 9.99987243e-01 1.44895642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:290.04, Y:1.37, Z:1.45 [[ 9.99980598e-01 -3.64645965e-03 -5.05043691e-03 2.90041035e+02] [ 3.64693522e-03 9.99993346e-01 8.49580725e-05 1.37478819e+00] [ 5.05009351e-03 -1.03375040e-04 9.99987243e-01 1.44993355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:290.07, Y:1.38, Z:1.45 [[ 9.99955929e-01 -7.91443719e-03 -5.04989417e-03 2.90069254e+02] [ 7.91513769e-03 9.99968668e-01 1.18745180e-04 1.37501884e+00] [ 5.04879615e-03 -1.58710554e-04 9.99987242e-01 1.44759760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:290.10, Y:1.37, Z:1.45 [[ 9.99923143e-01 -1.13226246e-02 -5.05046640e-03 2.90099167e+02] [ 1.13231887e-02 9.99935887e-01 8.31127979e-05 1.37240885e+00] [ 5.04920155e-03 -1.40293794e-04 9.99987243e-01 1.44715100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:290.13, Y:1.37, Z:1.45 [[ 9.99918326e-01 -1.17403252e-02 -5.05030618e-03 2.90129968e+02] [ 1.17409450e-02 9.99931068e-01 9.30863667e-05 1.37074923e+00] [ 5.04886519e-03 -1.52374131e-04 9.99987243e-01 1.44950275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:290.16, Y:1.37, Z:1.45 [[ 9.99917541e-01 -1.18069669e-02 -5.05049569e-03 2.90161059e+02] [ 1.18075281e-02 9.99930285e-01 8.13157908e-05 1.36900570e+00] [ 5.04918350e-03 -1.40942955e-04 9.99987243e-01 1.45192620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:290.19, Y:1.37, Z:1.45 [[ 9.99912089e-01 -1.22599552e-02 -5.05049044e-03 2.90191409e+02] [ 1.22605238e-02 9.99924834e-01 8.16407821e-05 1.36709666e+00] [ 5.04910990e-03 -1.43555263e-04 9.99987243e-01 1.45165761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:290.22, Y:1.36, Z:1.45 [[ 9.99885095e-01 -1.42930047e-02 -5.05049730e-03 2.90222138e+02] [ 1.42935971e-02 9.99897838e-01 8.12177339e-05 1.36451899e+00] [ 5.04882048e-03 -1.53398175e-04 9.99987243e-01 1.45087826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:290.25, Y:1.36, Z:1.45 [[ 9.99868182e-01 -1.54308254e-02 -5.05048128e-03 2.90254617e+02] [ 1.54314372e-02 9.99880925e-01 8.22016958e-05 1.36312010e+00] [ 5.04861146e-03 -1.60127045e-04 9.99987243e-01 1.45194916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:290.29, Y:1.36, Z:1.45 [[ 9.99849183e-01 -1.66163754e-02 -5.05047459e-03 2.90286833e+02] [ 1.66170044e-02 9.99861925e-01 8.26110438e-05 1.36175051e+00] [ 5.04840455e-03 -1.66522343e-04 9.99987243e-01 1.45218926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:290.32, Y:1.36, Z:1.45 [[ 9.99766205e-01 -2.10244689e-02 -5.05046782e-03 2.90318365e+02] [ 2.10251562e-02 9.99778944e-01 8.30225487e-05 1.36007344e+00] [ 5.04760588e-03 -1.89190013e-04 9.99987243e-01 1.45026910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:290.35, Y:1.36, Z:1.45 [[ 9.99742603e-01 -2.21184834e-02 -5.04975684e-03 2.90347419e+02] [ 2.21193958e-02 9.99755328e-01 1.24883017e-04 1.35729828e+00] [ 5.04575908e-03 -2.36548443e-04 9.99987242e-01 1.45003038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:290.38, Y:1.35, Z:1.45 [[ 9.99643112e-01 -2.62324628e-02 -5.05042730e-03 2.90379850e+02] [ 2.62332268e-02 9.99655846e-01 8.50879396e-05 1.35441496e+00] [ 5.04645710e-03 -2.17546578e-04 9.99987243e-01 1.44980965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.554391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:290.41, Y:1.35, Z:1.45 [[ 9.99589862e-01 -2.81886673e-02 -5.05042047e-03 2.90411344e+02] [ 2.81894583e-02 9.99602595e-01 8.54910432e-05 1.35279512e+00] [ 5.04600353e-03 -2.27824597e-04 9.99987243e-01 1.44929927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:290.44, Y:1.35, Z:1.45 [[ 9.99535741e-01 -3.00465649e-02 -5.05041537e-03 2.90443021e+02] [ 3.00473811e-02 9.99548472e-01 8.57911437e-05 1.35126282e+00] [ 5.04555724e-03 -2.37503070e-04 9.99987243e-01 1.44954333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.614391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:290.48, Y:1.35, Z:1.45 [[ 9.99441089e-01 -3.30454558e-02 -5.05040843e-03 2.90475029e+02] [ 3.30463123e-02 9.99453818e-01 8.61982095e-05 1.34936968e+00] [ 5.04480152e-03 -2.53047406e-04 9.99987243e-01 1.44896289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:290.51, Y:1.35, Z:1.45 [[ 9.99410121e-01 -3.39691414e-02 -5.05039970e-03 2.90507649e+02] [ 3.39700121e-02 9.99422849e-01 8.67064569e-05 1.34807039e+00] [ 5.04453951e-03 -2.58217450e-04 9.99987243e-01 1.44927954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.674391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:290.54, Y:1.35, Z:1.45 [[ 9.99385411e-01 -3.46885281e-02 -5.05039283e-03 2.90539521e+02] [ 3.46894101e-02 9.99398138e-01 8.71051177e-05 1.34675784e+00] [ 5.04433163e-03 -2.62246732e-04 9.99987243e-01 1.44906757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:290.57, Y:1.35, Z:1.45 [[ 9.99364007e-01 -3.52997816e-02 -5.05038579e-03 2.90572031e+02] [ 3.53006733e-02 9.99376733e-01 8.75113645e-05 1.34578777e+00] [ 5.04414892e-03 -2.65737727e-04 9.99987243e-01 1.44817129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:290.60, Y:1.35, Z:1.45 [[ 9.99360921e-01 -3.53870541e-02 -5.05037877e-03 2.90604706e+02] [ 3.53879490e-02 9.99373647e-01 8.79145138e-05 1.34523395e+00] [ 5.04410441e-03 -2.66580876e-04 9.99987243e-01 1.44688654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764391418 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:290.64, Y:1.35, Z:1.44 [[ 9.99363505e-01 -3.53140136e-02 -5.05037003e-03 2.90636907e+02] [ 3.53149100e-02 9.99376230e-01 8.84138089e-05 1.34569357e+00] [ 5.04409751e-03 -2.66710897e-04 9.99987243e-01 1.44345285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:290.67, Y:1.35, Z:1.45 [[ 9.99430092e-01 -3.33764224e-02 -5.05026296e-03 2.90667949e+02] [ 3.33773247e-02 9.99442817e-01 9.44671666e-05 1.34622538e+00] [ 5.04429607e-03 -2.62977596e-04 9.99987243e-01 1.44844497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:290.70, Y:1.35, Z:1.45 [[ 9.99460900e-01 -3.24407750e-02 -5.05034040e-03 2.90700410e+02] [ 3.24416435e-02 9.99473627e-01 9.01277413e-05 1.34610756e+00] [ 5.04475823e-03 -2.53920496e-04 9.99987243e-01 1.44972444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854391418 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:290.73, Y:1.35, Z:1.45 [[ 9.99547696e-01 -2.96462135e-02 -5.05033339e-03 2.90731745e+02] [ 2.96470484e-02 9.99560426e-01 9.05191356e-05 1.34577630e+00] [ 5.04542984e-03 -2.40205672e-04 9.99987243e-01 1.45105451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:290.77, Y:1.35, Z:1.45 [[ 9.99578171e-01 -2.86002452e-02 -5.05032255e-03 2.90765448e+02] [ 2.86010698e-02 9.99590902e-01 9.11196181e-05 1.34596629e+00] [ 5.04565043e-03 -2.35525809e-04 9.99987243e-01 1.45058988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:290.80, Y:1.35, Z:1.45 [[ 9.99647090e-01 -2.60805009e-02 -5.05000249e-03 2.90797007e+02] [ 2.60813823e-02 9.99659817e-01 1.08737028e-04 1.34625362e+00] [ 5.04544865e-03 -2.40409699e-04 9.99987243e-01 1.45295651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:290.83, Y:1.35, Z:1.45 [[ 9.99692840e-01 -2.42635339e-02 -5.05031617e-03 2.90829307e+02] [ 2.42643047e-02 9.99705574e-01 9.14056314e-05 1.34689235e+00] [ 5.04661141e-03 -2.13919966e-04 9.99987243e-01 1.45362930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974391418 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:290.86, Y:1.35, Z:1.45 [[ 9.99771678e-01 -2.07626019e-02 -5.05030913e-03 2.90861495e+02] [ 2.07633301e-02 9.99784415e-01 9.17933585e-05 1.34889479e+00] [ 5.04731448e-03 -1.96633635e-04 9.99987243e-01 1.45086746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:290.89, Y:1.35, Z:1.45 [[ 9.99824025e-01 -1.80669708e-02 -5.05011161e-03 2.90891519e+02] [ 1.80677189e-02 9.99836760e-01 1.02548549e-04 1.34828036e+00] [ 5.04743449e-03 -1.93774500e-04 9.99987243e-01 1.45208124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:290.92, Y:1.35, Z:1.45 [[ 9.99876997e-01 -1.48487428e-02 -5.05028736e-03 2.90922662e+02] [ 1.48494018e-02 9.99889737e-01 9.30046287e-05 1.34829723e+00] [ 5.04834950e-03 -1.67986935e-04 9.99987243e-01 1.45035990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:290.95, Y:1.35, Z:1.45 [[ 9.99898148e-01 -1.33487061e-02 -5.05028214e-03 2.90953707e+02] [ 1.33493473e-02 9.99910889e-01 9.32873143e-05 1.34782168e+00] [ 5.04858684e-03 -1.60695783e-04 9.99987243e-01 1.45077606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:290.99, Y:1.35, Z:1.45 [[ 9.99918134e-01 -1.17567274e-02 -5.05027847e-03 2.90985555e+02] [ 1.17573493e-02 9.99930876e-01 9.34855162e-05 1.34759355e+00] [ 5.04883029e-03 -1.52855751e-04 9.99987243e-01 1.45029893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:291.02, Y:1.35, Z:1.45 [[ 9.99947761e-01 -8.88654233e-03 -5.05027105e-03 2.91017439e+02] [ 8.88712975e-03 9.99960504e-01 9.38849543e-05 1.34937316e+00] [ 5.04923727e-03 -1.38762464e-04 9.99987243e-01 1.44980466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:291.04, Y:1.36, Z:1.45 [[ 9.99941119e-01 -9.60485993e-03 -5.05026541e-03 2.91043930e+02] [ 9.60545803e-03 9.99953862e-01 9.41873274e-05 1.35505040e+00] [ 5.04912774e-03 -1.42691894e-04 9.99987243e-01 1.44850647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:291.08, Y:1.35, Z:1.45 [[ 9.99975581e-01 -4.82880872e-03 -5.05166307e-03 2.91077153e+02] [ 4.82895794e-03 9.99988340e-01 1.73422637e-05 1.35138420e+00] [ 5.05152042e-03 -4.17361087e-05 9.99987240e-01 1.44974361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:291.11, Y:1.35, Z:1.45 [[ 9.99986943e-01 7.80145437e-04 -5.05022560e-03 2.91106494e+02] [-7.79679067e-04 9.99999692e-01 9.43144766e-05 1.35279353e+00] [ 5.05029762e-03 -9.03756900e-05 9.99987243e-01 1.45071941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:291.14, Y:1.35, Z:1.45 [[ 9.99984748e-01 2.23515010e-03 -5.05044946e-03 2.91136444e+02] [-2.23476355e-03 9.99997500e-01 8.21798618e-05 1.35362367e+00] [ 5.05062051e-03 -7.08920480e-05 9.99987243e-01 1.45114232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:291.17, Y:1.36, Z:1.45 [[ 9.99970615e-01 5.76750277e-03 -5.05025015e-03 2.91165263e+02] [-5.76710661e-03 9.99983366e-01 9.30027775e-05 1.35576644e+00] [ 5.05070253e-03 -6.38747136e-05 9.99987243e-01 1.45377524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.304391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:291.19, Y:1.36, Z:1.45 [[ 9.99964630e-01 6.72564674e-03 -5.05027620e-03 2.91193293e+02] [-6.72527006e-03 9.99977381e-01 9.15658119e-05 1.35666180e+00] [ 5.05077781e-03 -5.75981018e-05 9.99987243e-01 1.45473733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:291.23, Y:1.35, Z:1.45 [[ 9.99917871e-01 1.17790628e-02 -5.05028535e-03 2.91230099e+02] [-1.17787531e-02 9.99930624e-01 9.10586361e-05 1.35171581e+00] [ 5.05100756e-03 -3.15650933e-05 9.99987243e-01 1.45405950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.364391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:291.25, Y:1.36, Z:1.46 [[ 9.99967850e-01 6.23047373e-03 -5.04785507e-03 2.91251197e+02] [-6.22943519e-03 9.99980572e-01 2.21435844e-04 1.35807427e+00] [ 5.04913666e-03 -1.89983439e-04 9.99987235e-01 1.45855830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:291.28, Y:1.36, Z:1.46 [[ 9.99983680e-01 2.67045509e-03 -5.05065955e-03 2.91281031e+02] [-2.67018130e-03 9.99996433e-01 6.09506358e-05 1.35776317e+00] [ 5.05080430e-03 -4.74634644e-05 9.99987243e-01 1.45694591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.424391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:291.31, Y:1.36, Z:1.46 [[ 9.99983615e-01 -2.69536415e-03 -5.05017225e-03 2.91310094e+02] [ 2.69584645e-03 9.99996362e-01 8.86963806e-05 1.35607731e+00] [ 5.04991481e-03 -1.02309416e-04 9.99987244e-01 1.45657383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:291.34, Y:1.35, Z:1.46 [[ 9.99972862e-01 -5.36380111e-03 -5.05017932e-03 2.91338873e+02] [ 5.36431538e-03 9.99985608e-01 8.82917337e-05 1.35478642e+00] [ 5.04963306e-03 -1.15380092e-04 9.99987244e-01 1.45594647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:291.37, Y:1.35, Z:1.46 [[ 9.99957383e-01 -7.72832929e-03 -5.05018639e-03 2.91368851e+02] [ 7.72887165e-03 9.99970128e-01 8.78857978e-05 1.35348694e+00] [ 5.04935632e-03 -1.26914295e-04 9.99987244e-01 1.45560347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:291.40, Y:1.35, Z:1.46 [[ 9.99942480e-01 -9.46213084e-03 -5.05018993e-03 2.91399702e+02] [ 9.46269426e-03 9.99955224e-01 8.76817061e-05 1.35253486e+00] [ 5.04913415e-03 -1.35465066e-04 9.99987244e-01 1.45544441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:291.43, Y:1.35, Z:1.45 [[ 9.99919559e-01 -1.16348810e-02 -5.05018993e-03 2.91430968e+02] [ 1.16354721e-02 9.99932302e-01 8.76817061e-05 1.35087751e+00] [ 5.04882787e-03 -1.46435997e-04 9.99987244e-01 1.45492356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:291.46, Y:1.35, Z:1.45 [[ 9.99914954e-01 -1.20241943e-02 -5.05018630e-03 2.91462601e+02] [ 1.20247914e-02 9.99927696e-01 8.78900172e-05 1.34967797e+00] [ 5.04876435e-03 -1.48609979e-04 9.99987244e-01 1.45453432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:291.49, Y:1.35, Z:1.45 [[ 9.99925037e-01 -1.11541925e-02 -5.05018086e-03 2.91494229e+02] [ 1.11547801e-02 9.99937780e-01 8.82015622e-05 1.34799484e+00] [ 5.04888282e-03 -1.44528607e-04 9.99987244e-01 1.45348203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:291.53, Y:1.35, Z:1.45 [[ 9.99934479e-01 -1.02729910e-02 -5.05017553e-03 2.91525324e+02] [ 1.02735689e-02 9.99947222e-01 8.85057916e-05 1.34686660e+00] [ 5.04899977e-03 -1.40383319e-04 9.99987244e-01 1.45344616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:291.56, Y:1.34, Z:1.45 [[ 9.99977063e-01 -4.51319966e-03 -5.05017196e-03 2.91560985e+02] [ 4.51370519e-03 9.99989809e-01 8.87092693e-05 1.34085476e+00] [ 5.04972013e-03 -1.11502222e-04 9.99987244e-01 1.45048902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:291.59, Y:1.35, Z:1.45 [[ 9.99957221e-01 -7.75048681e-03 -5.04841432e-03 2.91585270e+02] [ 7.75152457e-03 9.99969939e-01 1.86026148e-04 1.34567244e+00] [ 5.04682077e-03 -2.25151098e-04 9.99987239e-01 1.45363603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:291.62, Y:1.35, Z:1.45 [[ 9.99977170e-01 -4.48951500e-03 -5.05012265e-03 2.91616194e+02] [ 4.49001707e-03 9.99989916e-01 8.80836467e-05 1.34565953e+00] [ 5.04967627e-03 -1.10756773e-04 9.99987244e-01 1.45428954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:291.65, Y:1.34, Z:1.45 [[ 9.99980882e-01 3.56828215e-03 -5.05012265e-03 2.91653949e+02] [-3.56788280e-03 9.99993631e-01 8.80836467e-05 1.33760035e+00] [ 5.05040479e-03 -7.00637169e-05 9.99987244e-01 1.45282515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:291.67, Y:1.35, Z:1.46 [[ 9.99987257e-01 -9.00857658e-05 -5.04749535e-03 2.91674983e+02] [ 9.12519186e-05 9.99999969e-01 2.30806116e-04 1.34514208e+00] [ 5.04747440e-03 -2.31263769e-04 9.99987235e-01 1.45577298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:291.70, Y:1.34, Z:1.46 [[ 9.99986975e-01 7.39355727e-04 -5.04998481e-03 2.91703399e+02] [-7.38920327e-04 9.99999723e-01 8.80834792e-05 1.34471335e+00] [ 5.05004854e-03 -8.43507956e-05 9.99987245e-01 1.45559331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:291.73, Y:1.34, Z:1.46 [[ 9.99987057e-01 6.18475088e-04 -5.05000929e-03 2.91731852e+02] [-6.18045347e-04 9.99999805e-01 8.66572950e-05 1.34434000e+00] [ 5.05006190e-03 -8.35350387e-05 9.99987245e-01 1.45573749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:291.76, Y:1.34, Z:1.46 [[ 9.99986808e-01 9.38829909e-04 -5.05001969e-03 2.91759766e+02] [-9.38407333e-04 9.99999556e-01 8.60468661e-05 1.34404438e+00] [ 5.05009823e-03 -8.13067555e-05 9.99987245e-01 1.45526553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:291.79, Y:1.34, Z:1.45 [[ 9.99986700e-01 1.04768167e-03 -5.05004683e-03 2.91788174e+02] [-1.04726868e-03 9.99999448e-01 8.44234833e-05 1.34279894e+00] [ 5.05013249e-03 -7.91336046e-05 9.99987245e-01 1.45388615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:291.82, Y:1.34, Z:1.45 [[ 9.99987070e-01 5.97004922e-04 -5.05005703e-03 2.91816366e+02] [-5.96589289e-04 9.99999819e-01 8.38086807e-05 1.34161583e+00] [ 5.05010615e-03 -8.07947872e-05 9.99987245e-01 1.45295119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:291.85, Y:1.34, Z:1.45 [[ 9.99987153e-01 -4.36206876e-04 -5.05006539e-03 2.91845540e+02] [ 4.36633122e-04 9.99999901e-01 8.33017672e-05 1.34065754e+00] [ 5.05002856e-03 -8.55057228e-05 9.99987245e-01 1.45290954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:291.87, Y:1.34, Z:1.45 [[ 9.99987181e-01 -3.67018947e-04 -5.05007207e-03 2.91873010e+02] [ 3.67442256e-04 9.99999929e-01 8.28948300e-05 1.33951573e+00] [ 5.05004129e-03 -8.47493773e-05 9.99987245e-01 1.45056927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:291.90, Y:1.34, Z:1.45 [[ 9.99984645e-01 -2.27995769e-03 -5.05088582e-03 2.91903921e+02] [ 2.28014865e-03 9.99997400e-01 3.20485246e-05 1.33747062e+00] [ 5.05079962e-03 -4.35648029e-05 9.99987244e-01 1.45257127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.054391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:291.93, Y:1.34, Z:1.45 [[ 9.99984185e-01 -2.47517674e-03 -5.05007707e-03 2.91932644e+02] [ 2.47562196e-03 9.99996932e-01 8.19109092e-05 1.33644026e+00] [ 5.04985884e-03 -9.44116954e-05 9.99987245e-01 1.45279319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:291.96, Y:1.34, Z:1.45 [[ 9.99987074e-01 -5.90011557e-04 -5.05009945e-03 2.91961638e+02] [ 5.90425655e-04 9.99999822e-01 8.05074176e-05 1.33509500e+00] [ 5.05005105e-03 -8.34880852e-05 9.99987245e-01 1.45376736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.114391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:291.99, Y:1.33, Z:1.45 [[ 9.99986866e-01 8.74465078e-04 -5.05010418e-03 2.91990077e+02] [-8.74071155e-04 9.99999615e-01 8.02095336e-05 1.33440153e+00] [ 5.05017237e-03 -7.57943297e-05 9.99987245e-01 1.45452527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:292.02, Y:1.33, Z:1.46 [[ 9.99983049e-01 2.89795284e-03 -5.05012631e-03 2.92017462e+02] [-2.89759187e-03 9.99995799e-01 7.87909750e-05 1.33371153e+00] [ 5.05033343e-03 -6.41564345e-05 9.99987245e-01 1.45530601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.174391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:292.05, Y:1.33, Z:1.46 [[ 9.99957518e-01 7.71087279e-03 -5.05013408e-03 2.92045247e+02] [-7.71057573e-03 9.99970270e-01 7.82894392e-05 1.33215573e+00] [ 5.05058762e-03 -3.93466720e-05 9.99987245e-01 1.45688567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:292.08, Y:1.33, Z:1.46 [[ 9.99892435e-01 1.37700355e-02 -5.05015916e-03 2.92080308e+02] [-1.37698240e-02 9.99905189e-01 7.66371942e-05 1.32600474e+00] [ 5.05073564e-03 -7.08914786e-06 9.99987245e-01 1.45636741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:292.10, Y:1.33, Z:1.46 [[ 9.99907099e-01 1.26611467e-02 -5.04859151e-03 2.92104180e+02] [-1.26604083e-02 9.99919838e-01 1.78193781e-04 1.32840527e+00] [ 5.05044295e-03 -1.14259997e-04 9.99987240e-01 1.45738172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:292.13, Y:1.33, Z:1.46 [[ 9.99898646e-01 1.33113995e-02 -5.05012422e-03 2.92131766e+02] [-1.33111903e-02 9.99911399e-01 7.50249247e-05 1.32691550e+00] [ 5.05067547e-03 -7.79415597e-06 9.99987245e-01 1.45697690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:292.16, Y:1.33, Z:1.46 [[ 9.99898362e-01 1.33327060e-02 -5.05013324e-03 2.92159777e+02] [-1.33325002e-02 9.99911116e-01 7.44132500e-05 1.32503898e+00] [ 5.05067649e-03 -7.07478452e-06 9.99987245e-01 1.45648264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:292.19, Y:1.32, Z:1.46 [[ 9.99924795e-01 1.11758590e-02 -5.05014219e-03 2.92187210e+02] [-1.11756288e-02 9.99937548e-01 7.38002671e-05 1.32149788e+00] [ 5.05065158e-03 -1.73562024e-05 9.99987245e-01 1.45511276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:292.21, Y:1.32, Z:1.45 [[ 9.99946058e-01 9.07623279e-03 -5.05015109e-03 2.92214667e+02] [-9.07597892e-03 9.99958810e-01 7.31866276e-05 1.31932343e+00] [ 5.05060733e-03 -2.73476149e-05 9.99987245e-01 1.45436617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:292.24, Y:1.31, Z:1.45 [[ 9.99978221e-01 4.24882287e-03 -5.05015839e-03 2.92243027e+02] [-4.24850999e-03 9.99990972e-01 7.26794646e-05 1.31475264e+00] [ 5.05042160e-03 -5.12222334e-05 9.99987245e-01 1.45311393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:292.27, Y:1.31, Z:1.45 [[ 9.99986298e-01 1.37845296e-03 -5.05016421e-03 2.92271967e+02] [-1.37810554e-03 9.99999048e-01 7.22727596e-05 1.31227915e+00] [ 5.05025902e-03 -6.53121100e-05 9.99987245e-01 1.45241834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:292.30, Y:1.31, Z:1.45 [[ 9.99986081e-01 -1.52777348e-03 -5.05016996e-03 2.92300383e+02] [ 1.52815591e-03 9.99998830e-01 7.18687317e-05 1.30973544e+00] [ 5.05005425e-03 -7.95851785e-05 9.99987245e-01 1.45192626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:292.33, Y:1.31, Z:1.45 [[ 9.99982994e-01 -2.91674891e-03 -5.05017570e-03 2.92327984e+02] [ 2.91714700e-03 9.99995743e-01 7.14627967e-05 1.30701413e+00] [ 5.04994576e-03 -8.61936864e-05 9.99987245e-01 1.45298534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:292.36, Y:1.30, Z:1.45 [[ 9.99953449e-01 -8.22160312e-03 -5.05033882e-03 2.92356308e+02] [ 8.22201012e-03 9.99966197e-01 5.98312558e-05 1.30353263e+00] [ 5.04967619e-03 -1.01352407e-04 9.99987245e-01 1.45194497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:292.39, Y:1.30, Z:1.45 [[ 9.99946271e-01 -9.05261361e-03 -5.05018847e-03 2.92386886e+02] [ 9.05308550e-03 9.99959018e-01 7.05876791e-05 1.30168215e+00] [ 5.04934250e-03 -1.16303675e-04 9.99987245e-01 1.45260351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:292.42, Y:1.30, Z:1.45 [[ 9.99940045e-01 -9.71602424e-03 -5.05018847e-03 2.92417846e+02] [ 9.71650459e-03 9.99952791e-01 7.05876791e-05 1.30001955e+00] [ 5.04926423e-03 -1.19653627e-04 9.99987245e-01 1.45312849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:292.45, Y:1.30, Z:1.45 [[ 9.99945551e-01 -9.13187300e-03 -5.05018847e-03 2.92447993e+02] [ 9.13234591e-03 9.99958297e-01 7.05876791e-05 1.29714215e+00] [ 5.04933327e-03 -1.16703904e-04 9.99987245e-01 1.45471074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:292.48, Y:1.30, Z:1.46 [[ 9.99950767e-01 -8.54156392e-03 -5.05018847e-03 2.92478478e+02] [ 8.54202930e-03 9.99963514e-01 7.05876791e-05 1.29549081e+00] [ 5.04940128e-03 -1.13723062e-04 9.99987245e-01 1.45541597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:292.51, Y:1.29, Z:1.46 [[ 9.99959992e-01 -7.38303421e-03 -5.05018706e-03 2.92509004e+02] [ 7.38348533e-03 9.99972739e-01 7.06886715e-05 1.29256899e+00] [ 5.04952749e-03 -1.07973825e-04 9.99987245e-01 1.45598849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:292.54, Y:1.29, Z:1.46 [[ 9.99962192e-01 -7.07890849e-03 -5.05018706e-03 2.92539258e+02] [ 7.07935573e-03 9.99974939e-01 7.06886715e-05 1.29087737e+00] [ 5.04956009e-03 -1.06438070e-04 9.99987245e-01 1.45590499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:292.57, Y:1.29, Z:1.46 [[ 9.99962064e-01 -7.09695239e-03 -5.05018706e-03 2.92568285e+02] [ 7.09739986e-03 9.99974811e-01 7.06886715e-05 1.28910644e+00] [ 5.04955817e-03 -1.06529187e-04 9.99987245e-01 1.45561746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:292.60, Y:1.29, Z:1.46 [[ 9.99953317e-01 -8.23764843e-03 -5.05018849e-03 2.92598037e+02] [ 8.23810992e-03 9.99966064e-01 7.05865181e-05 1.28659991e+00] [ 5.04943563e-03 -1.12187231e-04 9.99987245e-01 1.45506967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:292.63, Y:1.29, Z:1.45 [[ 9.99948746e-01 -8.77506344e-03 -5.05019117e-03 2.92628712e+02] [ 8.77553082e-03 9.99961492e-01 7.03939087e-05 1.28511114e+00] [ 5.04937899e-03 -1.14708409e-04 9.99987245e-01 1.45475958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.804391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:292.66, Y:1.28, Z:1.46 [[ 9.99942055e-01 -9.50697198e-03 -5.05019117e-03 2.92659245e+02] [ 9.50744869e-03 9.99954801e-01 7.03939087e-05 1.28373579e+00] [ 5.04929367e-03 -1.18404263e-04 9.99987245e-01 1.45517344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:292.69, Y:1.28, Z:1.45 [[ 9.99935216e-01 -1.02009412e-02 -5.05019117e-03 2.92689889e+02] [ 1.02014268e-02 9.99947962e-01 7.03939087e-05 1.28083431e+00] [ 5.04921028e-03 -1.21908504e-04 9.99987245e-01 1.45483813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.864391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:292.72, Y:1.28, Z:1.46 [[ 9.99935738e-01 -1.01496551e-02 -5.05019117e-03 2.92720693e+02] [ 1.01501400e-02 9.99948484e-01 7.03939087e-05 1.27974445e+00] [ 5.04921653e-03 -1.21649532e-04 9.99987245e-01 1.45517618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:292.75, Y:1.28, Z:1.46 [[ 9.99939533e-01 -9.76865708e-03 -5.05019117e-03 2.92751447e+02] [ 9.76913712e-03 9.99952278e-01 7.03939087e-05 1.27920269e+00] [ 5.04926251e-03 -1.19725662e-04 9.99987245e-01 1.45520466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.924391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:292.78, Y:1.28, Z:1.45 [[ 9.99958679e-01 -7.55877819e-03 -5.05019117e-03 2.92781925e+02] [ 7.55923006e-03 9.99971426e-01 7.03939087e-05 1.27873286e+00] [ 5.04951478e-03 -1.08566557e-04 9.99987245e-01 1.45463009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:292.81, Y:1.28, Z:1.45 [[ 9.99969013e-01 -6.03896334e-03 -5.05019117e-03 2.92812307e+02] [ 6.03939584e-03 9.99981760e-01 7.03939087e-05 1.27845199e+00] [ 5.04967395e-03 -1.00891831e-04 9.99987245e-01 1.45434178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:292.84, Y:1.28, Z:1.45 [[ 9.99978317e-01 -4.22616838e-03 -5.05019117e-03 2.92842285e+02] [ 4.22657777e-03 9.99991066e-01 7.03939087e-05 1.27853313e+00] [ 5.04984855e-03 -9.17374082e-05 9.99987245e-01 1.45362911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:292.87, Y:1.28, Z:1.45 [[ 9.99984318e-01 -2.42079174e-03 -5.05019258e-03 2.92871476e+02] [ 2.42117760e-03 9.99997066e-01 7.02927892e-05 1.27852920e+00] [ 5.05000760e-03 -8.25191000e-05 9.99987245e-01 1.45373476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:292.90, Y:1.28, Z:1.45 [[ 9.99987100e-01 5.43209162e-04 -5.05019538e-03 2.92899872e+02] [-5.42862111e-04 9.99999850e-01 7.00907839e-05 1.27843631e+00] [ 5.05023270e-03 -6.73483201e-05 9.99987245e-01 1.45341411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:292.93, Y:1.28, Z:1.45 [[ 9.99985515e-01 1.86128274e-03 -5.05021457e-03 2.92927487e+02] [-1.86095962e-03 9.99998266e-01 6.86797638e-05 1.27825059e+00] [ 5.05033365e-03 -5.92805236e-05 9.99987245e-01 1.45351650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:292.96, Y:1.28, Z:1.46 [[ 9.99980431e-01 3.69228785e-03 -5.05022470e-03 2.92955472e+02] [-3.69199187e-03 9.99993182e-01 6.79270580e-05 1.27818226e+00] [ 5.05044107e-03 -4.92803402e-05 9.99987245e-01 1.45528343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:292.98, Y:1.28, Z:1.46 [[ 9.99979123e-01 4.03098525e-03 -5.05024617e-03 2.92983259e+02] [-4.03070186e-03 9.99991875e-01 6.62910554e-05 1.27773669e+00] [ 5.05047235e-03 -4.59336348e-05 9.99987245e-01 1.45503448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:293.01, Y:1.28, Z:1.46 [[ 9.99979730e-01 3.87756429e-03 -5.05025275e-03 2.93012332e+02] [-3.87728150e-03 9.99992481e-01 6.57857306e-05 1.27712174e+00] [ 5.05046987e-03 -4.62031455e-05 9.99987245e-01 1.45628887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:293.04, Y:1.28, Z:1.46 [[ 9.99983455e-01 2.75419110e-03 -5.05025811e-03 2.93040370e+02] [-2.75389607e-03 9.99996206e-01 6.53719701e-05 1.27539239e+00] [ 5.05041899e-03 -5.14630026e-05 9.99987245e-01 1.45676924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:293.07, Y:1.27, Z:1.46 [[ 9.99985760e-01 1.72484692e-03 -5.05026501e-03 2.93067972e+02] [-1.72454148e-03 9.99998511e-01 6.48344096e-05 1.27418962e+00] [ 5.05036932e-03 -5.61240948e-05 9.99987245e-01 1.45640767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:293.10, Y:1.27, Z:1.46 [[ 9.99987202e-01 -3.01347886e-04 -5.05027137e-03 2.93096384e+02] [ 3.01676643e-04 9.99999952e-01 6.43351889e-05 1.27191228e+00] [ 5.05025174e-03 -6.58579145e-05 9.99987245e-01 1.45763280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:293.13, Y:1.27, Z:1.46 [[ 9.99986472e-01 -1.24527283e-03 -5.05027624e-03 2.93125292e+02] [ 1.24561168e-03 9.99999222e-01 6.39503754e-05 1.27081436e+00] [ 5.05019268e-03 -7.02401933e-05 9.99987245e-01 1.45830474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:293.15, Y:1.27, Z:1.46 [[ 9.99985343e-01 -1.95130510e-03 -5.05028129e-03 2.93154209e+02] [ 1.95165093e-03 9.99998094e-01 6.35489813e-05 1.26974059e+00] [ 5.05014766e-03 -7.34044361e-05 9.99987245e-01 1.45848417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:293.18, Y:1.27, Z:1.46 [[ 9.99983535e-01 -2.72467350e-03 -5.05028631e-03 2.93182399e+02] [ 2.72502716e-03 9.99996285e-01 6.31480077e-05 1.26869955e+00] [ 5.05009549e-03 -7.69091353e-05 9.99987245e-01 1.45855107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:293.21, Y:1.27, Z:1.46 [[ 9.99979837e-01 -3.84966188e-03 -5.05029002e-03 2.93211026e+02] [ 3.85002838e-03 9.99992587e-01 6.28492151e-05 1.26673957e+00] [ 5.05001064e-03 -8.22917078e-05 9.99987245e-01 1.45897671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:293.24, Y:1.27, Z:1.46 [[ 9.99977803e-01 -4.34610018e-03 -5.05030685e-03 2.93240670e+02] [ 4.34646602e-03 9.99990552e-01 6.14669758e-05 1.26548949e+00] [ 5.04999199e-03 -8.34165986e-05 9.99987245e-01 1.45952858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:293.27, Y:1.26, Z:1.46 [[ 9.99976344e-01 -4.66971242e-03 -5.05030931e-03 2.93269521e+02] [ 4.67008137e-03 9.99989093e-01 6.12643468e-05 1.26408648e+00] [ 5.04996814e-03 -8.48482529e-05 9.99987245e-01 1.45918868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:293.30, Y:1.26, Z:1.46 [[ 9.99972526e-01 -5.42600822e-03 -5.05031295e-03 2.93298901e+02] [ 5.42638529e-03 9.99985275e-01 6.09626855e-05 1.26154715e+00] [ 5.04990780e-03 -8.83659545e-05 9.99987245e-01 1.45954271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:293.33, Y:1.26, Z:1.46 [[ 9.99970969e-01 -5.70567560e-03 -5.05031541e-03 2.93327451e+02] [ 5.70605520e-03 9.99983719e-01 6.07576391e-05 1.26005901e+00] [ 5.04988652e-03 -8.95732538e-05 9.99987245e-01 1.45898237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:293.36, Y:1.26, Z:1.46 [[ 9.99966171e-01 -6.49243394e-03 -5.05031907e-03 2.93356856e+02] [ 6.49282202e-03 9.99978920e-01 6.04524063e-05 1.25766370e+00] [ 5.04982012e-03 -9.32411842e-05 9.99987245e-01 1.45818398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.554391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:293.39, Y:1.26, Z:1.46 [[ 9.99963459e-01 -6.89739058e-03 -5.05032147e-03 2.93386038e+02] [ 6.89778282e-03 9.99976208e-01 6.02508940e-05 1.25615499e+00] [ 5.04978574e-03 -9.50847130e-05 9.99987245e-01 1.45770400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:293.42, Y:1.25, Z:1.46 [[ 9.99961149e-01 -7.22462549e-03 -5.05032266e-03 2.93415725e+02] [ 7.22502139e-03 9.99973897e-01 6.01509944e-05 1.25464169e+00] [ 5.04975627e-03 -9.66373467e-05 9.99987245e-01 1.45823071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.614391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:293.45, Y:1.25, Z:1.46 [[ 9.99958506e-01 -7.58162432e-03 -5.05032508e-03 2.93445669e+02] [ 7.58202374e-03 9.99971254e-01 5.99470915e-05 1.25340495e+00] [ 5.04972541e-03 -9.82362887e-05 9.99987245e-01 1.45848838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:293.48, Y:1.25, Z:1.46 [[ 9.99959588e-01 -7.43745184e-03 -5.05032748e-03 2.93475033e+02] [ 7.43784840e-03 9.99972337e-01 5.97446762e-05 1.25120036e+00] [ 5.04974342e-03 -9.73058320e-05 9.99987245e-01 1.45676433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.674391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:293.50, Y:1.25, Z:1.46 [[ 9.99960018e-01 -7.37951561e-03 -5.05032866e-03 2.93504411e+02] [ 7.37991093e-03 9.99972766e-01 5.96444268e-05 1.25007237e+00] [ 5.04975097e-03 -9.69130178e-05 9.99987245e-01 1.45877304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:293.53, Y:1.25, Z:1.46 [[ 9.99958790e-01 -7.54404409e-03 -5.05033101e-03 2.93533606e+02] [ 7.54444050e-03 9.99971539e-01 5.94444606e-05 1.24903125e+00] [ 5.04973882e-03 -9.75439327e-05 9.99987245e-01 1.45900419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:293.56, Y:1.25, Z:1.46 [[ 9.99955593e-01 -7.95653376e-03 -5.05033340e-03 2.93563076e+02] [ 7.95693440e-03 9.99968341e-01 5.92413039e-05 1.24644184e+00] [ 5.04970215e-03 -9.94238447e-05 9.99987245e-01 1.45951169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:293.59, Y:1.25, Z:1.46 [[ 9.99955276e-01 -7.99625128e-03 -5.05033457e-03 2.93593227e+02] [ 7.99665192e-03 9.99968025e-01 5.91407966e-05 1.24612757e+00] [ 5.04970018e-03 -9.95239192e-05 9.99987245e-01 1.45966401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:293.62, Y:1.24, Z:1.46 [[ 9.99952252e-01 -8.36588380e-03 -5.05033691e-03 2.93623259e+02] [ 8.36628814e-03 9.99965000e-01 5.89402008e-05 1.24452763e+00] [ 5.04966707e-03 -1.01189960e-04 9.99987245e-01 1.46018290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:293.65, Y:1.24, Z:1.46 [[ 9.99942757e-01 -9.43279500e-03 -5.05033925e-03 2.93653246e+02] [ 9.43321193e-03 9.99955505e-01 5.87393943e-05 1.24193811e+00] [ 5.04956046e-03 -1.06376952e-04 9.99987245e-01 1.46110010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:293.68, Y:1.24, Z:1.46 [[ 9.99937781e-01 -9.94628573e-03 -5.05033925e-03 2.93682902e+02] [ 9.94670920e-03 9.99950529e-01 5.87393943e-05 1.24039503e+00] [ 5.04950516e-03 -1.08969996e-04 9.99987245e-01 1.46095654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:293.71, Y:1.24, Z:1.46 [[ 9.99925837e-01 -1.10821350e-02 -5.05034042e-03 2.93713807e+02] [ 1.10825725e-02 9.99938585e-01 5.86386277e-05 1.23788825e+00] [ 5.04938041e-03 -1.14605043e-04 9.99987245e-01 1.46090579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:293.74, Y:1.24, Z:1.46 [[ 9.99922875e-01 -1.13462616e-02 -5.05034042e-03 2.93743895e+02] [ 1.13467024e-02 9.99935622e-01 5.86386277e-05 1.23676359e+00] [ 5.04934996e-03 -1.15938815e-04 9.99987245e-01 1.46085399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:293.77, Y:1.24, Z:1.46 [[ 9.99920802e-01 -1.15275210e-02 -5.05034042e-03 2.93774867e+02] [ 1.15279641e-02 9.99933549e-01 5.86386277e-05 1.23569557e+00] [ 5.04932886e-03 -1.16854127e-04 9.99987245e-01 1.46033658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:293.81, Y:1.23, Z:1.46 [[ 9.99923552e-01 -1.12864991e-02 -5.05034042e-03 2.93805542e+02] [ 1.12869391e-02 9.99936299e-01 5.86386277e-05 1.23474633e+00] [ 5.04935688e-03 -1.15637030e-04 9.99987245e-01 1.46019505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:293.84, Y:1.23, Z:1.46 [[ 9.99932419e-01 -1.04714331e-02 -5.05033927e-03 2.93835640e+02] [ 1.04718632e-02 9.99945167e-01 5.87371679e-05 1.23335725e+00] [ 5.04944729e-03 -1.11619661e-04 9.99987245e-01 1.46046941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:293.87, Y:1.23, Z:1.46 [[ 9.99941518e-01 -9.56320922e-03 -5.05033927e-03 2.93865574e+02] [ 9.56362780e-03 9.99954266e-01 5.87371679e-05 1.23276780e+00] [ 5.04954659e-03 -1.07033298e-04 9.99987245e-01 1.46064014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:293.89, Y:1.23, Z:1.46 [[ 9.99946405e-01 -9.03773799e-03 -5.05033907e-03 2.93894680e+02] [ 9.03814996e-03 9.99959153e-01 5.87549571e-05 1.23401547e+00] [ 5.04960177e-03 -1.04397530e-04 9.99987245e-01 1.45965278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:293.93, Y:1.23, Z:1.46 [[ 9.99970506e-01 -5.78585053e-03 -5.05082302e-03 2.93925435e+02] [ 5.78600626e-03 9.99983261e-01 1.62199221e-05 1.23074605e+00] [ 5.05064463e-03 -4.54435374e-05 9.99987244e-01 1.46289345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:293.95, Y:1.23, Z:1.46 [[ 9.99977796e-01 -4.34755695e-03 -5.05033673e-03 2.93954129e+02] [ 4.34790696e-03 9.99990546e-01 5.83269636e-05 1.22993927e+00] [ 5.05003540e-03 -8.02840627e-05 9.99987245e-01 1.46267974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:293.98, Y:1.23, Z:1.46 [[ 9.99983849e-01 -2.60673454e-03 -5.05034102e-03 2.93983339e+02] [ 2.60706046e-03 9.99996600e-01 5.79525602e-05 1.22908354e+00] [ 5.05017279e-03 -7.11181687e-05 9.99987245e-01 1.46296330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:294.01, Y:1.23, Z:1.46 [[ 9.99984014e-01 -2.54292945e-03 -5.05034326e-03 2.94011642e+02] [ 2.54325357e-03 9.99996764e-01 5.77574073e-05 1.22818969e+00] [ 5.05018004e-03 -7.06007875e-05 9.99987245e-01 1.46398984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:294.04, Y:1.23, Z:1.46 [[ 9.99982295e-01 -3.14708604e-03 -5.05035915e-03 2.94039903e+02] [ 3.14741068e-03 9.99995045e-01 5.63325929e-05 1.22717014e+00] [ 5.05015684e-03 -7.22271498e-05 9.99987245e-01 1.46406745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:294.07, Y:1.23, Z:1.46 [[ 9.99971262e-01 -5.65417290e-03 -5.05037464e-03 2.94068467e+02] [ 5.65452231e-03 9.99984012e-01 5.49077741e-05 1.22526519e+00] [ 5.04998343e-03 -8.34636522e-05 9.99987245e-01 1.46372362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:294.10, Y:1.22, Z:1.46 [[ 9.99959258e-01 -7.48165519e-03 -5.05037790e-03 2.94097704e+02] [ 7.48202637e-03 9.99972008e-01 5.46059332e-05 1.22420860e+00] [ 5.04982799e-03 -9.23907692e-05 9.99987245e-01 1.46420635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.304391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:294.13, Y:1.22, Z:1.46 [[ 9.99942143e-01 -9.49761383e-03 -5.05038008e-03 2.94127153e+02] [ 9.49800970e-03 9.99954891e-01 5.44042060e-05 1.22305431e+00] [ 5.04963555e-03 -1.02369617e-04 9.99987245e-01 1.46444246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:294.16, Y:1.22, Z:1.47 [[ 9.99891001e-01 -1.38737240e-02 -5.05038223e-03 2.94156942e+02] [ 1.38741746e-02 9.99903748e-01 5.42038186e-05 1.22110316e+00] [ 5.04914411e-03 -1.24267795e-04 9.99987245e-01 1.46560965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.364391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:294.19, Y:1.22, Z:1.47 [[ 9.99854391e-01 -1.63000227e-02 -5.05038329e-03 2.94187476e+02] [ 1.63005038e-02 9.99867137e-01 5.41043687e-05 1.22025455e+00] [ 5.04883038e-03 -1.36420283e-04 9.99987245e-01 1.46646512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:294.22, Y:1.22, Z:1.47 [[ 9.99833188e-01 -1.75524736e-02 -5.05037975e-03 2.94217974e+02] [ 1.75529723e-02 9.99845933e-01 5.44326644e-05 1.21877783e+00] [ 5.04864623e-03 -1.43072760e-04 9.99987245e-01 1.46548462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.424391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:294.25, Y:1.22, Z:1.47 [[ 9.99755082e-01 -2.15468658e-02 -5.05057469e-03 2.94249076e+02] [ 2.15473243e-02 9.99767829e-01 3.63776994e-05 1.21628164e+00] [ 5.04861827e-03 -1.45195160e-04 9.99987245e-01 1.46704779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:294.28, Y:1.22, Z:1.47 [[ 9.99678298e-01 -2.48554288e-02 -5.05058276e-03 2.94280020e+02] [ 2.48559257e-02 9.99691043e-01 3.56406875e-05 1.21554294e+00] [ 5.04813648e-03 -1.61166132e-04 9.99987245e-01 1.46817353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:294.31, Y:1.21, Z:1.47 [[ 9.99629483e-01 -2.67468052e-02 -5.05035857e-03 2.94311324e+02] [ 2.67474284e-02 9.99642222e-01 5.58965747e-05 1.21472353e+00] [ 5.04705661e-03 -1.90959968e-04 9.99987245e-01 1.46795456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:294.34, Y:1.21, Z:1.47 [[ 9.99547537e-01 -2.96515505e-02 -5.05035173e-03 2.94343384e+02] [ 2.96522138e-02 9.99560275e-01 5.65075815e-05 1.21405311e+00] [ 5.04645543e-03 -2.06236123e-04 9.99987245e-01 1.46699546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:294.38, Y:1.21, Z:1.47 [[ 9.99518223e-01 -3.06237900e-02 -5.05034741e-03 2.94375670e+02] [ 3.06244676e-02 9.99530959e-01 5.68915876e-05 1.21377925e+00] [ 5.04623635e-03 -2.11528379e-04 9.99987245e-01 1.46688157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:294.41, Y:1.21, Z:1.47 [[ 9.99490235e-01 -3.15240353e-02 -5.05034308e-03 2.94407827e+02] [ 3.15247264e-02 9.99502971e-01 5.72730376e-05 1.21371008e+00] [ 5.04602744e-03 -2.16454526e-04 9.99987245e-01 1.46693976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:294.44, Y:1.21, Z:1.47 [[ 9.99436841e-01 -3.31737114e-02 -5.05033874e-03 2.94440453e+02] [ 3.31744254e-02 9.99449576e-01 5.76537261e-05 1.21381780e+00] [ 5.04564632e-03 -2.25163344e-04 9.99987245e-01 1.46972227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:294.47, Y:1.21, Z:1.47 [[ 9.99412931e-01 -3.38863788e-02 -5.05033395e-03 2.94471266e+02] [ 3.38871040e-02 9.99425665e-01 5.80699528e-05 1.21367804e+00] [ 5.04546559e-03 -2.29177054e-04 9.99987245e-01 1.46977105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:294.50, Y:1.21, Z:1.47 [[ 9.99330224e-01 -3.62435925e-02 -5.05032599e-03 2.94502227e+02] [ 3.62443512e-02 9.99342956e-01 5.87544469e-05 1.21475914e+00] [ 5.04487823e-03 -2.41760883e-04 9.99987245e-01 1.47030422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:294.53, Y:1.22, Z:1.47 [[ 9.99284562e-01 -3.74814452e-02 -5.05032242e-03 2.94534482e+02] [ 3.74822212e-02 9.99297293e-01 5.90592960e-05 1.21546989e+00] [ 5.04455990e-03 -2.48314345e-04 9.99987245e-01 1.47092711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:294.57, Y:1.22, Z:1.47 [[ 9.99236484e-01 -3.87420113e-02 -5.05031765e-03 2.94567144e+02] [ 3.87428054e-02 9.99249214e-01 5.94644832e-05 1.21608667e+00] [ 5.04422217e-03 -2.55082555e-04 9.99987245e-01 1.47119096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:294.60, Y:1.22, Z:1.47 [[ 9.99117157e-01 -4.17061339e-02 -5.05031283e-03 2.94599317e+02] [ 4.17069678e-02 9.99129884e-01 5.98707241e-05 1.21800239e+00] [ 5.04342150e-03 -2.70451102e-04 9.99987245e-01 1.47161534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:294.63, Y:1.22, Z:1.47 [[ 9.99055354e-01 -4.31612676e-02 -5.05030791e-03 2.94630856e+02] [ 4.31621221e-02 9.99068080e-01 6.02832516e-05 1.21866930e+00] [ 5.04299952e-03 -2.78208312e-04 9.99987245e-01 1.47045839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:294.66, Y:1.22, Z:1.47 [[ 9.98984548e-01 -4.47701714e-02 -5.05030423e-03 2.94662555e+02] [ 4.47710480e-02 9.98997272e-01 6.05902761e-05 1.21912090e+00] [ 5.04252751e-03 -2.86636162e-04 9.99987245e-01 1.47087310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:294.69, Y:1.22, Z:1.47 [[ 9.98904396e-01 -4.65242009e-02 -5.05030058e-03 2.94694994e+02] [ 4.65251013e-02 9.98917119e-01 6.08931193e-05 1.21975735e+00] [ 5.04199870e-03 -2.95792151e-04 9.99987245e-01 1.47134770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:294.73, Y:1.22, Z:1.47 [[ 9.98722889e-01 -5.02701158e-02 -5.05029566e-03 2.94727399e+02] [ 5.02710660e-02 9.98735609e-01 6.12980648e-05 1.22251697e+00] [ 5.04082865e-03 -3.15103527e-04 9.99987245e-01 1.47260635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:294.76, Y:1.22, Z:1.47 [[ 9.98641466e-01 -5.18624746e-02 -5.05028924e-03 2.94760109e+02] [ 5.18634477e-02 9.98654184e-01 6.18222017e-05 1.22361579e+00] [ 5.04028623e-03 -3.23663626e-04 9.99987245e-01 1.47275134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:294.79, Y:1.23, Z:1.47 [[ 9.98522408e-01 -5.41063427e-02 -5.05028277e-03 2.94792366e+02] [ 5.41073470e-02 9.98535123e-01 6.23468489e-05 1.22599766e+00] [ 5.03951136e-03 -3.35512128e-04 9.99987245e-01 1.47265792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:294.82, Y:1.23, Z:1.47 [[ 9.98438927e-01 -5.56255603e-02 -5.05027041e-03 2.94824539e+02] [ 5.56265889e-02 9.98451641e-01 6.33322258e-05 1.22807475e+00] [ 5.03892789e-03 -3.44162676e-04 9.99987245e-01 1.47320060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:294.86, Y:1.23, Z:1.47 [[ 9.98467484e-01 -5.51105983e-02 -5.05029991e-03 2.94856868e+02] [ 5.51116086e-02 9.98480199e-01 6.10071528e-05 1.22847137e+00] [ 5.03926231e-03 -3.39243810e-04 9.99987245e-01 1.47441963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:294.89, Y:1.23, Z:1.48 [[ 9.98518366e-01 -5.41808883e-02 -5.05025888e-03 2.94888555e+02] [ 5.41819030e-02 9.98531080e-01 6.42328130e-05 1.23189816e+00] [ 5.03936026e-03 -3.37770280e-04 9.99987245e-01 1.47557411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.054391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:294.92, Y:1.23, Z:1.48 [[ 9.98597674e-01 -5.26989621e-02 -5.05025489e-03 2.94920117e+02] [ 5.26999596e-02 9.98610390e-01 6.45448528e-05 1.23365361e+00] [ 5.03983556e-03 -3.30602569e-04 9.99987245e-01 1.47559027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:294.95, Y:1.24, Z:1.48 [[ 9.98712731e-01 -5.04715379e-02 -5.05024921e-03 2.94952198e+02] [ 5.04725093e-02 9.98725449e-01 6.49864782e-05 1.23540006e+00] [ 5.04053244e-03 -3.19801573e-04 9.99987245e-01 1.47746526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.114391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:294.98, Y:1.24, Z:1.48 [[ 9.98995273e-01 -4.45302199e-02 -5.05024383e-03 2.94984073e+02] [ 4.45311176e-02 9.99007996e-01 6.54020434e-05 1.23925971e+00] [ 5.04232160e-03 -2.90229334e-04 9.99987245e-01 1.47849644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:295.02, Y:1.24, Z:1.48 [[ 9.99169758e-01 -4.04263484e-02 -5.05023841e-03 2.95016131e+02] [ 4.04271960e-02 9.99182485e-01 6.58176603e-05 1.24107829e+00] [ 5.04344900e-03 -2.69929994e-04 9.99987245e-01 1.47826918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.174391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:295.05, Y:1.24, Z:1.48 [[ 9.99329568e-01 -3.62616807e-02 -5.05023161e-03 2.95047691e+02] [ 3.62624778e-02 9.99342298e-01 6.63351975e-05 1.24322922e+00] [ 5.04450464e-03 -2.49424636e-04 9.99987245e-01 1.47758161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:295.08, Y:1.25, Z:1.48 [[ 9.99602084e-01 -2.77519292e-02 -5.05022287e-03 2.95079894e+02] [ 2.77526212e-02 9.99614820e-01 6.69946816e-05 1.24700884e+00] [ 5.04641839e-03 -2.07124946e-04 9.99987245e-01 1.47923523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:295.11, Y:1.25, Z:1.48 [[ 9.99703127e-01 -2.38359769e-02 -5.05021744e-03 2.95111829e+02] [ 2.38366211e-02 9.99715865e-01 6.74008648e-05 1.24851122e+00] [ 5.04717594e-03 -1.87760975e-04 9.99987245e-01 1.47961429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:295.14, Y:1.25, Z:1.48 [[ 9.99840516e-01 -1.71300330e-02 -5.05021196e-03 2.95143670e+02] [ 1.71305938e-02 9.99853258e-01 6.78091719e-05 1.25105396e+00] [ 5.04830931e-03 -1.54311487e-04 9.99987245e-01 1.47929548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:295.17, Y:1.25, Z:1.48 [[ 9.99881000e-01 -1.45767271e-02 -5.05020642e-03 2.95174508e+02] [ 1.45772574e-02 9.99893744e-01 6.82191837e-05 1.25165632e+00] [ 5.04867540e-03 -1.41829225e-04 9.99987245e-01 1.47799338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:295.21, Y:1.25, Z:1.48 [[ 9.99910829e-01 -1.23624251e-02 -5.05020229e-03 2.95205615e+02] [ 1.23629288e-02 9.99923574e-01 6.85238822e-05 1.25222626e+00] [ 5.04896920e-03 -1.30953063e-04 9.99987245e-01 1.47813967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:295.24, Y:1.25, Z:1.48 [[ 9.99930535e-01 -1.06498746e-02 -5.05019961e-03 2.95236581e+02] [ 1.06503575e-02 9.99943281e-01 6.87208089e-05 1.25284835e+00] [ 5.04918130e-03 -1.22502466e-04 9.99987245e-01 1.47891391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:295.27, Y:1.25, Z:1.48 [[ 9.99947599e-01 -8.90481375e-03 -5.05019680e-03 2.95266795e+02] [ 8.90527537e-03 9.99960345e-01 6.89269472e-05 1.25426873e+00] [ 5.04938275e-03 -1.13896728e-04 9.99987245e-01 1.47736388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:295.30, Y:1.25, Z:1.48 [[ 9.99949418e-01 -8.69805831e-03 -5.05019540e-03 2.95296870e+02] [ 8.69851782e-03 9.99962165e-01 6.90290801e-05 1.25450831e+00] [ 5.04940391e-03 -1.12954803e-04 9.99987245e-01 1.47804888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:295.33, Y:1.25, Z:1.48 [[ 9.99947465e-01 -8.91979661e-03 -5.05019540e-03 2.95327297e+02] [ 8.92025894e-03 9.99960211e-01 6.90290801e-05 1.25453788e+00] [ 5.04937873e-03 -1.14074504e-04 9.99987245e-01 1.47794245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:295.36, Y:1.25, Z:1.48 [[ 9.99940464e-01 -9.67283777e-03 -5.05019540e-03 2.95357345e+02] [ 9.67330970e-03 9.99953210e-01 6.90290801e-05 1.25476679e+00] [ 5.04929139e-03 -1.17877075e-04 9.99987245e-01 1.47864522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:295.39, Y:1.25, Z:1.48 [[ 9.99916302e-01 -1.19115180e-02 -5.05019540e-03 2.95387577e+02] [ 1.19120184e-02 9.99929047e-01 6.90290801e-05 1.25441826e+00] [ 5.04901483e-03 -1.29181323e-04 9.99987245e-01 1.47962273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:295.42, Y:1.25, Z:1.48 [[ 9.99899649e-01 -1.32358074e-02 -5.05019540e-03 2.95418965e+02] [ 1.32363247e-02 9.99912394e-01 6.90290801e-05 1.25396006e+00] [ 5.04883932e-03 -1.35868179e-04 9.99987245e-01 1.47976608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:295.45, Y:1.25, Z:1.48 [[ 9.99856838e-01 -1.61492765e-02 -5.05019259e-03 2.95450497e+02] [ 1.61498320e-02 9.99869581e-01 6.92342348e-05 1.25372826e+00] [ 5.04841586e-03 -1.50784085e-04 9.99987245e-01 1.48110867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:295.48, Y:1.25, Z:1.48 [[ 9.99835357e-01 -1.74285259e-02 -5.05018976e-03 2.95482187e+02] [ 1.74290988e-02 9.99848099e-01 6.94397319e-05 1.25307324e+00] [ 5.04821240e-03 -1.57448555e-04 9.99987245e-01 1.48162169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:295.51, Y:1.25, Z:1.48 [[ 9.99779744e-01 -2.03705666e-02 -5.05018037e-03 2.95513986e+02] [ 2.03711803e-02 9.99792484e-01 7.01160082e-05 1.25246605e+00] [ 5.04770407e-03 -1.72978700e-04 9.99987245e-01 1.48303440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:295.55, Y:1.25, Z:1.48 [[ 9.99781409e-01 -2.02886835e-02 -5.05017460e-03 2.95546673e+02] [ 2.02892983e-02 9.99794149e-01 7.05296175e-05 1.25193362e+00] [ 5.04770406e-03 -1.72978699e-04 9.99987245e-01 1.48319940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:295.58, Y:1.25, Z:1.48 [[ 9.99747783e-01 -2.18830169e-02 -5.05016879e-03 2.95577718e+02] [ 2.18836541e-02 9.99760522e-01 7.09432264e-05 1.25131165e+00] [ 5.04740693e-03 -1.81441480e-04 9.99987245e-01 1.48301332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:295.61, Y:1.25, Z:1.48 [[ 9.99715346e-01 -2.33178676e-02 -5.05016444e-03 2.95609762e+02] [ 2.33185246e-02 9.99728084e-01 7.12510497e-05 1.25030589e+00] [ 5.04712980e-03 -1.88993152e-04 9.99987245e-01 1.48323005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:295.64, Y:1.25, Z:1.48 [[ 9.99631896e-01 -2.66564831e-02 -5.05015859e-03 2.95641294e+02] [ 2.66571848e-02 9.99644632e-01 7.16636166e-05 1.24923263e+00] [ 5.04645362e-03 -2.06260248e-04 9.99987245e-01 1.48242199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:295.67, Y:1.25, Z:1.48 [[ 9.99594240e-01 -2.80330526e-02 -5.05015421e-03 2.95673236e+02] [ 2.80337733e-02 9.99606974e-01 7.19711472e-05 1.24871160e+00] [ 5.04615179e-03 -2.13516822e-04 9.99987245e-01 1.48312700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.804391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:295.70, Y:1.25, Z:1.48 [[ 9.99565293e-01 -2.90468755e-02 -5.05014829e-03 2.95704792e+02] [ 2.90476113e-02 9.99578027e-01 7.23841084e-05 1.24815779e+00] [ 5.04591473e-03 -2.19047387e-04 9.99987245e-01 1.48269392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:295.74, Y:1.25, Z:1.48 [[ 9.99543823e-01 -2.97765273e-02 -5.05013882e-03 2.95736569e+02] [ 2.97772756e-02 9.99556556e-01 7.30384669e-05 1.24773806e+00] [ 5.04572454e-03 -2.23384524e-04 9.99987245e-01 1.48263727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.864391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:295.77, Y:1.25, Z:1.48 [[ 9.99529626e-01 -3.02493468e-02 -5.05013296e-03 2.95767402e+02] [ 3.02501032e-02 9.99542358e-01 7.34419740e-05 1.24782980e+00] [ 5.04560023e-03 -2.26174472e-04 9.99987245e-01 1.48230661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:295.80, Y:1.25, Z:1.48 [[ 9.99533455e-01 -3.01225624e-02 -5.05012301e-03 2.95799200e+02] [ 3.01233206e-02 9.99546187e-01 7.41194747e-05 1.24777270e+00] [ 5.04559853e-03 -2.26211369e-04 9.99987245e-01 1.48202421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.924391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:295.83, Y:1.25, Z:1.48 [[ 9.99568862e-01 -2.89238046e-02 -5.05011720e-03 2.95829983e+02] [ 2.89245495e-02 9.99581595e-01 7.45131832e-05 1.24760549e+00] [ 5.04584900e-03 -2.20553423e-04 9.99987245e-01 1.48142439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:295.86, Y:1.25, Z:1.48 [[ 9.99610809e-01 -2.74358799e-02 -5.05011286e-03 2.95861944e+02] [ 2.74366073e-02 9.99623543e-01 7.48066057e-05 1.24765794e+00] [ 5.04615932e-03 -2.13335455e-04 9.99987245e-01 1.48216333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:295.89, Y:1.25, Z:1.48 [[ 9.99668064e-01 -2.52637559e-02 -5.05010685e-03 2.95892959e+02] [ 2.52644577e-02 9.99680800e-01 7.52097333e-05 1.24797482e+00] [ 5.04659478e-03 -2.02772979e-04 9.99987245e-01 1.48098148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:295.92, Y:1.25, Z:1.48 [[ 9.99794743e-01 -1.96206319e-02 -5.05010236e-03 2.95924698e+02] [ 1.96212633e-02 9.99807482e-01 7.55099542e-05 1.24952024e+00] [ 5.04764857e-03 -1.74583844e-04 9.99987245e-01 1.48189455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:295.96, Y:1.25, Z:1.48 [[ 9.99858289e-01 -1.60592109e-02 -5.05009644e-03 2.95956915e+02] [ 1.60597989e-02 9.99871030e-01 7.59038410e-05 1.24997195e+00] [ 5.04822618e-03 -1.56996618e-04 9.99987245e-01 1.48210206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:295.99, Y:1.25, Z:1.48 [[ 9.99908234e-01 -1.25705839e-02 -5.05009054e-03 2.95988060e+02] [ 1.25711294e-02 9.99920977e-01 7.62946380e-05 1.25051430e+00] [ 5.04873240e-03 -1.39772978e-04 9.99987245e-01 1.48315219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:296.02, Y:1.25, Z:1.48 [[ 9.99946224e-01 -9.05788027e-03 -5.05008749e-03 2.96018186e+02] [ 9.05838205e-03 9.99958969e-01 7.64962504e-05 1.25090367e+00] [ 5.04918738e-03 -1.22237759e-04 9.99987245e-01 1.48226183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:296.05, Y:1.25, Z:1.48 [[ 9.99983098e-01 -2.88089231e-03 -5.05008597e-03 2.96049164e+02] [ 2.88131586e-03 9.99995846e-01 7.65961256e-05 1.25175121e+00] [ 5.04984433e-03 -9.11457238e-05 9.99987245e-01 1.48397215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:296.08, Y:1.25, Z:1.48 [[ 9.99987046e-01 -6.36745340e-04 -5.05008597e-03 2.96077915e+02] [ 6.37140280e-04 9.99999794e-01 7.65961256e-05 1.25192246e+00] [ 5.05003616e-03 -7.98127465e-05 9.99987245e-01 1.48420683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:296.11, Y:1.25, Z:1.48 [[ 9.99983463e-01 2.75139076e-03 -5.05010733e-03 2.96105527e+02] [-2.75104627e-03 9.99996213e-01 7.51606986e-05 1.25192446e+00] [ 5.05029501e-03 -6.12663767e-05 9.99987245e-01 1.48344624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:296.13, Y:1.25, Z:1.48 [[ 9.99980314e-01 3.72396216e-03 -5.05011875e-03 2.96132111e+02] [-3.72363398e-03 9.99993064e-01 7.43854959e-05 1.25179723e+00] [ 5.05036074e-03 -5.55792378e-05 9.99987245e-01 1.48338250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:296.16, Y:1.25, Z:1.48 [[ 9.99978039e-01 4.29161752e-03 -5.05013111e-03 2.96159777e+02] [-4.29130086e-03 9.99990790e-01 7.35370447e-05 1.25141947e+00] [ 5.05040019e-03 -5.18637978e-05 9.99987245e-01 1.48345574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:296.19, Y:1.25, Z:1.48 [[ 9.99978322e-01 4.22515899e-03 -5.05013970e-03 2.96188570e+02] [-4.22484449e-03 9.99991073e-01 7.29418910e-05 1.25078248e+00] [ 5.05040281e-03 -5.16042548e-05 9.99987245e-01 1.48378375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:296.22, Y:1.25, Z:1.48 [[ 9.99979982e-01 3.81203569e-03 -5.05014556e-03 2.96217070e+02] [-3.81171799e-03 9.99992733e-01 7.25343206e-05 1.25020643e+00] [ 5.05038536e-03 -5.32831380e-05 9.99987245e-01 1.48392200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:296.24, Y:1.25, Z:1.48 [[ 9.99985958e-01 1.60629423e-03 -5.05015141e-03 2.96244637e+02] [-1.60595046e-03 9.99998708e-01 7.21242212e-05 1.24921013e+00] [ 5.05026074e-03 -6.40129154e-05 9.99987245e-01 1.48322072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:296.27, Y:1.25, Z:1.48 [[ 9.99987185e-01 -3.53649014e-04 -5.05015862e-03 2.96273416e+02] [ 3.54015200e-04 9.99999935e-01 7.16160377e-05 1.24853541e+00] [ 5.05013296e-03 -7.34029529e-05 9.99987245e-01 1.48334757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:296.30, Y:1.25, Z:1.48 [[ 9.99984254e-01 -2.44710118e-03 -5.05016432e-03 2.96302079e+02] [ 2.44749201e-03 9.99997002e-01 7.12117739e-05 1.24764457e+00] [ 5.04997492e-03 -8.35708894e-05 9.99987245e-01 1.48339022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:296.33, Y:1.25, Z:1.48 [[ 9.99975138e-01 -4.92134120e-03 -5.05017000e-03 2.96330448e+02] [ 4.92176154e-03 9.99987886e-01 7.08069366e-05 1.24679484e+00] [ 5.04976035e-03 -9.56609086e-05 9.99987245e-01 1.48367922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:296.36, Y:1.25, Z:1.48 [[ 9.99929546e-01 -1.07423851e-02 -5.05017561e-03 2.96358631e+02] [ 1.07428776e-02 9.99942291e-01 7.04045631e-05 1.24534291e+00] [ 5.04912785e-03 -1.24653021e-04 9.99987245e-01 1.48395541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:296.39, Y:1.24, Z:1.49 [[ 9.99889665e-01 -1.39697583e-02 -5.05017976e-03 2.96390411e+02] [ 1.39702904e-02 9.99902408e-01 7.01051868e-05 1.24453069e+00] [ 5.04870755e-03 -1.40649929e-04 9.99987245e-01 1.48504655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:296.42, Y:1.24, Z:1.49 [[ 9.99838692e-01 -1.72361861e-02 -5.05017702e-03 2.96421858e+02] [ 1.72367608e-02 9.99851434e-01 7.03022939e-05 1.24340417e+00] [ 5.04821499e-03 -1.57339647e-04 9.99987245e-01 1.48542677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.554391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:296.45, Y:1.24, Z:1.49 [[ 9.99704485e-01 -2.37789416e-02 -5.05017428e-03 2.96453743e+02] [ 2.37796007e-02 9.99717223e-01 7.04985232e-05 1.24190385e+00] [ 5.04706982e-03 -1.90568818e-04 9.99987245e-01 1.48672989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:296.49, Y:1.24, Z:1.49 [[ 9.99624382e-01 -2.69367770e-02 -5.05016867e-03 2.96486341e+02] [ 2.69374784e-02 9.99637118e-01 7.08981867e-05 1.24093922e+00] [ 5.04642628e-03 -2.06910365e-04 9.99987245e-01 1.48701663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.614391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:296.52, Y:1.24, Z:1.49 [[ 9.99427049e-01 -3.34674447e-02 -5.05016301e-03 2.96517593e+02] [ 3.34682313e-02 9.99439779e-01 7.12990615e-05 1.23984315e+00] [ 5.04494761e-03 -2.40278234e-04 9.99987245e-01 1.48699440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:296.55, Y:1.24, Z:1.49 [[ 9.99323741e-01 -3.64219269e-02 -5.05015877e-03 2.96549781e+02] [ 3.64227526e-02 9.99336469e-01 7.15977907e-05 1.23900540e+00] [ 5.04420011e-03 -2.55490056e-04 9.99987245e-01 1.48698910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.674391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:296.58, Y:1.24, Z:1.49 [[ 9.99210815e-01 -3.93985208e-02 -5.05015316e-03 2.96582966e+02] [ 3.93993864e-02 9.99223540e-01 7.19919088e-05 1.23843663e+00] [ 5.04339554e-03 -2.70908029e-04 9.99987245e-01 1.48734889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:296.61, Y:1.24, Z:1.49 [[ 9.99104448e-01 -4.20094980e-02 -5.05014430e-03 2.96614969e+02] [ 4.20104000e-02 9.99117171e-01 7.26079158e-05 1.23807285e+00] [ 5.04263566e-03 -2.84701474e-04 9.99987245e-01 1.48695204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:296.65, Y:1.24, Z:1.49 [[ 9.98941730e-01 -4.57156034e-02 -5.05013690e-03 2.96648416e+02] [ 4.57165551e-02 9.98954449e-01 7.31188012e-05 1.23842645e+00] [ 5.04151406e-03 -3.03916284e-04 9.99987245e-01 1.48698863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:296.68, Y:1.24, Z:1.49 [[ 9.98875164e-01 -4.71476660e-02 -5.05012799e-03 2.96681913e+02] [ 4.71486390e-02 9.98887882e-01 7.37291191e-05 1.23865992e+00] [ 5.04103550e-03 -3.11752848e-04 9.99987245e-01 1.48726463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:296.72, Y:1.24, Z:1.49 [[ 9.98850356e-01 -4.76703522e-02 -5.05011878e-03 2.96715300e+02] [ 4.76713351e-02 9.98863073e-01 7.43549253e-05 1.23879452e+00] [ 5.04083263e-03 -3.15015348e-04 9.99987245e-01 1.48720775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:296.75, Y:1.24, Z:1.49 [[ 9.98849185e-01 -4.76948902e-02 -5.05010938e-03 2.96747237e+02] [ 4.76958766e-02 9.98861901e-01 7.49877193e-05 1.24062042e+00] [ 5.04078533e-03 -3.15770816e-04 9.99987245e-01 1.48683199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:296.78, Y:1.24, Z:1.49 [[ 9.98867755e-01 -4.73043838e-02 -5.05010155e-03 2.96779831e+02] [ 4.73053678e-02 9.98880472e-01 7.55112296e-05 1.24160153e+00] [ 5.04087581e-03 -3.14322644e-04 9.99987245e-01 1.48707154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:296.81, Y:1.24, Z:1.49 [[ 9.98950576e-01 -4.55218989e-02 -5.05009231e-03 2.96812803e+02] [ 4.55228633e-02 9.98963294e-01 7.61244546e-05 1.24457083e+00] [ 5.04139152e-03 -3.05939230e-04 9.99987245e-01 1.48645791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:296.85, Y:1.25, Z:1.49 [[ 9.99028123e-01 -4.37870608e-02 -5.05008303e-03 2.96846111e+02] [ 4.37880062e-02 9.99040842e-01 7.67351340e-05 1.24563730e+00] [ 5.04187920e-03 -2.97793624e-04 9.99987245e-01 1.48630490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:296.88, Y:1.25, Z:1.49 [[ 9.99082049e-01 -4.25388874e-02 -5.05007369e-03 2.96879090e+02] [ 4.25398199e-02 9.99094769e-01 7.73451592e-05 1.24728081e+00] [ 5.04221203e-03 -2.92103386e-04 9.99987245e-01 1.48621844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:296.91, Y:1.25, Z:1.49 [[ 9.99232919e-01 -3.88338936e-02 -5.05006416e-03 2.96911022e+02] [ 3.88347821e-02 9.99245642e-01 7.79621146e-05 1.25063831e+00] [ 5.04322704e-03 -2.74020453e-04 9.99987245e-01 1.48535200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:296.94, Y:1.25, Z:1.49 [[ 9.99324478e-01 -3.64017215e-02 -5.05005624e-03 2.96944553e+02] [ 3.64025816e-02 9.99337203e-01 7.84719642e-05 1.25217031e+00] [ 5.04385257e-03 -2.62254039e-04 9.99987245e-01 1.48539212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034391418 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:296.98, Y:1.25, Z:1.49 [[ 9.99417129e-01 -3.37623834e-02 -5.05004692e-03 2.96977077e+02] [ 3.37632129e-02 9.99429857e-01 7.90669869e-05 1.25378200e+00] [ 5.04449819e-03 -2.49526711e-04 9.99987245e-01 1.48596230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:297.01, Y:1.26, Z:1.49 [[ 9.99605595e-01 -2.76252030e-02 -5.05004051e-03 2.97008170e+02] [ 2.76259563e-02 9.99618327e-01 7.94744579e-05 1.25823758e+00] [ 5.04591755e-03 -2.18955311e-04 9.99987245e-01 1.48624413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:297.04, Y:1.26, Z:1.49 [[ 9.99701159e-01 -2.39184043e-02 -5.05003572e-03 2.97040045e+02] [ 2.39191120e-02 9.99713894e-01 7.97777483e-05 1.26012479e+00] [ 5.04668272e-03 -2.00546277e-04 9.99987245e-01 1.48676682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124391418 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:297.07, Y:1.26, Z:1.49 [[ 9.99788941e-01 -1.99140955e-02 -5.05002951e-03 2.97072575e+02] [ 1.99147541e-02 9.99801678e-01 8.01689414e-05 1.26205247e+00] [ 5.04743149e-03 -1.80722117e-04 9.99987245e-01 1.48759269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:297.10, Y:1.27, Z:1.49 [[ 9.99915382e-01 -1.19885768e-02 -5.05002304e-03 2.97104382e+02] [ 1.19891365e-02 9.99928124e-01 8.05745358e-05 1.26646933e+00] [ 5.04869409e-03 -1.41113133e-04 9.99987245e-01 1.48814802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:297.14, Y:1.27, Z:1.49 [[ 9.99955792e-01 -7.93163783e-03 -5.05001647e-03 2.97135861e+02] [ 7.93214791e-03 9.99968537e-01 8.09844813e-05 1.26808338e+00] [ 5.04921524e-03 -1.21038379e-04 9.99987245e-01 1.48838232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:297.17, Y:1.27, Z:1.49 [[ 9.99978832e-01 -4.10267557e-03 -5.05001321e-03 2.97165964e+02] [ 4.10313787e-03 9.99991579e-01 8.11870403e-05 1.26972839e+00] [ 5.04963760e-03 -1.01906222e-04 9.99987245e-01 1.48853790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:297.20, Y:1.27, Z:1.49 [[ 9.99982775e-01 2.99103366e-03 -5.05000823e-03 2.97195577e+02] [-2.99066024e-03 9.99995525e-01 8.14952761e-05 1.27303986e+00] [ 5.05022939e-03 -6.63910136e-05 9.99987245e-01 1.48908331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:297.22, Y:1.27, Z:1.49 [[ 9.99971842e-01 5.55086254e-03 -5.05001137e-03 2.97223937e+02] [-5.55052273e-03 9.99984592e-01 8.13006892e-05 1.27433894e+00] [ 5.05038485e-03 -5.32681971e-05 9.99987245e-01 1.48931284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.304391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:297.25, Y:1.28, Z:1.49 [[ 9.99955625e-01 7.95266263e-03 -5.05003741e-03 2.97250979e+02] [-7.95236179e-03 9.99968376e-01 7.96494292e-05 1.27549693e+00] [ 5.05051114e-03 -3.94861702e-05 9.99987245e-01 1.48942169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:297.28, Y:1.28, Z:1.49 [[ 9.99921803e-01 1.14405297e-02 -5.05004856e-03 2.97278589e+02] [-1.14402770e-02 9.99934555e-01 7.89361014e-05 1.27761543e+00] [ 5.05062113e-03 -2.11559745e-05 9.99987245e-01 1.48879341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.364391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:297.31, Y:1.28, Z:1.49 [[ 9.99903041e-01 1.29771313e-02 -5.05007359e-03 2.97306541e+02] [-1.29769064e-02 9.99915793e-01 7.73008306e-05 1.27805837e+00] [ 5.05065149e-03 -1.17590032e-05 9.99987245e-01 1.48855893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:297.33, Y:1.28, Z:1.49 [[ 9.99886407e-01 1.42010758e-02 -5.05008279e-03 2.97333148e+02] [-1.42008695e-02 9.99899160e-01 7.66950559e-05 1.27851165e+00] [ 5.05066269e-03 -4.97077703e-06 9.99987245e-01 1.48854996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.424391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:297.36, Y:1.28, Z:1.49 [[ 9.99870095e-01 1.53065024e-02 -5.05009333e-03 2.97361354e+02] [-1.53063138e-02 9.99882849e-01 7.59946786e-05 1.27896119e+00] [ 5.05066492e-03 1.31350666e-06 9.99987245e-01 1.48865266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:297.39, Y:1.28, Z:1.49 [[ 9.99839891e-01 1.71664834e-02 -5.05010229e-03 2.97388419e+02] [-1.71663215e-02 9.99852645e-01 7.53944026e-05 1.27947486e+00] [ 5.05065239e-03 1.13093485e-05 9.99987245e-01 1.48861022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:297.42, Y:1.28, Z:1.49 [[ 9.99835852e-01 1.74001447e-02 -5.05011257e-03 2.97416602e+02] [-1.73999893e-02 9.99848606e-01 7.46996830e-05 1.27923453e+00] [ 5.05064780e-03 1.31844836e-05 9.99987245e-01 1.48856527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:297.44, Y:1.28, Z:1.49 [[ 9.99856800e-01 1.61516688e-02 -5.05012152e-03 2.97443266e+02] [-1.61515006e-02 9.99869553e-01 7.40895316e-05 1.27824437e+00] [ 5.05065942e-03 7.48811874e-06 9.99987245e-01 1.48840820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:297.47, Y:1.28, Z:1.49 [[ 9.99882027e-01 1.45061720e-02 -5.05013179e-03 2.97471434e+02] [-1.45059864e-02 9.99894780e-01 7.33827299e-05 1.27730208e+00] [ 5.05066492e-03 -1.16929698e-07 9.99987245e-01 1.48812524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:297.50, Y:1.28, Z:1.49 [[ 9.99883807e-01 1.43829001e-02 -5.05014077e-03 2.97499886e+02] [-1.43827161e-02 9.99896561e-01 7.27598226e-05 1.27700302e+00] [ 5.05066488e-03 -1.16627814e-07 9.99987245e-01 1.48826915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:297.53, Y:1.28, Z:1.49 [[ 9.99914223e-01 1.20847786e-02 -5.05014966e-03 2.97527129e+02] [-1.20845684e-02 9.99926976e-01 7.21372162e-05 1.27571004e+00] [ 5.05065264e-03 -1.11021495e-05 9.99987245e-01 1.48829665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:297.56, Y:1.27, Z:1.49 [[ 9.99948590e-01 8.79277505e-03 -5.05015984e-03 2.97555988e+02] [-8.79252650e-03 9.99961342e-01 7.14175584e-05 1.27424645e+00] [ 5.05059257e-03 -2.70102227e-05 9.99987245e-01 1.48783480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:297.59, Y:1.27, Z:1.49 [[ 9.99986854e-01 8.87169520e-04 -5.05016558e-03 2.97585082e+02] [-8.86822221e-04 9.99999604e-01 7.10087261e-05 1.27114035e+00] [ 5.05022658e-03 -6.65291935e-05 9.99987245e-01 1.48717925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:297.61, Y:1.27, Z:1.49 [[ 9.99981783e-01 -3.30584910e-03 -5.05017131e-03 2.97612947e+02] [ 3.30624779e-03 9.99994532e-01 7.05995027e-05 1.26906233e+00] [ 5.04991030e-03 -8.72953344e-05 9.99987245e-01 1.48708566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:297.64, Y:1.26, Z:1.49 [[ 9.99911709e-01 -1.22910810e-02 -5.05017835e-03 2.97642293e+02] [ 1.22915917e-02 9.99924453e-01 7.00918570e-05 1.26490914e+00] [ 5.04893532e-03 -1.32160399e-04 9.99987245e-01 1.48702124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:297.67, Y:1.26, Z:1.49 [[ 9.99852426e-01 -1.64201734e-02 -5.05018115e-03 2.97673199e+02] [ 1.64207356e-02 9.99865168e-01 6.98895202e-05 1.26272583e+00] [ 5.04835263e-03 -1.52806896e-04 9.99987245e-01 1.48700695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:297.71, Y:1.26, Z:1.49 [[ 9.99783930e-01 -2.01640428e-02 -5.05017833e-03 2.97705536e+02] [ 2.01646538e-02 9.99796670e-01 7.00927085e-05 1.26084650e+00] [ 5.04773813e-03 -1.71912661e-04 9.99987245e-01 1.48709613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:297.74, Y:1.26, Z:1.49 [[ 9.99652596e-01 -2.58685545e-02 -5.05017255e-03 2.97736979e+02] [ 2.58692403e-02 9.99665333e-01 7.05065680e-05 1.25759578e+00] [ 5.04665852e-03 -2.01126201e-04 9.99987245e-01 1.48688850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:297.77, Y:1.26, Z:1.49 [[ 9.99600100e-01 -2.78232997e-02 -5.05016823e-03 2.97769260e+02] [ 2.78240119e-02 9.99612835e-01 7.08150562e-05 1.25593960e+00] [ 5.04624267e-03 -2.11302678e-04 9.99987245e-01 1.48673182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:297.80, Y:1.25, Z:1.49 [[ 9.99565314e-01 -2.90461395e-02 -5.05016241e-03 2.97803057e+02] [ 2.90468693e-02 9.99578048e-01 7.12273746e-05 1.25403323e+00] [ 5.04596261e-03 -2.17887821e-04 9.99987245e-01 1.48632159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:297.83, Y:1.25, Z:1.49 [[ 9.99525337e-01 -3.03908089e-02 -5.04969549e-03 2.97832202e+02] [ 3.03917215e-02 9.99538060e-01 1.04057497e-04 1.25344598e+00] [ 5.04420044e-03 -2.57477044e-04 9.99987245e-01 1.48706843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:297.86, Y:1.25, Z:1.49 [[ 9.99501678e-01 -3.11591432e-02 -5.05015564e-03 2.97864499e+02] [ 3.11599019e-02 9.99514410e-01 7.16036857e-05 1.25169735e+00] [ 5.04547223e-03 -2.28930359e-04 9.99987245e-01 1.48659005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:297.90, Y:1.25, Z:1.49 [[ 9.99512217e-01 -3.08192127e-02 -5.05014849e-03 2.97898552e+02] [ 3.08199696e-02 9.99524949e-01 7.21045095e-05 1.25066426e+00] [ 5.04552721e-03 -2.27714761e-04 9.99987245e-01 1.48672654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:297.93, Y:1.25, Z:1.49 [[ 9.99529090e-01 -3.02671100e-02 -5.04975733e-03 2.97929104e+02] [ 3.02679958e-02 9.99541814e-01 9.90718841e-05 1.25054462e+00] [ 5.04444499e-03 -2.51871264e-04 9.99987245e-01 1.48647504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:297.96, Y:1.25, Z:1.49 [[ 9.99654169e-01 -2.58077129e-02 -5.05013669e-03 2.97959746e+02] [ 2.58084091e-02 9.99666905e-01 7.27313188e-05 1.24954762e+00] [ 5.04657748e-03 -2.03042160e-04 9.99987245e-01 1.48658509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.054391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:297.99, Y:1.25, Z:1.49 [[ 9.99660468e-01 -2.55625604e-02 -5.05023704e-03 2.97994190e+02] [ 2.55632191e-02 9.99673205e-01 6.59117628e-05 1.24920581e+00] [ 5.04690178e-03 -1.94989700e-04 9.99987245e-01 1.48593135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:298.02, Y:1.25, Z:1.49 [[ 9.99683842e-01 -2.46316552e-02 -5.04948694e-03 2.98023028e+02] [ 2.46325534e-02 9.99696566e-01 1.15764612e-04 1.25059034e+00] [ 5.04510328e-03 -2.40109769e-04 9.99987245e-01 1.48541612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.114391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:298.05, Y:1.25, Z:1.49 [[ 9.99798934e-01 -1.94058997e-02 -5.05008886e-03 2.98051609e+02] [ 1.94065284e-02 9.99811673e-01 7.55073880e-05 1.25086550e+00] [ 5.04767250e-03 -1.73496899e-04 9.99987245e-01 1.48524197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:298.08, Y:1.25, Z:1.49 [[ 9.99822409e-01 -1.81560245e-02 -5.05061410e-03 2.98083922e+02] [ 1.81564521e-02 9.99835157e-01 3.88157380e-05 1.25124472e+00] [ 5.04907680e-03 -1.30510078e-04 9.99987245e-01 1.48535364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.174391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:298.12, Y:1.25, Z:1.49 [[ 9.99828518e-01 -1.78164742e-02 -5.05050234e-03 2.98117574e+02] [ 1.78169364e-02 9.99841265e-01 4.65344821e-05 1.25166836e+00] [ 5.04887157e-03 -1.36510981e-04 9.99987245e-01 1.48527605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:298.15, Y:1.25, Z:1.49 [[ 9.99884101e-01 -1.43624628e-02 -5.05010812e-03 2.98150069e+02] [ 1.43630175e-02 9.99896844e-01 7.35887308e-05 1.25274695e+00] [ 5.04853025e-03 -1.46114993e-04 9.99987245e-01 1.48654780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:298.18, Y:1.25, Z:1.49 [[ 9.99907404e-01 -1.26364557e-02 -5.05010213e-03 2.98181640e+02] [ 1.26369905e-02 9.99920147e-01 7.39972224e-05 1.25263259e+00] [ 5.04876380e-03 -1.37808463e-04 9.99987245e-01 1.48619136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:298.21, Y:1.25, Z:1.49 [[ 9.99920596e-01 -1.15454770e-02 -5.05009767e-03 2.98213663e+02] [ 1.15459994e-02 9.99933340e-01 7.43005166e-05 1.25268322e+00] [ 5.04890319e-03 -1.32603042e-04 9.99987245e-01 1.48686140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:298.25, Y:1.25, Z:1.49 [[ 9.99943104e-01 -9.39606591e-03 -5.05009169e-03 2.98245306e+02] [ 9.39656296e-03 9.99955849e-01 7.47046371e-05 1.25311334e+00] [ 5.04916679e-03 -1.22153891e-04 9.99987245e-01 1.48693497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:298.28, Y:1.25, Z:1.49 [[ 9.99949753e-01 -8.65953894e-03 -5.05008722e-03 2.98276317e+02] [ 8.66002812e-03 9.99962498e-01 7.50057689e-05 1.25301079e+00] [ 5.04924832e-03 -1.18735897e-04 9.99987245e-01 1.48735205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:298.31, Y:1.25, Z:1.49 [[ 9.99955379e-01 -7.98351241e-03 -5.05008424e-03 2.98306767e+02] [ 7.98399398e-03 9.99968125e-01 7.52058779e-05 1.25265582e+00] [ 5.04932286e-03 -1.15522364e-04 9.99987245e-01 1.48769732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:298.34, Y:1.25, Z:1.49 [[ 9.99956406e-01 -7.85382950e-03 -5.05007934e-03 2.98336777e+02] [ 7.85431108e-03 9.99969152e-01 7.55332499e-05 1.25223852e+00] [ 5.04933033e-03 -1.15194851e-04 9.99987245e-01 1.48833401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:298.37, Y:1.25, Z:1.49 [[ 9.99956703e-01 -7.81593985e-03 -5.05007934e-03 2.98367253e+02] [ 7.81642094e-03 9.99969448e-01 7.55332499e-05 1.25129946e+00] [ 5.04933469e-03 -1.15003525e-04 9.99987245e-01 1.49033074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:298.40, Y:1.25, Z:1.49 [[ 9.99948313e-01 -8.82427975e-03 -5.05006900e-03 2.98397124e+02] [ 8.82477718e-03 9.99961058e-01 7.62249182e-05 1.25055098e+00] [ 5.04919971e-03 -1.20786712e-04 9.99987245e-01 1.48937630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:298.43, Y:1.25, Z:1.49 [[ 9.99940300e-01 -9.68986991e-03 -5.05008061e-03 2.98427579e+02] [ 9.69037445e-03 9.99953044e-01 7.54480819e-05 1.24961105e+00] [ 5.04911240e-03 -1.24380750e-04 9.99987245e-01 1.49022818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:298.46, Y:1.25, Z:1.49 [[ 9.99919046e-01 -1.16789590e-02 -5.05008061e-03 2.98458063e+02] [ 1.16794889e-02 9.99931790e-01 7.54480819e-05 1.24761260e+00] [ 5.04885499e-03 -1.34424334e-04 9.99987245e-01 1.49085602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:298.49, Y:1.25, Z:1.49 [[ 9.99903691e-01 -1.29269009e-02 -5.05007913e-03 2.98488982e+02] [ 1.29274472e-02 9.99916434e-01 7.55472080e-05 1.24650858e+00] [ 5.04868052e-03 -1.40824564e-04 9.99987245e-01 1.49129093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:298.52, Y:1.24, Z:1.49 [[ 9.99877225e-01 -1.48334900e-02 -5.05007469e-03 2.98519875e+02] [ 1.48340621e-02 9.99889966e-01 7.58425098e-05 1.24476101e+00] [ 5.04839400e-03 -1.50746320e-04 9.99987245e-01 1.49174435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:298.55, Y:1.24, Z:1.49 [[ 9.99911611e-01 -1.22990908e-02 -5.05006540e-03 2.98548359e+02] [ 1.22996337e-02 9.99924354e-01 7.64562182e-05 1.24279925e+00] [ 5.04874304e-03 -1.38563415e-04 9.99987245e-01 1.49115610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624391418 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:298.58, Y:1.24, Z:1.49 [[ 9.99861770e-01 -1.58407408e-02 -5.05096959e-03 2.98580439e+02] [ 1.58410212e-02 9.99874523e-01 1.55152095e-05 1.24278580e+00] [ 5.05009004e-03 -9.55255814e-05 9.99987244e-01 1.49134531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:298.61, Y:1.24, Z:1.49 [[ 9.99872265e-01 -1.51641275e-02 -5.05004804e-03 2.98611354e+02] [ 1.51647067e-02 9.99885006e-01 7.64167816e-05 1.24154342e+00] [ 5.04830853e-03 -1.52989518e-04 9.99987246e-01 1.49079864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:298.64, Y:1.24, Z:1.49 [[ 9.99884127e-01 -1.43606967e-02 -5.05003860e-03 2.98642249e+02] [ 1.43612688e-02 9.99896869e-01 7.70356108e-05 1.24070914e+00] [ 5.04841150e-03 -1.49551646e-04 9.99987246e-01 1.49155495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:298.67, Y:1.24, Z:1.49 [[ 9.99894193e-01 -1.36418810e-02 -5.05003561e-03 2.98674648e+02] [ 1.36424449e-02 9.99906935e-01 7.72312540e-05 1.24002849e+00] [ 5.04851205e-03 -1.46117915e-04 9.99987246e-01 1.49275025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:298.71, Y:1.24, Z:1.49 [[ 9.99924728e-01 -1.11819699e-02 -5.05002927e-03 2.98705380e+02] [ 1.11825046e-02 9.99937471e-01 7.76435615e-05 1.23889237e+00] [ 5.04884529e-03 -1.34109692e-04 9.99987246e-01 1.49303720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774391418 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:298.74, Y:1.24, Z:1.49 [[ 9.99937327e-01 -9.99194139e-03 -5.05002378e-03 2.98736254e+02] [ 9.99246265e-03 9.99950071e-01 7.79989272e-05 1.23797322e+00] [ 5.04899228e-03 -1.28456213e-04 9.99987246e-01 1.49367157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.804391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:298.77, Y:1.24, Z:1.49 [[ 9.99945354e-01 -9.15351802e-03 -5.05002062e-03 2.98767981e+02] [ 9.15402963e-03 9.99958098e-01 7.82032451e-05 1.23700907e+00] [ 5.04909318e-03 -1.24427010e-04 9.99987246e-01 1.49389934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:298.80, Y:1.24, Z:1.49 [[ 9.99952897e-01 -8.28859836e-03 -5.05001746e-03 2.98798160e+02] [ 8.28909997e-03 9.99965642e-01 7.84065234e-05 1.23571452e+00] [ 5.04919407e-03 -1.20262930e-04 9.99987246e-01 1.49115039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.864391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:298.83, Y:1.23, Z:1.49 [[ 9.99959663e-01 -7.42757977e-03 -5.05001590e-03 2.98829005e+02] [ 7.42807092e-03 9.99972408e-01 7.85072520e-05 1.23322452e+00] [ 5.04929344e-03 -1.16015962e-04 9.99987246e-01 1.49421652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:298.86, Y:1.23, Z:1.49 [[ 9.99960760e-01 -7.27847906e-03 -5.05001590e-03 2.98859738e+02] [ 7.27896831e-03 9.99973505e-01 7.85072520e-05 1.23175309e+00] [ 5.04931068e-03 -1.15263077e-04 9.99987246e-01 1.49377228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.924391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:298.89, Y:1.23, Z:1.49 [[ 9.99959176e-01 -7.49296515e-03 -5.05001590e-03 2.98890668e+02] [ 7.49345713e-03 9.99971921e-01 7.85072520e-05 1.23048577e+00] [ 5.04928584e-03 -1.16346125e-04 9.99987246e-01 1.49367595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:298.92, Y:1.23, Z:1.49 [[ 9.99956315e-01 -7.86540593e-03 -5.05001590e-03 2.98920663e+02] [ 7.86590266e-03 9.99969060e-01 7.85072520e-05 1.22922055e+00] [ 5.04924216e-03 -1.18226756e-04 9.99987246e-01 1.49347333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:298.95, Y:1.23, Z:1.49 [[ 9.99943206e-01 -9.38525184e-03 -5.05001590e-03 2.98950261e+02] [ 9.38576794e-03 9.99955950e-01 7.85072520e-05 1.22736797e+00] [ 5.04905663e-03 -1.25901071e-04 9.99987246e-01 1.49180331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:298.98, Y:1.23, Z:1.49 [[ 9.99933278e-01 -1.03893079e-02 -5.05001748e-03 2.98980508e+02] [ 1.03898362e-02 9.99946021e-01 7.84053082e-05 1.22621206e+00] [ 5.04893031e-03 -1.30868931e-04 9.99987246e-01 1.49305264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:299.01, Y:1.22, Z:1.49 [[ 9.99898319e-01 -1.33359763e-02 -5.05001748e-03 2.99011904e+02] [ 1.33365422e-02 9.99911061e-01 7.84053082e-05 1.22412121e+00] [ 5.04852273e-03 -1.45747107e-04 9.99987246e-01 1.49315578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:299.04, Y:1.22, Z:1.49 [[ 9.99877714e-01 -1.48005076e-02 -5.05001429e-03 2.99043006e+02] [ 1.48010932e-02 9.99890455e-01 7.86100399e-05 1.22287933e+00] [ 5.04829762e-03 -1.53346159e-04 9.99987246e-01 1.49243479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:299.08, Y:1.22, Z:1.49 [[ 9.99851679e-01 -1.64656324e-02 -5.05000951e-03 2.99075449e+02] [ 1.64662408e-02 9.99864419e-01 7.89159544e-05 1.22164941e+00] [ 5.04802543e-03 -1.62058922e-04 9.99987246e-01 1.49259911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:299.11, Y:1.22, Z:1.49 [[ 9.99794915e-01 -1.96118786e-02 -5.05000330e-03 2.99107183e+02] [ 1.96125291e-02 9.99807653e-01 7.93112392e-05 1.21980284e+00] [ 5.04747651e-03 -1.78338310e-04 9.99987246e-01 1.49312385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:299.14, Y:1.22, Z:1.49 [[ 9.99768578e-01 -2.09114284e-02 -5.04999703e-03 2.99139567e+02] [ 2.09120974e-02 9.99781315e-01 7.97088538e-05 1.21868111e+00] [ 5.04722584e-03 -1.85296437e-04 9.99987246e-01 1.49355075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:299.17, Y:1.22, Z:1.49 [[ 9.99739548e-01 -2.22561108e-02 -5.04999068e-03 2.99170833e+02] [ 2.22567990e-02 9.99752284e-01 8.01089224e-05 1.21820390e+00] [ 5.04695680e-03 -1.92484686e-04 9.99987246e-01 1.49319330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:299.20, Y:1.22, Z:1.49 [[ 9.99682197e-01 -2.46982135e-02 -5.04998593e-03 2.99202737e+02] [ 2.46989343e-02 9.99694932e-01 8.04071553e-05 1.21790624e+00] [ 5.04645943e-03 -2.05110872e-04 9.99987246e-01 1.49415037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:299.23, Y:1.22, Z:1.49 [[ 9.99652495e-01 -2.58725114e-02 -5.04997971e-03 2.99234489e+02] [ 2.58732491e-02 9.99665228e-01 8.07960430e-05 1.21702548e+00] [ 5.04619872e-03 -2.11427349e-04 9.99987246e-01 1.49434672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:299.27, Y:1.22, Z:1.49 [[ 9.99621369e-01 -2.70484037e-02 -5.04997345e-03 2.99266900e+02] [ 2.70491583e-02 9.99634101e-01 8.11854573e-05 1.21622214e+00] [ 5.04592974e-03 -2.17752249e-04 9.99987246e-01 1.49485677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:299.30, Y:1.22, Z:1.50 [[ 9.99534881e-01 -3.00752207e-02 -5.04996714e-03 2.99298465e+02] [ 3.00760158e-02 9.99547611e-01 8.15762448e-05 1.21602129e+00] [ 5.04522917e-03 -2.33421194e-04 9.99987246e-01 1.49611831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:299.33, Y:1.22, Z:1.50 [[ 9.99493232e-01 -3.14289204e-02 -5.04995700e-03 2.99330547e+02] [ 3.14297360e-02 9.99505960e-01 8.21992313e-05 1.21581460e+00] [ 5.04487869e-03 -2.40876390e-04 9.99987246e-01 1.49827104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:299.36, Y:1.22, Z:1.50 [[ 9.99446128e-01 -3.28927734e-02 -5.04995041e-03 2.99361901e+02] [ 3.28936096e-02 9.99458855e-01 8.26021090e-05 1.21546038e+00] [ 5.04450064e-03 -2.48667455e-04 9.99987246e-01 1.49792676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:299.39, Y:1.22, Z:1.50 [[ 9.99402183e-01 -3.42019835e-02 -5.04994548e-03 2.99394273e+02] [ 3.42028379e-02 9.99414908e-01 8.29020055e-05 1.21547246e+00] [ 5.04415539e-03 -2.55574912e-04 9.99987246e-01 1.49891465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:299.43, Y:1.22, Z:1.50 [[ 9.99273860e-01 -3.77657244e-02 -5.04993895e-03 2.99427178e+02] [ 3.77666262e-02 9.99286583e-01 8.32982884e-05 1.21605485e+00] [ 5.04319042e-03 -2.73956959e-04 9.99987246e-01 1.49756140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:299.46, Y:1.22, Z:1.50 [[ 9.99272125e-01 -3.78116937e-02 -5.04940570e-03 2.99459828e+02] [ 3.78127572e-02 9.99284835e-01 1.15297601e-04 1.21551917e+00] [ 5.04143495e-03 -3.06145631e-04 9.99987245e-01 1.49771665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:299.49, Y:1.21, Z:1.50 [[ 9.99296185e-01 -3.71703962e-02 -5.04943206e-03 2.99490080e+02] [ 3.71714435e-02 9.99308897e-01 1.13699419e-04 1.21499906e+00] [ 5.04171613e-03 -3.01314075e-04 9.99987245e-01 1.49873508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:299.52, Y:1.21, Z:1.50 [[ 9.99231732e-01 -3.88644287e-02 -5.04993669e-03 2.99524069e+02] [ 3.88653429e-02 9.99244454e-01 8.29949024e-05 1.21497782e+00] [ 5.04289568e-03 -2.79198661e-04 9.99987246e-01 1.49753426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.554391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:299.55, Y:1.22, Z:1.50 [[ 9.99274168e-01 -3.77576478e-02 -5.04953499e-03 2.99554284e+02] [ 3.77586690e-02 9.99286881e-01 1.07013720e-04 1.21552787e+00] [ 5.04189349e-03 -2.97599766e-04 9.99987245e-01 1.49767857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:299.59, Y:1.22, Z:1.50 [[ 9.99305472e-01 -3.69198067e-02 -5.04991374e-03 2.99587435e+02] [ 3.69207029e-02 9.99318195e-01 8.43347208e-05 1.21607717e+00] [ 5.04335706e-03 -2.70722513e-04 9.99987246e-01 1.49736544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.614391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:299.62, Y:1.22, Z:1.50 [[ 9.99430607e-01 -3.33610457e-02 -5.04990391e-03 2.99619414e+02] [ 3.33618996e-02 9.99443333e-01 8.49192047e-05 1.21522994e+00] [ 5.04425980e-03 -2.53345239e-04 9.99987246e-01 1.49529073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:299.65, Y:1.22, Z:1.50 [[ 9.99480009e-01 -3.18466778e-02 -5.04982094e-03 2.99649628e+02] [ 3.18475372e-02 9.99492735e-01 8.98453501e-05 1.21937541e+00] [ 5.04439806e-03 -2.50622992e-04 9.99987246e-01 1.49801629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.674391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:299.68, Y:1.22, Z:1.50 [[ 9.99569020e-01 -2.89183951e-02 -5.04989318e-03 2.99681333e+02] [ 2.89191957e-02 9.99581749e-01 8.55825938e-05 1.22025289e+00] [ 5.04530615e-03 -2.31584559e-04 9.99987246e-01 1.49899312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:299.71, Y:1.22, Z:1.50 [[ 9.99654258e-01 -2.58043385e-02 -5.04988799e-03 2.99713878e+02] [ 2.58051011e-02 9.99666989e-01 8.58875601e-05 1.22153856e+00] [ 5.04599006e-03 -2.16170735e-04 9.99987246e-01 1.50020051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:299.75, Y:1.23, Z:1.50 [[ 9.99801954e-01 -1.92497170e-02 -5.04988094e-03 2.99746217e+02] [ 1.92503981e-02 9.99814690e-01 8.63001043e-05 1.22509042e+00] [ 5.04728390e-03 -1.83495231e-04 9.99987246e-01 1.50228421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:299.78, Y:1.23, Z:1.50 [[ 9.99863876e-01 -1.57075612e-02 -5.04987385e-03 2.99777032e+02] [ 1.57081992e-02 9.99876615e-01 8.67132926e-05 1.22652921e+00] [ 5.04788872e-03 -1.66025913e-04 9.99987246e-01 1.50196217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794391418 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:299.81, Y:1.23, Z:1.50 [[ 9.99912912e-01 -1.21928909e-02 -5.04986856e-03 2.99808848e+02] [ 1.21934857e-02 9.99925653e-01 8.70204752e-05 1.22782262e+00] [ 5.04843208e-03 -1.48588397e-04 9.99987246e-01 1.50422085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:299.84, Y:1.23, Z:1.51 [[ 9.99974185e-01 -5.11161526e-03 -5.04986142e-03 2.99839177e+02] [ 5.11212194e-03 9.99986929e-01 8.74327691e-05 1.23081877e+00] [ 5.04934849e-03 -1.13246019e-04 9.99987246e-01 1.50554834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:299.87, Y:1.23, Z:1.50 [[ 9.99987231e-01 1.91340758e-04 -5.04985965e-03 2.99868405e+02] [-1.90901155e-04 9.99999978e-01 8.75344357e-05 1.23046311e+00] [ 5.04987629e-03 -8.65692939e-05 9.99987246e-01 1.50109135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:299.90, Y:1.23, Z:1.51 [[ 9.99986909e-01 8.24184649e-04 -5.04999268e-03 2.99896888e+02] [-8.23792142e-04 9.99999658e-01 7.98038741e-05 1.23251901e+00] [ 5.05005672e-03 -7.56426851e-05 9.99987246e-01 1.50551904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:299.92, Y:1.23, Z:1.50 [[ 9.99983566e-01 2.71409260e-03 -5.04993668e-03 2.99924874e+02] [-2.71370763e-03 9.99996314e-01 8.30828549e-05 1.23362347e+00] [ 5.05014356e-03 -6.93774378e-05 9.99987246e-01 1.50487228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:299.95, Y:1.24, Z:1.50 [[ 9.99965967e-01 6.52410551e-03 -5.04989712e-03 2.99952999e+02] [-6.52375731e-03 9.99978716e-01 8.54219255e-05 1.23500576e+00] [ 5.05034694e-03 -5.24747151e-05 9.99987246e-01 1.50373454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:299.98, Y:1.23, Z:1.50 [[ 9.99955277e-01 7.99636364e-03 -5.04992400e-03 2.99981486e+02] [-7.99604239e-03 9.99968028e-01 8.38017335e-05 1.23499002e+00] [ 5.05043265e-03 -4.34185793e-05 9.99987246e-01 1.50304725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:300.01, Y:1.24, Z:1.50 [[ 9.99946443e-01 9.03376870e-03 -5.04993061e-03 3.00009044e+02] [-9.03346270e-03 9.99959194e-01 8.34015822e-05 1.23518300e+00] [ 5.05047797e-03 -3.77787557e-05 9.99987246e-01 1.50266537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:300.04, Y:1.23, Z:1.50 [[ 9.99900666e-01 1.31588784e-02 -5.04994015e-03 3.00036267e+02] [-1.31586279e-02 9.99913418e-01 8.28200458e-05 1.23461834e+00] [ 5.05059273e-03 -1.63615354e-05 9.99987246e-01 1.50016226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:300.06, Y:1.24, Z:1.50 [[ 9.99911467e-01 1.23107253e-02 -5.05017272e-03 3.00064819e+02] [-1.23105372e-02 9.99924220e-01 6.83218898e-05 1.23507178e+00] [ 5.05063111e-03 -6.14550181e-06 9.99987245e-01 1.50476363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:300.09, Y:1.23, Z:1.51 [[ 9.99899934e-01 1.32144034e-02 -5.04997559e-03 3.00093768e+02] [-1.32141645e-02 9.99912686e-01 8.06631705e-05 1.23440829e+00] [ 5.05060057e-03 -1.39238906e-05 9.99987246e-01 1.50524677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:300.12, Y:1.23, Z:1.51 [[ 9.99877197e-01 1.48353594e-02 -5.04998211e-03 3.00121932e+02] [-1.48351433e-02 9.99889950e-01 8.02530849e-05 1.23329815e+00] [ 5.05061694e-03 -5.32602144e-06 9.99987246e-01 1.50551527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:300.15, Y:1.23, Z:1.51 [[ 9.99871027e-01 1.52455700e-02 -5.04999013e-03 3.00150848e+02] [-1.52453617e-02 9.99883780e-01 7.97449183e-05 1.23231915e+00] [ 5.05061897e-03 -2.74570725e-06 9.99987246e-01 1.50622066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:300.18, Y:1.23, Z:1.51 [[ 9.99875976e-01 1.49174294e-02 -5.04999661e-03 3.00179423e+02] [-1.49172190e-02 9.99888729e-01 7.93325178e-05 1.23131282e+00] [ 5.05061813e-03 -3.99077332e-06 9.99987246e-01 1.50635088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:300.21, Y:1.23, Z:1.51 [[ 9.99887765e-01 1.41051715e-02 -5.05000310e-03 3.00206675e+02] [-1.41049528e-02 9.99900517e-01 7.89168268e-05 1.22989483e+00] [ 5.05061385e-03 -7.67791416e-06 9.99987246e-01 1.50593462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:300.23, Y:1.23, Z:1.51 [[ 9.99922961e-01 1.13388718e-02 -5.05001715e-03 3.00233624e+02] [-1.13386225e-02 9.99935713e-01 7.80078587e-05 1.22700950e+00] [ 5.05057701e-03 -2.07416111e-05 9.99987246e-01 1.50521860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:300.26, Y:1.23, Z:1.51 [[ 9.99947501e-01 8.91582517e-03 -5.05002778e-03 3.00261874e+02] [-8.91554841e-03 9.99960253e-01 7.73130734e-05 1.22515777e+00] [ 5.05051637e-03 -3.22852474e-05 9.99987246e-01 1.50544435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.304391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:300.29, Y:1.22, Z:1.51 [[ 9.99980827e-01 3.58360405e-03 -5.05003702e-03 3.00289413e+02] [-3.58326237e-03 9.99993577e-01 7.67048038e-05 1.22110921e+00] [ 5.05027947e-03 -5.86077255e-05 9.99987246e-01 1.50503803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:300.32, Y:1.22, Z:1.51 [[ 9.99987163e-01 4.14327623e-04 -5.05004461e-03 3.00317752e+02] [-4.13948078e-04 9.99999911e-01 7.62017501e-05 1.21879063e+00] [ 5.05007574e-03 -7.41103156e-05 9.99987246e-01 1.50531831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.364391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:300.35, Y:1.21, Z:1.51 [[ 9.99967784e-01 -6.23923698e-03 -5.05005056e-03 3.00346044e+02] [ 6.23969934e-03 9.99980530e-01 7.58057842e-05 1.21408387e+00] [ 5.04947926e-03 -1.07314139e-04 9.99987246e-01 1.50560293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:300.38, Y:1.21, Z:1.51 [[ 9.99942181e-01 -9.49380329e-03 -5.05005644e-03 3.00375949e+02] [ 9.49430515e-03 9.99954925e-01 7.54119513e-05 1.21150587e+00] [ 5.04911286e-03 -1.23354368e-04 9.99987246e-01 1.50578287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.424391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:300.41, Y:1.21, Z:1.51 [[ 9.99903966e-01 -1.29056760e-02 -5.05005937e-03 3.00406636e+02] [ 1.29062203e-02 9.99916708e-01 7.52147720e-05 1.20916834e+00] [ 5.04866805e-03 -1.40384728e-04 9.99987246e-01 1.50551734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:300.44, Y:1.21, Z:1.51 [[ 9.99860888e-01 -1.58965824e-02 -5.05005937e-03 3.00437724e+02] [ 1.58971648e-02 9.99873629e-01 7.52147720e-05 1.20691845e+00] [ 5.04822554e-03 -1.55485935e-04 9.99987246e-01 1.50536257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:300.48, Y:1.20, Z:1.50 [[ 9.99923209e-01 -1.13169696e-02 -5.05005641e-03 3.00478724e+02] [ 1.13174947e-02 9.99935952e-01 7.54134690e-05 1.19521840e+00] [ 5.04887951e-03 -1.32561664e-04 9.99987246e-01 1.50182060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:300.50, Y:1.20, Z:1.50 [[ 9.99707756e-01 -2.36416836e-02 -5.04711147e-03 3.00497219e+02] [ 2.36432990e-02 9.99720424e-01 2.60623700e-04 1.20180749e+00] [ 5.03953884e-03 -3.79877900e-04 9.99987229e-01 1.50420105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:300.53, Y:1.20, Z:1.50 [[ 9.99662983e-01 -2.54640867e-02 -5.04985107e-03 3.00529843e+02] [ 2.54647860e-02 9.99675717e-01 7.42130553e-05 1.20040295e+00] [ 5.04632372e-03 -2.02781421e-04 9.99987247e-01 1.50427879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:300.56, Y:1.20, Z:1.50 [[ 9.99609756e-01 -2.74742453e-02 -5.04984518e-03 3.00561059e+02] [ 2.74749721e-02 9.99622489e-01 7.46117208e-05 1.19905908e+00] [ 5.04588891e-03 -2.13326960e-04 9.99987247e-01 1.50409147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:300.59, Y:1.20, Z:1.51 [[ 9.99496134e-01 -3.13365231e-02 -5.04984077e-03 3.00593702e+02] [ 3.13373006e-02 9.99508863e-01 7.49086421e-05 1.19686067e+00] [ 5.04501324e-03 -2.33119277e-04 9.99987247e-01 1.50513040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:300.63, Y:1.20, Z:1.51 [[ 9.99435316e-01 -3.32196833e-02 -5.04983470e-03 3.00626527e+02] [ 3.32204869e-02 9.99448044e-01 7.53160463e-05 1.19589325e+00] [ 5.04454544e-03 -2.43031484e-04 9.99987247e-01 1.50557732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:300.66, Y:1.19, Z:1.50 [[ 9.99488626e-01 -3.15750782e-02 -5.04982554e-03 3.00663299e+02] [ 3.15758640e-02 9.99501355e-01 7.59251049e-05 1.18729442e+00] [ 5.04491013e-03 -2.35338883e-04 9.99987247e-01 1.50396630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:300.69, Y:1.19, Z:1.51 [[ 9.99249718e-01 -3.83994722e-02 -5.04787477e-03 3.00686025e+02] [ 3.84009744e-02 9.99262390e-01 2.00986199e-04 1.19373905e+00] [ 5.03643364e-03 -3.94678713e-04 9.99987239e-01 1.50629153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:300.72, Y:1.19, Z:1.51 [[ 9.99215823e-01 -3.92713456e-02 -5.04974575e-03 3.00718459e+02] [ 3.92722245e-02 9.99228546e-01 7.49765195e-05 1.19312305e+00] [ 5.04290567e-03 -2.73232473e-04 9.99987247e-01 1.50581661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:300.75, Y:1.19, Z:1.50 [[ 9.99185475e-01 -4.00360747e-02 -5.04973131e-03 3.00750248e+02] [ 4.00369682e-02 9.99198196e-01 7.59369920e-05 1.19280783e+00] [ 5.04264219e-03 -2.78051071e-04 9.99987247e-01 1.50442013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:300.78, Y:1.19, Z:1.50 [[ 9.99177833e-01 -4.02263380e-02 -5.04972521e-03 3.00783690e+02] [ 4.02272360e-02 9.99190554e-01 7.63398517e-05 1.19236620e+00] [ 5.04256686e-03 -2.79413575e-04 9.99987247e-01 1.50402458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:300.82, Y:1.19, Z:1.50 [[ 9.99166183e-01 -4.05146863e-02 -5.04971580e-03 3.00815268e+02] [ 4.05155911e-02 9.99178903e-01 7.69577256e-05 1.19202207e+00] [ 5.04245158e-03 -2.81485777e-04 9.99987247e-01 1.50284334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:300.85, Y:1.19, Z:1.50 [[ 9.99143557e-01 -4.10688930e-02 -5.04970796e-03 3.00847804e+02] [ 4.10698074e-02 9.99156277e-01 7.74685676e-05 1.19228784e+00] [ 5.04226586e-03 -2.84792754e-04 9.99987247e-01 1.50269764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:300.88, Y:1.19, Z:1.50 [[ 9.99121873e-01 -4.15930773e-02 -5.04970155e-03 3.00880513e+02] [ 4.15940004e-02 9.99134592e-01 7.78845414e-05 1.19260632e+00] [ 5.04209204e-03 -2.87853437e-04 9.99987247e-01 1.50200242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:300.91, Y:1.19, Z:1.50 [[ 9.99094026e-01 -4.22566913e-02 -5.04969349e-03 3.00912245e+02] [ 4.22576255e-02 9.99106745e-01 7.84031127e-05 1.19313368e+00] [ 5.04186977e-03 -2.91720138e-04 9.99987247e-01 1.50164410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:300.95, Y:1.19, Z:1.50 [[ 9.99077272e-01 -4.26509768e-02 -5.04968542e-03 3.00945162e+02] [ 4.26519186e-02 9.99089990e-01 7.89200305e-05 1.19335103e+00] [ 5.04172413e-03 -2.94225980e-04 9.99987247e-01 1.50136788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:300.98, Y:1.19, Z:1.50 [[ 9.99041911e-01 -4.34713690e-02 -5.04967575e-03 3.00978656e+02] [ 4.34723244e-02 9.99054628e-01 7.95334128e-05 1.19463633e+00] [ 5.04144451e-03 -2.98978355e-04 9.99987247e-01 1.50122386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:301.01, Y:1.20, Z:1.50 [[ 9.99035280e-01 -4.36235097e-02 -5.04966610e-03 3.01010969e+02] [ 4.36244700e-02 9.99047996e-01 8.01418824e-05 1.19508989e+00] [ 5.04136273e-03 -3.00353575e-04 9.99987247e-01 1.50203165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:301.04, Y:1.20, Z:1.50 [[ 9.99041808e-01 -4.34737504e-02 -5.04965968e-03 3.01042814e+02] [ 4.34747109e-02 9.99054525e-01 8.05441728e-05 1.19707606e+00] [ 5.04138379e-03 -2.99999491e-04 9.99987247e-01 1.50410067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.054391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:301.07, Y:1.20, Z:1.51 [[ 9.99043318e-01 -4.34390335e-02 -5.04965328e-03 3.01073633e+02] [ 4.34399955e-02 9.99056035e-01 8.09434252e-05 1.19817875e+00] [ 5.04137048e-03 -3.00222904e-04 9.99987247e-01 1.50518580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:301.11, Y:1.20, Z:1.51 [[ 9.99065051e-01 -4.29362946e-02 -5.04964850e-03 3.01105487e+02] [ 4.29372518e-02 9.99077768e-01 8.12404713e-05 1.19932078e+00] [ 5.04150339e-03 -2.97982545e-04 9.99987247e-01 1.50624208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.114391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:301.14, Y:1.20, Z:1.51 [[ 9.99118547e-01 -4.16728985e-02 -5.04964053e-03 3.01138624e+02] [ 4.16738420e-02 9.99131265e-01 8.17328122e-05 1.20223656e+00] [ 5.04184769e-03 -2.92098690e-04 9.99987247e-01 1.50791285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:301.17, Y:1.20, Z:1.51 [[ 9.99149003e-01 -4.09361738e-02 -5.04963074e-03 3.01171229e+02] [ 4.09371110e-02 9.99161722e-01 8.23331898e-05 1.20329685e+00] [ 5.04202734e-03 -2.88980419e-04 9.99987247e-01 1.50845155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.174391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:301.20, Y:1.21, Z:1.51 [[ 9.99119653e-01 -4.16463741e-02 -5.04962072e-03 3.01201398e+02] [ 4.16473234e-02 9.99132370e-01 8.29435267e-05 1.20652941e+00] [ 5.04178522e-03 -2.93173695e-04 9.99987247e-01 1.50732515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:301.24, Y:1.21, Z:1.51 [[ 9.99206077e-01 -3.95185115e-02 -5.05008888e-03 3.01235821e+02] [ 3.95192908e-02 9.99218806e-01 5.45785871e-05 1.20671115e+00] [ 5.04398692e-03 -2.54111187e-04 9.99987247e-01 1.50781586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:301.27, Y:1.21, Z:1.51 [[ 9.99220856e-01 -3.91431012e-02 -5.04958712e-03 3.01268303e+02] [ 3.91440268e-02 9.99233575e-01 8.45464841e-05 1.20753008e+00] [ 5.04240758e-03 -2.82141784e-04 9.99987247e-01 1.50706833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:301.30, Y:1.21, Z:1.51 [[ 9.99219124e-01 -3.91872857e-02 -5.04957020e-03 3.01301085e+02] [ 3.91882169e-02 9.99231843e-01 8.55453437e-05 1.20821459e+00] [ 5.04233905e-03 -2.83362196e-04 9.99987247e-01 1.50672691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:301.33, Y:1.21, Z:1.51 [[ 9.99216908e-01 -3.92437612e-02 -5.04956003e-03 3.01334337e+02] [ 3.92446960e-02 9.99229626e-01 8.61418259e-05 1.20900802e+00] [ 5.04228945e-03 -2.84242817e-04 9.99987247e-01 1.50643250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:301.37, Y:1.21, Z:1.51 [[ 9.99243313e-01 -3.85655670e-02 -5.04954981e-03 3.01365735e+02] [ 3.85664962e-02 9.99256032e-01 8.67365940e-05 1.21165271e+00] [ 5.04244806e-03 -2.81414405e-04 9.99987247e-01 1.50516444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:301.40, Y:1.22, Z:1.50 [[ 9.99184554e-01 -4.00590759e-02 -5.04954473e-03 3.01395560e+02] [ 4.00600256e-02 9.99197271e-01 8.70311218e-05 1.21614518e+00] [ 5.04200493e-03 -2.89245044e-04 9.99987247e-01 1.50317976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:301.43, Y:1.22, Z:1.50 [[ 9.99195182e-01 -3.97930045e-02 -5.05021320e-03 3.01428147e+02] [ 3.97937561e-02 9.99207914e-01 4.83934273e-05 1.21537309e+00] [ 5.04428728e-03 -2.49321432e-04 9.99987246e-01 1.50335736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:301.46, Y:1.21, Z:1.51 [[ 9.99344596e-01 -3.58451301e-02 -5.05020898e-03 3.01462331e+02] [ 3.58458326e-02 9.99357330e-01 4.86346853e-05 1.21309080e+00] [ 5.04522005e-03 -2.29631756e-04 9.99987246e-01 1.50508440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:301.50, Y:1.22, Z:1.51 [[ 9.99504897e-01 -3.10558206e-02 -5.04947803e-03 3.01495770e+02] [ 3.10566694e-02 9.99517621e-01 8.97564734e-05 1.21660793e+00] [ 5.04425481e-03 -2.46532005e-04 9.99987247e-01 1.50637710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:301.53, Y:1.22, Z:1.51 [[ 9.99596894e-01 -2.79383714e-02 -5.04946773e-03 3.01527638e+02] [ 2.79391835e-02 9.99609621e-01 9.03324906e-05 1.21842669e+00] [ 5.04497278e-03 -2.31374082e-04 9.99987247e-01 1.50787102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:301.56, Y:1.22, Z:1.51 [[ 9.99685208e-01 -2.45761746e-02 -5.04946074e-03 3.01559937e+02] [ 2.45769458e-02 9.99697937e-01 9.07213384e-05 1.22008851e+00] [ 5.04570590e-03 -2.14793103e-04 9.99987247e-01 1.50942282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:301.59, Y:1.22, Z:1.51 [[ 9.99766891e-01 -2.09920562e-02 -5.04945353e-03 3.01591528e+02] [ 2.09927837e-02 9.99779623e-01 9.11207118e-05 1.22142143e+00] [ 5.04642794e-03 -1.97101557e-04 9.99987247e-01 1.51011391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:301.62, Y:1.22, Z:1.51 [[ 9.99907053e-01 -1.26644859e-02 -5.04944815e-03 3.01622589e+02] [ 1.26651089e-02 9.99919790e-01 9.14180188e-05 1.22392965e+00] [ 5.04788537e-03 -1.55361332e-04 9.99987247e-01 1.51319332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:301.65, Y:1.23, Z:1.51 [[ 9.99941826e-01 -9.53111685e-03 -5.04990083e-03 3.01654108e+02] [ 9.53157243e-03 9.99954571e-01 6.61551983e-05 1.22507588e+00] [ 5.04904089e-03 -1.14284845e-04 9.99987247e-01 1.51332136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:301.68, Y:1.23, Z:1.51 [[ 9.99982443e-01 -3.10039492e-03 -5.04981806e-03 3.01684602e+02] [ 3.10079188e-03 9.99995190e-01 7.07796387e-05 1.22790017e+00] [ 5.04957432e-03 -8.64368309e-05 9.99987247e-01 1.51261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:301.71, Y:1.23, Z:1.51 [[ 9.99986200e-01 1.45021416e-03 -5.04945786e-03 3.01713083e+02] [-1.44977411e-03 9.99998945e-01 9.08084424e-05 1.22909822e+00] [ 5.04958423e-03 -8.34866160e-05 9.99987247e-01 1.51222426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:301.74, Y:1.23, Z:1.51 [[ 9.99977634e-01 4.38550448e-03 -5.04971521e-03 3.01741875e+02] [-4.38517458e-03 9.99990382e-01 7.63996379e-05 1.23047440e+00] [ 5.05000170e-03 -5.42540463e-05 9.99987247e-01 1.51244777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:301.77, Y:1.23, Z:1.51 [[ 9.99906762e-01 1.26873760e-02 -5.04948144e-03 3.01768883e+02] [-1.26870854e-02 9.99919512e-01 8.95773881e-05 1.23191056e+00] [ 5.05021152e-03 -2.55058340e-05 9.99987247e-01 1.51156060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:301.80, Y:1.23, Z:1.51 [[ 9.99869722e-01 1.53310357e-02 -5.04963580e-03 3.01797490e+02] [-1.53308232e-02 9.99882473e-01 8.07859168e-05 1.23259967e+00] [ 5.05028086e-03 -3.36031836e-06 9.99987247e-01 1.51086217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:301.83, Y:1.23, Z:1.51 [[ 9.99808705e-01 1.88959318e-02 -5.04949941e-03 3.01825347e+02] [-1.88957255e-02 9.99821456e-01 8.85619955e-05 1.23279227e+00] [ 5.05027132e-03 6.86890101e-06 9.99987247e-01 1.51071360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.804391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:301.85, Y:1.23, Z:1.51 [[ 9.99697373e-01 2.40762390e-02 -5.04950802e-03 3.01854162e+02] [-2.40761013e-02 9.99710125e-01 8.80683002e-05 1.23305382e+00] [ 5.05016465e-03 3.35308181e-05 9.99987247e-01 1.51070478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:301.88, Y:1.24, Z:1.51 [[ 9.99710172e-01 2.35387973e-02 -5.04951505e-03 3.01878873e+02] [-2.35386547e-02 9.99722924e-01 8.76634694e-05 1.23633830e+00] [ 5.05017944e-03 3.12207293e-05 9.99987247e-01 1.51108534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.864391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:301.91, Y:1.23, Z:1.51 [[ 9.99625408e-01 2.68986298e-02 -5.05053590e-03 3.01910199e+02] [-2.68988341e-02 9.99638161e-01 2.74834776e-05 1.23127515e+00] [ 5.04944768e-03 1.08380345e-04 9.99987246e-01 1.51088464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:301.94, Y:1.23, Z:1.51 [[ 9.99569056e-01 2.89171987e-02 -5.04950362e-03 3.01936535e+02] [-2.89171269e-02 9.99581809e-01 8.72358609e-05 1.22906186e+00] [ 5.04991457e-03 5.88188697e-05 9.99987247e-01 1.51220472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.924391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:301.97, Y:1.23, Z:1.51 [[ 9.99620390e-01 2.70845567e-02 -5.04994893e-03 3.01966397e+02] [-2.70845943e-02 9.99633143e-01 6.09679203e-05 1.22759977e+00] [ 5.04974761e-03 7.58310416e-05 9.99987247e-01 1.51235042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:301.99, Y:1.23, Z:1.51 [[ 9.99743813e-01 2.20637753e-02 -5.04952026e-03 3.01989668e+02] [-2.20636218e-02 9.99756565e-01 8.61064527e-05 1.23124696e+00] [ 5.05019086e-03 2.53263118e-05 9.99987247e-01 1.51283733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:302.02, Y:1.22, Z:1.51 [[ 9.99713085e-01 2.34144205e-02 -5.05106385e-03 3.02022405e+02] [-2.34147641e-02 9.99725837e-01 -8.89090746e-06 1.22135101e+00] [ 5.04947086e-03 1.27157825e-04 9.99987243e-01 1.51306689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:302.04, Y:1.22, Z:1.51 [[ 9.99786761e-01 2.00231869e-02 -5.05016395e-03 3.02044935e+02] [-2.00231982e-02 9.99799515e-01 4.83300483e-05 1.22271013e+00] [ 5.05011918e-03 5.28006912e-05 9.99987247e-01 1.51293811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:302.08, Y:1.21, Z:1.51 [[ 9.99907497e-01 1.26286141e-02 -5.05132483e-03 3.02081345e+02] [-1.26288758e-02 9.99920252e-01 -1.99034751e-05 1.21265062e+00] [ 5.05067065e-03 8.36941877e-05 9.99987242e-01 1.51344938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:302.11, Y:1.21, Z:1.51 [[ 9.99958631e-01 7.56568195e-03 -5.04941595e-03 3.02108685e+02] [-7.56533035e-03 9.99971379e-01 8.87293176e-05 1.20913464e+00] [ 5.04994272e-03 -5.05251473e-05 9.99987248e-01 1.51253268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:302.13, Y:1.21, Z:1.51 [[ 9.99987230e-01 -2.08547906e-04 -5.04942547e-03 3.02133940e+02] [ 2.08995849e-04 9.99999974e-01 8.81841750e-05 1.20929528e+00] [ 5.04940695e-03 -8.92383579e-05 9.99987248e-01 1.51127463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:302.16, Y:1.20, Z:1.51 [[ 9.99984722e-01 -2.24652951e-03 -5.05053538e-03 3.02164456e+02] [ 2.24667500e-03 9.99997476e-01 2.31334110e-05 1.20150857e+00] [ 5.05047066e-03 -3.44799691e-05 9.99987246e-01 1.51094749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:302.19, Y:1.20, Z:1.51 [[ 9.99951785e-01 -8.42178761e-03 -5.04979915e-03 3.02194380e+02] [ 8.42222952e-03 9.99964530e-01 6.62515140e-05 1.19829722e+00] [ 5.04906208e-03 -1.08778887e-04 9.99987247e-01 1.51020864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:302.22, Y:1.19, Z:1.51 [[ 9.99838187e-01 -1.72656684e-02 -5.04945700e-03 3.02224304e+02] [ 1.72663240e-02 9.99850922e-01 8.62765025e-05 1.19244504e+00] [ 5.04721462e-03 -1.73448102e-04 9.99987248e-01 1.50842332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:302.26, Y:1.19, Z:1.51 [[ 9.99762880e-01 -2.11822470e-02 -5.04945700e-03 3.02256872e+02] [ 2.11829525e-02 9.99775612e-01 8.62765025e-05 1.18943470e+00] [ 5.04649643e-03 -1.93218452e-04 9.99987248e-01 1.50842254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:302.29, Y:1.19, Z:1.51 [[ 9.99609976e-01 -2.74663358e-02 -5.04945031e-03 3.02289489e+02] [ 2.74671233e-02 9.99622704e-01 8.66664508e-05 1.18503604e+00] [ 5.04516476e-03 -2.25326523e-04 9.99987248e-01 1.50933540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:302.32, Y:1.18, Z:1.51 [[ 9.99540202e-01 -2.98979608e-02 -5.04944166e-03 3.02322154e+02] [ 2.98987818e-02 9.99552928e-01 8.71674596e-05 1.18268851e+00] [ 5.04457806e-03 -2.38099534e-04 9.99987248e-01 1.50984158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:302.35, Y:1.18, Z:1.51 [[ 9.99472920e-01 -3.20684521e-02 -5.04943287e-03 3.02354769e+02] [ 3.20693033e-02 9.99485644e-01 8.76735423e-05 1.18052296e+00] [ 5.04402411e-03 -2.49559125e-04 9.99987248e-01 1.51066471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:302.39, Y:1.18, Z:1.51 [[ 9.99353268e-01 -3.56026496e-02 -5.04942573e-03 3.02387199e+02] [ 3.56035478e-02 9.99365989e-01 8.80826112e-05 1.17737897e+00] [ 5.04308837e-03 -2.67803116e-04 9.99987248e-01 1.51063482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:302.42, Y:1.18, Z:1.51 [[ 9.99305307e-01 -3.69243505e-02 -5.04941680e-03 3.02420298e+02] [ 3.69252681e-02 9.99318026e-01 8.85918496e-05 1.17550432e+00] [ 5.04270203e-03 -2.74981375e-04 9.99987248e-01 1.51123702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:302.45, Y:1.17, Z:1.51 [[ 9.99260229e-01 -3.81247739e-02 -5.04940613e-03 3.02453094e+02] [ 3.81257099e-02 9.99272947e-01 8.91959365e-05 1.17371533e+00] [ 5.04233437e-03 -2.81642145e-04 9.99987248e-01 1.51165041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:302.49, Y:1.17, Z:1.51 [[ 9.99184047e-01 -4.00717216e-02 -5.04939541e-03 3.02486082e+02] [ 4.00726854e-02 9.99196763e-01 8.97988238e-05 1.17086387e+00] [ 5.04174115e-03 -2.92068386e-04 9.99987248e-01 1.51231370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:302.52, Y:1.17, Z:1.51 [[ 9.99142436e-01 -4.10961925e-02 -5.04938447e-03 3.02516994e+02] [ 4.10971724e-02 9.99155150e-01 9.04097053e-05 1.16917132e+00] [ 5.04140300e-03 -2.97847597e-04 9.99987248e-01 1.51126200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:302.55, Y:1.17, Z:1.51 [[ 9.99115230e-01 -4.17523730e-02 -5.04937905e-03 3.02550000e+02] [ 4.17533627e-02 9.99127944e-01 9.07115714e-05 1.16726864e+00] [ 5.04118828e-03 -3.01459867e-04 9.99987248e-01 1.51127535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:302.58, Y:1.16, Z:1.51 [[ 9.99040620e-01 -4.35010791e-02 -5.04936839e-03 3.02581691e+02] [ 4.35020941e-02 9.99053332e-01 9.13006727e-05 1.16453183e+00] [ 5.04061664e-03 -3.10871179e-04 9.99987248e-01 1.51212683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.554391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:302.61, Y:1.16, Z:1.51 [[ 9.99019938e-01 -4.39734825e-02 -5.04936093e-03 3.02613643e+02] [ 4.39745055e-02 9.99032649e-01 9.17118399e-05 1.16307663e+00] [ 5.04044353e-03 -3.13665107e-04 9.99987248e-01 1.51206454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:302.64, Y:1.16, Z:1.51 [[ 9.98998003e-01 -4.44690267e-02 -5.04935335e-03 3.02644404e+02] [ 4.44700582e-02 9.99010713e-01 9.21273318e-05 1.16211507e+00] [ 5.04026127e-03 -3.16580057e-04 9.99987248e-01 1.51009540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.614391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:302.68, Y:1.16, Z:1.51 [[ 9.98994017e-01 -4.45584747e-02 -5.04934768e-03 3.02676781e+02] [ 4.45595088e-02 9.99006728e-01 9.24368802e-05 1.16123188e+00] [ 5.04021345e-03 -3.17340343e-04 9.99987248e-01 1.51068376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:302.71, Y:1.16, Z:1.51 [[ 9.99015787e-01 -4.40676835e-02 -5.04934025e-03 3.02709124e+02] [ 4.40687135e-02 9.99028498e-01 9.28409898e-05 1.16130374e+00] [ 5.04034352e-03 -3.15267543e-04 9.99987248e-01 1.51003838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.674391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:302.74, Y:1.16, Z:1.51 [[ 9.99057249e-01 -4.31174768e-02 -5.04933270e-03 3.02740050e+02] [ 4.31184967e-02 9.99069961e-01 9.32496128e-05 1.16142896e+00] [ 5.04061594e-03 -3.10881337e-04 9.99987248e-01 1.50843793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:302.77, Y:1.16, Z:1.51 [[ 9.99102039e-01 -4.20668481e-02 -5.04932707e-03 3.02772059e+02] [ 4.20678561e-02 9.99114752e-01 9.35537528e-05 1.16180146e+00] [ 5.04092165e-03 -3.05884110e-04 9.99987248e-01 1.50856033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:302.80, Y:1.16, Z:1.51 [[ 9.99261591e-01 -3.80890619e-02 -5.04931958e-03 3.02804024e+02] [ 3.80900214e-02 9.99274307e-01 9.39559673e-05 1.16339523e+00] [ 5.04207663e-03 -2.86215280e-04 9.99987248e-01 1.51006573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:302.84, Y:1.16, Z:1.51 [[ 9.99362554e-01 -3.53410419e-02 -5.04931189e-03 3.02837130e+02] [ 3.53419685e-02 9.99375273e-01 9.43675745e-05 1.16425506e+00] [ 5.04282240e-03 -2.72760042e-04 9.99987248e-01 1.51161469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:302.87, Y:1.17, Z:1.51 [[ 9.99567454e-01 -2.89725574e-02 -5.04930001e-03 3.02868360e+02] [ 2.89734061e-02 9.99580178e-01 9.49991727e-05 1.16709781e+00] [ 5.04442783e-03 -2.41253501e-04 9.99987248e-01 1.51340414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:302.90, Y:1.17, Z:1.51 [[ 9.99670063e-01 -2.51847029e-02 -5.04929411e-03 3.02899827e+02] [ 2.51855050e-02 9.99682790e-01 9.53113034e-05 1.16822678e+00] [ 5.04529204e-03 -2.22448879e-04 9.99987248e-01 1.51410218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:302.93, Y:1.17, Z:1.52 [[ 9.99754578e-01 -2.15705472e-02 -5.04928837e-03 3.02931660e+02] [ 2.15713048e-02 9.99767308e-01 9.56148331e-05 1.16929221e+00] [ 5.04605097e-03 -2.04511105e-04 9.99987248e-01 1.51582285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:302.96, Y:1.17, Z:1.52 [[ 9.99833137e-01 -1.75557010e-02 -5.04928083e-03 3.02963985e+02] [ 1.75564095e-02 9.99845870e-01 9.60114290e-05 1.17032634e+00] [ 5.04681703e-03 -1.84642650e-04 9.99987248e-01 1.51773062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:303.00, Y:1.17, Z:1.52 [[ 9.99937042e-01 -1.00207824e-02 -5.04927317e-03 3.02996381e+02] [ 1.00213969e-02 9.99949780e-01 9.64124682e-05 1.17207921e+00] [ 5.04805347e-03 -1.47007169e-04 9.99987248e-01 1.51931900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:303.03, Y:1.17, Z:1.52 [[ 9.99964363e-01 -6.76594904e-03 -5.04926547e-03 3.03027121e+02] [ 6.76652409e-03 9.99977102e-01 9.68138804e-05 1.17216204e+00] [ 5.04849482e-03 -1.30976407e-04 9.99987248e-01 1.51895168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:303.06, Y:1.17, Z:1.52 [[ 9.99980425e-01 -3.69532107e-03 -5.04925900e-03 3.03057560e+02] [ 3.69585870e-03 9.99993166e-01 9.71500003e-05 1.17228185e+00] [ 5.04886550e-03 -1.15809446e-04 9.99987248e-01 1.51943131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:303.09, Y:1.17, Z:1.52 [[ 9.99986381e-01 1.31987181e-03 -5.04925900e-03 3.03086968e+02] [-1.31939809e-03 9.99999125e-01 9.71500003e-05 1.17244655e+00] [ 5.04938281e-03 -9.04866946e-05 9.99987248e-01 1.52113401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:303.12, Y:1.17, Z:1.52 [[ 9.99980104e-01 3.78108847e-03 -5.04926293e-03 3.03115035e+02] [-3.78064715e-03 9.99992849e-01 9.69453140e-05 1.17216325e+00] [ 5.04959338e-03 -7.78539037e-05 9.99987248e-01 1.51994659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:303.14, Y:1.17, Z:1.52 [[ 9.99971324e-01 5.64420324e-03 -5.04927262e-03 3.03143094e+02] [-5.64378822e-03 9.99984069e-01 9.64382400e-05 1.17201433e+00] [ 5.04973650e-03 -6.79384492e-05 9.99987248e-01 1.52050546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:303.17, Y:1.17, Z:1.52 [[ 9.99924595e-01 1.11941642e-02 -5.04930292e-03 3.03170718e+02] [-1.11938281e-02 9.99937343e-01 9.48245502e-05 1.17157619e+00] [ 5.05004803e-03 -3.82963712e-05 9.99987248e-01 1.51918895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:303.20, Y:1.17, Z:1.52 [[ 9.99884225e-01 1.43541364e-02 -5.04933248e-03 3.03198889e+02] [-1.43538486e-02 9.99896974e-01 9.32238480e-05 1.17105109e+00] [ 5.05015041e-03 -2.07357010e-05 9.99987248e-01 1.51871019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:303.23, Y:1.17, Z:1.52 [[ 9.99831771e-01 1.76333384e-02 -5.04934155e-03 3.03228028e+02] [-1.76330950e-02 9.99844521e-01 9.27296585e-05 1.17084795e+00] [ 5.05019162e-03 -3.67853942e-06 9.99987248e-01 1.51905311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:303.26, Y:1.17, Z:1.52 [[ 9.99682321e-01 2.46933520e-02 -5.04934874e-03 3.03257201e+02] [-2.46932006e-02 9.99695072e-01 9.23364665e-05 1.17039407e+00] [ 5.05008915e-03 3.23774483e-05 9.99987248e-01 1.52052559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:303.28, Y:1.17, Z:1.52 [[ 9.99599172e-01 2.78567516e-02 -5.04935601e-03 3.03284809e+02] [-2.78566426e-02 9.99611924e-01 9.19371516e-05 1.16977002e+00] [ 5.04995755e-03 4.87578052e-05 9.99987248e-01 1.52075364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:303.31, Y:1.17, Z:1.52 [[ 9.99507497e-01 3.09720304e-02 -5.04936914e-03 3.03313545e+02] [-3.09719647e-02 9.99520249e-01 9.12105423e-05 1.16888988e+00] [ 5.04977168e-03 6.52232620e-05 9.99987248e-01 1.52203525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:303.34, Y:1.17, Z:1.52 [[ 9.99511103e-01 3.08554504e-02 -5.04937620e-03 3.03341996e+02] [-3.08553852e-02 9.99523855e-01 9.08179322e-05 1.16849379e+00] [ 5.04977419e-03 6.50269163e-05 9.99987248e-01 1.52217907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.304391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:303.37, Y:1.17, Z:1.52 [[ 9.99430457e-01 3.33656317e-02 -5.04938672e-03 3.03369657e+02] [-3.33656016e-02 9.99443209e-01 9.02289882e-05 1.16778065e+00] [ 5.04958582e-03 7.82982269e-05 9.99987248e-01 1.52281005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:303.40, Y:1.17, Z:1.52 [[ 9.99306257e-01 3.68986105e-02 -5.04939961e-03 3.03398700e+02] [-3.68986291e-02 9.99319010e-01 8.95021368e-05 1.16580976e+00] [ 5.04926352e-03 9.68758778e-05 9.99987248e-01 1.52388400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.364391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:303.43, Y:1.16, Z:1.52 [[ 9.99298806e-01 3.70998761e-02 -5.04940646e-03 3.03425386e+02] [-3.70998993e-02 9.99311558e-01 8.91140004e-05 1.16404147e+00] [ 5.04923635e-03 9.82809569e-05 9.99987248e-01 1.52354191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:303.45, Y:1.16, Z:1.52 [[ 9.99331754e-01 3.62014958e-02 -5.04941826e-03 3.03452915e+02] [-3.62015109e-02 9.99344507e-01 8.84402326e-05 1.16176600e+00] [ 5.04931007e-03 9.44154372e-05 9.99987248e-01 1.52405984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.424391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:303.48, Y:1.16, Z:1.52 [[ 9.99496423e-01 3.13273484e-02 -5.04942862e-03 3.03481337e+02] [-3.13273043e-02 9.99509176e-01 8.78445447e-05 1.15641807e+00] [ 5.04970218e-03 7.03846790e-05 9.99987248e-01 1.52385551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:303.51, Y:1.15, Z:1.52 [[ 9.99612786e-01 2.73638614e-02 -5.04943566e-03 3.03510157e+02] [-2.73637688e-02 9.99625538e-01 8.74378984e-05 1.15313447e+00] [ 5.04993748e-03 5.07675487e-05 9.99987248e-01 1.52385054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:303.54, Y:1.15, Z:1.52 [[ 9.99720543e-01 2.30941407e-02 -5.04944274e-03 3.03538526e+02] [-2.30939957e-02 9.99733294e-01 8.70274164e-05 1.14946885e+00] [ 5.05010585e-03 2.96087130e-05 9.99987248e-01 1.52374852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:303.57, Y:1.15, Z:1.52 [[ 9.99822901e-01 1.81292515e-02 -5.04945334e-03 3.03566146e+02] [-1.81290463e-02 9.99835652e-01 8.64081839e-05 1.14584546e+00] [ 5.05018998e-03 5.14889228e-06 9.99987248e-01 1.52337787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:303.60, Y:1.14, Z:1.52 [[ 9.99959744e-01 7.41713482e-03 -5.04946205e-03 3.03595285e+02] [-7.41679563e-03 9.99972492e-01 8.58961340e-05 1.13900027e+00] [ 5.04996025e-03 -4.84418481e-05 9.99987248e-01 1.52346736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:303.62, Y:1.14, Z:1.52 [[ 9.99985046e-01 2.10013788e-03 -5.04946906e-03 3.03622685e+02] [-2.09973300e-03 9.99997792e-01 8.54819902e-05 1.13518343e+00] [ 5.04963743e-03 -7.48781751e-05 9.99987248e-01 1.52265127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:303.65, Y:1.13, Z:1.52 [[ 9.99982913e-01 -2.94550267e-03 -5.04947853e-03 3.03651762e+02] [ 2.94596901e-03 9.99995657e-01 8.49188322e-05 1.13121031e+00] [ 5.04920647e-03 -9.97929885e-05 9.99987248e-01 1.52260797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:303.68, Y:1.12, Z:1.52 [[ 9.99917009e-01 -1.18523438e-02 -5.04948527e-03 3.03679933e+02] [ 1.18529216e-02 9.99929748e-01 8.45160446e-05 1.12452646e+00] [ 5.04812882e-03 -1.44360183e-04 9.99987248e-01 1.52225389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:303.71, Y:1.12, Z:1.52 [[ 9.99866993e-01 -1.55080531e-02 -5.04948894e-03 3.03710791e+02] [ 1.55086763e-02 9.99879730e-01 8.42962280e-05 1.12113895e+00] [ 5.04757436e-03 -1.62595906e-04 9.99987248e-01 1.52232262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:303.74, Y:1.12, Z:1.52 [[ 9.99805504e-01 -1.90645686e-02 -5.04948549e-03 3.03741681e+02] [ 1.90652382e-02 9.99818238e-01 8.45023133e-05 1.11822646e+00] [ 5.04695669e-03 -1.80755522e-04 9.99987248e-01 1.52142218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:303.77, Y:1.11, Z:1.52 [[ 9.99671792e-01 -2.51159483e-02 -5.04948031e-03 3.03773773e+02] [ 2.51166965e-02 9.99684522e-01 8.48104268e-05 1.11296400e+00] [ 5.04575722e-03 -2.11608856e-04 9.99987248e-01 1.51972705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:303.81, Y:1.11, Z:1.52 [[ 9.99595076e-01 -2.80033455e-02 -5.04947345e-03 3.03805012e+02] [ 2.80041325e-02 9.99607804e-01 8.52170332e-05 1.11038404e+00] [ 5.04510671e-03 -2.26588650e-04 9.99987248e-01 1.51914007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:303.84, Y:1.11, Z:1.52 [[ 9.99522848e-01 -3.04725964e-02 -5.04946831e-03 3.03836609e+02] [ 3.04734164e-02 9.99535574e-01 8.55204317e-05 1.10793711e+00] [ 5.04451718e-03 -2.39354176e-04 9.99987248e-01 1.51834207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:303.87, Y:1.10, Z:1.52 [[ 9.99400702e-01 -3.42453018e-02 -5.04946321e-03 3.03868826e+02] [ 3.42461713e-02 9.99413424e-01 8.58207537e-05 1.10436148e+00] [ 5.04356236e-03 -2.58694104e-04 9.99987248e-01 1.51848734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:303.90, Y:1.10, Z:1.52 [[ 9.99364937e-01 -3.52735773e-02 -5.04945639e-03 3.03901232e+02] [ 3.52744620e-02 9.99377659e-01 8.62201757e-05 1.10284176e+00] [ 5.04327261e-03 -2.64282278e-04 9.99987248e-01 1.51856295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:303.93, Y:1.10, Z:1.52 [[ 9.99337268e-01 -3.60489756e-02 -5.04944959e-03 3.03933224e+02] [ 3.60498721e-02 9.99349988e-01 8.66164201e-05 1.10190171e+00] [ 5.04304496e-03 -2.68591029e-04 9.99987248e-01 1.51892441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:303.96, Y:1.10, Z:1.52 [[ 9.99335905e-01 -3.60867367e-02 -5.04944281e-03 3.03964490e+02] [ 3.60876357e-02 9.99348625e-01 8.70098496e-05 1.10171438e+00] [ 5.04301383e-03 -2.69174520e-04 9.99987248e-01 1.51955974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:304.00, Y:1.10, Z:1.52 [[ 9.99348706e-01 -3.57304913e-02 -5.04943775e-03 3.03996568e+02] [ 3.57313873e-02 9.99361426e-01 8.73027640e-05 1.10136872e+00] [ 5.04309394e-03 -2.67669320e-04 9.99987248e-01 1.52025448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:304.03, Y:1.10, Z:1.52 [[ 9.99377152e-01 -3.49257991e-02 -5.04943102e-03 3.04027421e+02] [ 3.49266868e-02 9.99389873e-01 8.76902946e-05 1.10088914e+00] [ 5.04328757e-03 -2.63995572e-04 9.99987248e-01 1.52048270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:304.06, Y:1.10, Z:1.52 [[ 9.99397950e-01 -3.43255058e-02 -5.04942599e-03 3.04059915e+02] [ 3.43263872e-02 9.99410672e-01 8.79791074e-05 1.10046090e+00] [ 5.04343029e-03 -2.61254691e-04 9.99987248e-01 1.52080752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:304.09, Y:1.10, Z:1.52 [[ 9.99434776e-01 -3.32359981e-02 -5.04941924e-03 3.04091607e+02] [ 3.32368677e-02 9.99447499e-01 8.83645505e-05 1.09995763e+00] [ 5.04369255e-03 -2.56141484e-04 9.99987248e-01 1.52123145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.054391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:304.12, Y:1.10, Z:1.52 [[ 9.99440026e-01 -3.30777535e-02 -5.04941208e-03 3.04124115e+02] [ 3.30786231e-02 9.99452749e-01 8.87719206e-05 1.09968953e+00] [ 5.04371241e-03 -2.55749810e-04 9.99987248e-01 1.52038863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:304.16, Y:1.10, Z:1.52 [[ 9.99448660e-01 -3.28158504e-02 -5.04940312e-03 3.04156222e+02] [ 3.28167192e-02 9.99461382e-01 8.92785783e-05 1.09955041e+00] [ 5.04375367e-03 -2.54934200e-04 9.99987248e-01 1.52121725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.114391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:304.19, Y:1.10, Z:1.52 [[ 9.99444456e-01 -3.29436444e-02 -5.04939583e-03 3.04186986e+02] [ 3.29445169e-02 9.99457178e-01 8.96891099e-05 1.10021535e+00] [ 5.04370022e-03 -2.55989190e-04 9.99987248e-01 1.52022411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:304.22, Y:1.10, Z:1.52 [[ 9.99447984e-01 -3.28364360e-02 -5.04938370e-03 3.04219628e+02] [ 3.28373105e-02 9.99460706e-01 9.03667360e-05 1.10011549e+00] [ 5.04369328e-03 -2.56125033e-04 9.99987248e-01 1.52024359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.174391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:304.25, Y:1.10, Z:1.52 [[ 9.99453589e-01 -3.26653679e-02 -5.04937639e-03 3.04251417e+02] [ 3.26662423e-02 9.99466312e-01 9.07733346e-05 1.09989483e+00] [ 5.04371646e-03 -2.55667888e-04 9.99987248e-01 1.52026617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:304.28, Y:1.10, Z:1.52 [[ 9.99461880e-01 -3.24107197e-02 -5.04936906e-03 3.04283283e+02] [ 3.24115929e-02 9.99474602e-01 9.11794497e-05 1.09994744e+00] [ 5.04376094e-03 -2.54788478e-04 9.99987248e-01 1.52033159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:304.32, Y:1.10, Z:1.52 [[ 9.99523521e-01 -3.04505334e-02 -5.04935988e-03 3.04315183e+02] [ 3.04513842e-02 9.99536245e-01 9.16852594e-05 1.10124288e+00] [ 5.04422634e-03 -2.45401571e-04 9.99987248e-01 1.52099847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:304.35, Y:1.10, Z:1.52 [[ 9.99566451e-01 -2.90071362e-02 -5.04935262e-03 3.04347298e+02] [ 2.90079707e-02 9.99579176e-01 9.20828232e-05 1.10197551e+00] [ 5.04455668e-03 -2.38514374e-04 9.99987248e-01 1.52153858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:304.38, Y:1.10, Z:1.52 [[ 9.99625104e-01 -2.69101455e-02 -5.04934541e-03 3.04378978e+02] [ 2.69109552e-02 9.99637830e-01 9.24766981e-05 1.10295865e+00] [ 5.04502813e-03 -2.28324737e-04 9.99987248e-01 1.52218628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:304.41, Y:1.11, Z:1.52 [[ 9.99744709e-01 -2.20231923e-02 -5.04934002e-03 3.04410949e+02] [ 2.20239413e-02 9.99757439e-01 9.27700757e-05 1.10559771e+00] [ 5.04607216e-03 -2.03952761e-04 9.99987248e-01 1.52361397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:304.44, Y:1.11, Z:1.52 [[ 9.99798197e-01 -1.94439916e-02 -5.04933283e-03 3.04443212e+02] [ 1.94447097e-02 9.99810929e-01 9.31600149e-05 1.10640442e+00] [ 5.04656674e-03 -1.91324026e-04 9.99987248e-01 1.52432766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:304.47, Y:1.11, Z:1.52 [[ 9.99848545e-01 -1.66550967e-02 -5.04932565e-03 3.04474172e+02] [ 1.66557813e-02 9.99861278e-01 9.35473181e-05 1.10700529e+00] [ 5.04706716e-03 -1.77633613e-04 9.99987248e-01 1.52453595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:304.51, Y:1.11, Z:1.53 [[ 9.99885898e-01 -1.42370901e-02 -5.04931366e-03 3.04505264e+02] [ 1.42377471e-02 9.99898634e-01 9.41902686e-05 1.10787713e+00] [ 5.04746083e-03 -1.66070372e-04 9.99987248e-01 1.52537889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:304.54, Y:1.11, Z:1.53 [[ 9.99936786e-01 -1.00462934e-02 -5.04931009e-03 3.04535383e+02] [ 1.00468980e-02 9.99949524e-01 9.43813589e-05 1.11012204e+00] [ 5.04810704e-03 -1.45105296e-04 9.99987248e-01 1.52640766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:304.57, Y:1.11, Z:1.53 [[ 9.99951636e-01 -8.43979905e-03 -5.04930831e-03 3.04565573e+02] [ 8.44038363e-03 9.99964375e-01 9.44760253e-05 1.11080899e+00] [ 5.04833107e-03 -1.37089555e-04 9.99987248e-01 1.52719533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:304.60, Y:1.11, Z:1.53 [[ 9.99961564e-01 -7.16767625e-03 -5.04930831e-03 3.04596311e+02] [ 7.16824462e-03 9.99974303e-01 9.44760253e-05 1.11139544e+00] [ 5.04850139e-03 -1.30667071e-04 9.99987248e-01 1.52806716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:304.63, Y:1.11, Z:1.53 [[ 9.99967040e-01 -6.35795232e-03 -5.04930656e-03 3.04625945e+02] [ 6.35851085e-03 9.99979780e-01 9.45696191e-05 1.11182192e+00] [ 5.04860320e-03 -1.26672573e-04 9.99987248e-01 1.52850564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:304.66, Y:1.11, Z:1.53 [[ 9.99967975e-01 -6.20912337e-03 -5.04930619e-03 3.04655794e+02] [ 6.20968010e-03 9.99980715e-01 9.45894601e-05 1.11294572e+00] [ 5.04862150e-03 -1.25941007e-04 9.99987248e-01 1.52886827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:304.69, Y:1.11, Z:1.53 [[ 9.99965574e-01 -6.58451990e-03 -5.04930964e-03 3.04685512e+02] [ 6.58508048e-03 9.99978314e-01 9.44049678e-05 1.11292959e+00] [ 5.04857853e-03 -1.27651828e-04 9.99987248e-01 1.52890594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:304.72, Y:1.11, Z:1.53 [[ 9.99955180e-01 -8.00889180e-03 -5.04931334e-03 3.04716436e+02] [ 8.00946953e-03 9.99967919e-01 9.42066123e-05 1.11370224e+00] [ 5.04839686e-03 -1.34644711e-04 9.99987248e-01 1.52882647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:304.75, Y:1.11, Z:1.53 [[ 9.99948160e-01 -8.84199917e-03 -5.04931334e-03 3.04746927e+02] [ 8.84258751e-03 9.99960899e-01 9.42066123e-05 1.11339578e+00] [ 5.04828293e-03 -1.38850724e-04 9.99987248e-01 1.52897056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:304.78, Y:1.11, Z:1.53 [[ 9.99939886e-01 -9.73287912e-03 -5.04931334e-03 3.04777245e+02] [ 9.73347882e-03 9.99952624e-01 9.42066123e-05 1.11280966e+00] [ 5.04815722e-03 -1.43348334e-04 9.99987248e-01 1.52904096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:304.81, Y:1.11, Z:1.53 [[ 9.99928652e-01 -1.08257036e-02 -5.04931334e-03 3.04807771e+02] [ 1.08263172e-02 9.99941389e-01 9.42066123e-05 1.11223142e+00] [ 5.04799754e-03 -1.48865359e-04 9.99987248e-01 1.52912778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:304.84, Y:1.11, Z:1.53 [[ 9.99903085e-01 -1.29739978e-02 -5.04931334e-03 3.04837617e+02] [ 1.29746388e-02 9.99915821e-01 9.42066123e-05 1.11120365e+00] [ 5.04766606e-03 -1.59710499e-04 9.99987248e-01 1.52915129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:304.87, Y:1.11, Z:1.53 [[ 9.99890733e-01 -1.38934153e-02 -5.04931147e-03 3.04868454e+02] [ 1.38940684e-02 9.99903468e-01 9.43067280e-05 1.11032997e+00] [ 5.04751381e-03 -1.64451903e-04 9.99987248e-01 1.52913380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.804391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:304.90, Y:1.11, Z:1.53 [[ 9.99876670e-01 -1.48710910e-02 -5.04930592e-03 3.04900820e+02] [ 1.48717582e-02 9.99889405e-01 9.46028667e-05 1.10957480e+00] [ 5.04734065e-03 -1.69683256e-04 9.99987248e-01 1.52920312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:304.93, Y:1.11, Z:1.53 [[ 9.99859327e-01 -1.59947098e-02 -5.04929820e-03 3.04931622e+02] [ 1.59953933e-02 9.99872061e-01 9.50131950e-05 1.10892368e+00] [ 5.04713249e-03 -1.75765340e-04 9.99987248e-01 1.52907292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.864391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:304.96, Y:1.11, Z:1.53 [[ 9.99818207e-01 -1.83863183e-02 -5.04929243e-03 3.04962790e+02] [ 1.83870338e-02 9.99830940e-01 9.53187390e-05 1.10806369e+00] [ 5.04668624e-03 -1.88142922e-04 9.99987248e-01 1.52918602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:304.99, Y:1.11, Z:1.53 [[ 9.99795960e-01 -1.95587214e-02 -5.04928674e-03 3.04994484e+02] [ 1.95594534e-02 9.99808691e-01 9.56195061e-05 1.10707330e+00] [ 5.04645057e-03 -1.94361285e-04 9.99987248e-01 1.52911909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.924391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:305.03, Y:1.11, Z:1.53 [[ 9.99777177e-01 -2.04963490e-02 -5.04927926e-03 3.05027031e+02] [ 2.04970949e-02 9.99789908e-01 9.60127434e-05 1.10601619e+00] [ 5.04625054e-03 -1.99486906e-04 9.99987248e-01 1.52918530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:305.06, Y:1.11, Z:1.53 [[ 9.99759559e-01 -2.13384266e-02 -5.04927177e-03 3.05059323e+02] [ 2.13391852e-02 9.99772289e-01 9.64049921e-05 1.10520677e+00] [ 5.04606486e-03 -2.04129158e-04 9.99987248e-01 1.52854614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:305.09, Y:1.10, Z:1.53 [[ 9.99763859e-01 -2.11360361e-02 -5.04926427e-03 3.05091115e+02] [ 2.11367941e-02 9.99776588e-01 9.67963035e-05 1.10467722e+00] [ 5.04609031e-03 -2.03498705e-04 9.99987248e-01 1.52850478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:305.12, Y:1.10, Z:1.53 [[ 9.99776096e-01 -2.05490300e-02 -5.04925666e-03 3.05122203e+02] [ 2.05497825e-02 9.99788826e-01 9.71914827e-05 1.10449771e+00] [ 5.04619320e-03 -2.00930847e-04 9.99987248e-01 1.52804367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:305.15, Y:1.10, Z:1.53 [[ 9.99801822e-01 -1.92567504e-02 -5.04924374e-03 3.05153173e+02] [ 1.92574898e-02 9.99814553e-01 9.78580914e-05 1.10419860e+00] [ 5.04642294e-03 -1.95074458e-04 9.99987248e-01 1.52741368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:305.19, Y:1.10, Z:1.53 [[ 9.99869824e-01 -1.53244977e-02 -5.04923819e-03 3.05185784e+02] [ 1.53251885e-02 9.99882558e-01 9.81435670e-05 1.10425875e+00] [ 5.04714120e-03 -1.75511318e-04 9.99987248e-01 1.52725592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:305.22, Y:1.10, Z:1.53 [[ 9.99907770e-01 -1.26078141e-02 -5.04923022e-03 3.05217230e+02] [ 1.26084723e-02 9.99920505e-01 9.85522322e-05 1.10403730e+00] [ 5.04758630e-03 -1.62206222e-04 9.99987248e-01 1.52707308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:305.25, Y:1.10, Z:1.53 [[ 9.99946638e-01 -9.01256178e-03 -5.04922627e-03 3.05246782e+02] [ 9.01317525e-03 9.99959376e-01 9.87539051e-05 1.10417201e+00] [ 5.04813113e-03 -1.44258197e-04 9.99987248e-01 1.52671823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:305.28, Y:1.10, Z:1.53 [[ 9.99986119e-01 -1.50475843e-03 -5.04942963e-03 3.05278410e+02] [ 1.50522378e-03 9.99998863e-01 8.83595215e-05 1.10441973e+00] [ 5.04929093e-03 -9.59588166e-05 9.99987248e-01 1.52758828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:305.31, Y:1.10, Z:1.53 [[ 9.99985263e-01 -1.99726531e-03 -5.04821035e-03 3.05307580e+02] [ 1.99805997e-03 9.99997992e-01 1.52375083e-04 1.10404083e+00] [ 5.04789589e-03 -1.62459464e-04 9.99987246e-01 1.52771661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:305.34, Y:1.11, Z:1.53 [[ 9.99986928e-01 -8.11569658e-04 -5.04824924e-03 3.05335331e+02] [ 8.12338706e-04 9.99999659e-01 1.50291049e-04 1.10738341e+00] [ 5.04812555e-03 -1.54389972e-04 9.99987246e-01 1.52826446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:305.36, Y:1.11, Z:1.53 [[ 9.99985618e-01 1.80766114e-03 -5.04930886e-03 3.05364541e+02] [-1.80721779e-03 9.99998363e-01 9.23654232e-05 1.10820021e+00] [ 5.04946756e-03 -8.32388940e-05 9.99987248e-01 1.52878770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:305.39, Y:1.11, Z:1.53 [[ 9.99959638e-01 7.43144656e-03 -5.04933420e-03 3.05391933e+02] [-7.43108199e-03 9.99972385e-01 9.09592918e-05 1.10906129e+00] [ 5.04987072e-03 -5.34336042e-05 9.99987248e-01 1.52734366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:305.42, Y:1.11, Z:1.53 [[ 9.99942168e-01 9.49524216e-03 -5.04986716e-03 3.05420361e+02] [-9.49505605e-03 9.99954919e-01 6.08266856e-05 1.10817502e+00] [ 5.05021707e-03 -1.28743961e-05 9.99987247e-01 1.52763019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:305.45, Y:1.11, Z:1.53 [[ 9.99940388e-01 9.68101848e-03 -5.04966768e-03 3.05449169e+02] [-9.68078078e-03 9.99953138e-01 7.15146333e-05 1.10812981e+00] [ 5.05012337e-03 -2.26256444e-05 9.99987248e-01 1.52911013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:305.48, Y:1.11, Z:1.53 [[ 9.99963927e-01 6.82988656e-03 -5.04943197e-03 3.05477166e+02] [-6.82954848e-03 9.99976675e-01 8.41941769e-05 1.10807319e+00] [ 5.04988923e-03 -4.97057994e-05 9.99987248e-01 1.52821080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:305.51, Y:1.11, Z:1.53 [[ 9.99956207e-01 7.87967061e-03 -5.04925804e-03 3.05508260e+02] [-7.87929853e-03 9.99968953e-01 9.35790561e-05 1.10545115e+00] [ 5.04983865e-03 -5.37903465e-05 9.99987248e-01 1.52931272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:305.53, Y:1.11, Z:1.53 [[ 9.99984236e-01 2.45792837e-03 -5.04844327e-03 3.05534144e+02] [-2.45726460e-03 9.99996971e-01 1.37677267e-04 1.10763897e+00] [ 5.04876639e-03 -1.25269736e-04 9.99987247e-01 1.52896562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:305.56, Y:1.11, Z:1.53 [[ 9.99986398e-01 -1.30737068e-03 -5.04927532e-03 3.05560780e+02] [ 1.30785200e-03 9.99999141e-01 9.20240135e-05 1.10624983e+00] [ 5.04915067e-03 -9.86264666e-05 9.99987248e-01 1.52913400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:305.59, Y:1.11, Z:1.53 [[ 9.99966762e-01 -6.40097956e-03 -5.05002377e-03 3.05592682e+02] [ 6.40131700e-03 9.99979510e-01 5.06603952e-05 1.10572569e+00] [ 5.04959602e-03 -8.29855144e-05 9.99987247e-01 1.52817756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:305.62, Y:1.10, Z:1.53 [[ 9.99948810e-01 -8.76831787e-03 -5.04924686e-03 3.05621919e+02] [ 8.76889863e-03 9.99961548e-01 9.28910756e-05 1.10463307e+00] [ 5.04823820e-03 -1.37162654e-04 9.99987248e-01 1.53009256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.554391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:305.65, Y:1.10, Z:1.53 [[ 9.99862439e-01 -1.57989694e-02 -5.04925608e-03 3.05651939e+02] [ 1.57996372e-02 9.99875174e-01 9.23867122e-05 1.10340566e+00] [ 5.04716619e-03 -1.72150418e-04 9.99987248e-01 1.52880332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:305.68, Y:1.10, Z:1.53 [[ 9.99821002e-01 -1.82337577e-02 -5.04924634e-03 3.05683117e+02] [ 1.82344591e-02 9.99833734e-01 9.29159944e-05 1.10272016e+00] [ 5.04671262e-03 -1.84969639e-04 9.99987248e-01 1.52927886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.614391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:305.72, Y:1.10, Z:1.53 [[ 9.99780359e-01 -2.03405664e-02 -5.04924082e-03 3.05715102e+02] [ 2.03412962e-02 9.99793090e-01 9.32153963e-05 1.10224882e+00] [ 5.04630003e-03 -1.95903025e-04 9.99987248e-01 1.53006804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:305.75, Y:1.10, Z:1.53 [[ 9.99753195e-01 -2.16345563e-02 -5.04923322e-03 3.05747569e+02] [ 2.16353046e-02 9.99765925e-01 9.36253291e-05 1.10181201e+00] [ 5.04602577e-03 -2.02843920e-04 9.99987248e-01 1.53061847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.674391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:305.78, Y:1.10, Z:1.53 [[ 9.99728709e-01 -2.27379518e-02 -5.04922553e-03 3.05779299e+02] [ 2.27387163e-02 9.99741438e-01 9.40377682e-05 1.10150604e+00] [ 5.04578177e-03 -2.08825163e-04 9.99987248e-01 1.53113264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:305.81, Y:1.10, Z:1.53 [[ 9.99726949e-01 -2.28152009e-02 -5.04921776e-03 3.05810354e+02] [ 2.28159684e-02 9.99739677e-01 9.44534492e-05 1.10123086e+00] [ 5.04574836e-03 -2.09630451e-04 9.99987248e-01 1.53083428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:305.84, Y:1.10, Z:1.53 [[ 9.99738917e-01 -2.22846185e-02 -5.04921195e-03 3.05842689e+02] [ 2.22853808e-02 9.99751646e-01 9.47629893e-05 1.10096572e+00] [ 5.04584620e-03 -2.07261859e-04 9.99987248e-01 1.53112847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:305.87, Y:1.10, Z:1.53 [[ 9.99783683e-01 -2.01765199e-02 -5.04920421e-03 3.05874574e+02] [ 2.01772574e-02 9.99796414e-01 9.51737520e-05 1.10130544e+00] [ 5.04625598e-03 -1.97032257e-04 9.99987248e-01 1.53155367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:305.91, Y:1.10, Z:1.53 [[ 9.99808737e-01 -1.88943039e-02 -5.04919631e-03 3.05905453e+02] [ 1.88950272e-02 9.99821468e-01 9.55907425e-05 1.10173939e+00] [ 5.04648875e-03 -1.90977161e-04 9.99987248e-01 1.53192242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:305.94, Y:1.10, Z:1.53 [[ 9.99837483e-01 -1.73064369e-02 -5.04919042e-03 3.05937044e+02] [ 1.73071415e-02 9.99850216e-01 9.59009137e-05 1.10243387e+00] [ 5.04677443e-03 -1.83272382e-04 9.99987248e-01 1.53213128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:305.97, Y:1.10, Z:1.53 [[ 9.99868239e-01 -1.54275862e-02 -5.04918462e-03 3.05969597e+02] [ 1.54282685e-02 9.99880973e-01 9.62052263e-05 1.10301300e+00] [ 5.04709942e-03 -1.74092726e-04 9.99987248e-01 1.53248392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:306.00, Y:1.10, Z:1.53 [[ 9.99920244e-01 -1.15763459e-02 -5.04917681e-03 3.06000681e+02] [ 1.15769812e-02 9.99932980e-01 9.66136935e-05 1.10492194e+00] [ 5.04771998e-03 -1.55060213e-04 9.99987248e-01 1.53216650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:306.03, Y:1.11, Z:1.53 [[ 9.99940299e-01 -9.69040297e-03 -5.04917096e-03 3.06031619e+02] [ 9.69101579e-03 9.99953036e-01 9.69181482e-05 1.10539138e+00] [ 5.04799466e-03 -1.45843958e-04 9.99987248e-01 1.53239172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:306.06, Y:1.11, Z:1.53 [[ 9.99955835e-01 -7.92679468e-03 -5.04916711e-03 3.06061975e+02] [ 7.92738604e-03 9.99968573e-01 9.71183145e-05 1.10579157e+00] [ 5.04823860e-03 -1.37140722e-04 9.99987248e-01 1.53201275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:306.09, Y:1.11, Z:1.53 [[ 9.99967541e-01 -6.27881201e-03 -5.04916520e-03 3.06092530e+02] [ 6.27938288e-03 9.99980280e-01 9.72175255e-05 1.10613964e+00] [ 5.04845522e-03 -1.28920011e-04 9.99987248e-01 1.53186101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:306.12, Y:1.11, Z:1.53 [[ 9.99981459e-01 -3.40409815e-03 -5.04916520e-03 3.06122794e+02] [ 3.40463240e-03 9.99994200e-01 9.72175255e-05 1.10743280e+00] [ 5.04880498e-03 -1.14406274e-04 9.99987248e-01 1.53174413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:306.15, Y:1.11, Z:1.53 [[ 9.99984883e-01 -2.17722379e-03 -5.04916520e-03 3.06151740e+02] [ 2.17774241e-03 9.99997624e-01 9.72175255e-05 1.10808196e+00] [ 5.04894154e-03 -1.08211837e-04 9.99987248e-01 1.53128909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:306.18, Y:1.11, Z:1.53 [[ 9.99986286e-01 -1.39029779e-03 -5.04917090e-03 3.06180395e+02] [ 1.39080488e-03 9.99999028e-01 9.69207589e-05 1.10884055e+00] [ 5.04903124e-03 -1.03941841e-04 9.99987248e-01 1.53096478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:306.21, Y:1.11, Z:1.53 [[ 9.99986938e-01 7.93681014e-04 -5.04919703e-03 3.06208806e+02] [-7.93208722e-04 9.99999681e-01 9.55398481e-05 1.11044852e+00] [ 5.04927125e-03 -9.15335330e-05 9.99987248e-01 1.53074681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:306.24, Y:1.11, Z:1.53 [[ 9.99986207e-01 1.44587961e-03 -5.04922295e-03 3.06236895e+02] [-1.44542265e-03 9.99998951e-01 9.41495998e-05 1.11111171e+00] [ 5.04935378e-03 -8.68500400e-05 9.99987248e-01 1.53123620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:306.26, Y:1.11, Z:1.53 [[ 9.99983193e-01 2.84919362e-03 -5.04925250e-03 3.06264358e+02] [-2.84876268e-03 9.99995938e-01 9.25374848e-05 1.11151249e+00] [ 5.04949564e-03 -7.81518075e-05 9.99987248e-01 1.53091860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:306.29, Y:1.11, Z:1.53 [[ 9.99973125e-01 5.31556142e-03 -5.04926157e-03 3.06292154e+02] [-5.31516442e-03 9.99985870e-01 9.20398672e-05 1.11260426e+00] [ 5.04967947e-03 -6.51997382e-05 9.99987248e-01 1.53305862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:306.32, Y:1.11, Z:1.53 [[ 9.99963701e-01 6.86307165e-03 -5.04929129e-03 3.06319077e+02] [-6.86270277e-03 9.99976447e-01 9.03791728e-05 1.11292716e+00] [ 5.04979265e-03 -5.57241067e-05 9.99987248e-01 1.53311165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:306.35, Y:1.11, Z:1.53 [[ 9.99952834e-01 8.29665963e-03 -5.04930402e-03 3.06348196e+02] [-8.29631264e-03 9.99965581e-01 8.96622936e-05 1.11337996e+00] [ 5.04987413e-03 -4.77674598e-05 9.99987248e-01 1.53350080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:306.38, Y:1.11, Z:1.53 [[ 9.99918128e-01 1.17576158e-02 -5.04931121e-03 3.06377229e+02] [-1.17573150e-02 9.99930876e-01 8.92556573e-05 1.11416996e+00] [ 5.05001162e-03 -2.98820072e-05 9.99987248e-01 1.53444021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.304391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:306.41, Y:1.11, Z:1.53 [[ 9.99892915e-01 1.37354887e-02 -5.04931845e-03 3.06405024e+02] [-1.37352151e-02 9.99905664e-01 8.88441520e-05 1.11420112e+00] [ 5.05006243e-03 -1.94811629e-05 9.99987248e-01 1.53326638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:306.43, Y:1.11, Z:1.53 [[ 9.99836506e-01 1.73627366e-02 -5.04932737e-03 3.06432510e+02] [-1.73625119e-02 9.99849256e-01 8.83344849e-05 1.11420037e+00] [ 5.05009994e-03 -6.51036127e-07 9.99987248e-01 1.53336859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.364391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:306.46, Y:1.11, Z:1.54 [[ 9.99803811e-01 1.91531688e-02 -5.04933557e-03 3.06460162e+02] [-1.91529693e-02 9.99816561e-01 8.78633302e-05 1.11362334e+00] [ 5.05009218e-03 8.86367687e-06 9.99987248e-01 1.53500241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:306.49, Y:1.11, Z:1.53 [[ 9.99774911e-01 2.06065639e-02 -5.04934593e-03 3.06486624e+02] [-2.06063859e-02 9.99787662e-01 8.72637716e-05 1.11317385e+00] [ 5.05007197e-03 1.68046414e-05 9.99987248e-01 1.53475460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.424391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:306.51, Y:1.11, Z:1.54 [[ 9.99750923e-01 2.17392509e-02 -5.04935780e-03 3.06514885e+02] [-2.17390910e-02 9.99763674e-01 8.65712353e-05 1.11282101e+00] [ 5.05004650e-03 2.32187761e-05 9.99987248e-01 1.53512591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:306.54, Y:1.11, Z:1.54 [[ 9.99725636e-01 2.28726334e-02 -5.04936785e-03 3.06542828e+02] [-2.28724908e-02 9.99738387e-01 8.59812116e-05 1.11222034e+00] [ 5.05001348e-03 2.95339985e-05 9.99987248e-01 1.53519016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:306.57, Y:1.11, Z:1.53 [[ 9.99688297e-01 2.44501941e-02 -5.04937777e-03 3.06570319e+02] [-2.44500746e-02 9.99701049e-01 8.53946776e-05 1.11086017e+00] [ 5.04995617e-03 3.80896035e-05 9.99987248e-01 1.53470186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:306.60, Y:1.11, Z:1.54 [[ 9.99677925e-01 2.48706768e-02 -5.04938592e-03 3.06599190e+02] [-2.48705651e-02 9.99690676e-01 8.49099082e-05 1.10951673e+00] [ 5.04993579e-03 4.06985205e-05 9.99987248e-01 1.53526381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:306.63, Y:1.11, Z:1.53 [[ 9.99677313e-01 2.48952578e-02 -5.04939256e-03 3.06626042e+02] [-2.48951485e-02 9.99690064e-01 8.45132164e-05 1.10828767e+00] [ 5.04993155e-03 4.12194326e-05 9.99987248e-01 1.53480395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:306.65, Y:1.11, Z:1.54 [[ 9.99686961e-01 2.45047456e-02 -5.04940901e-03 3.06654539e+02] [-2.45046363e-02 9.99699713e-01 8.35189450e-05 1.10517463e+00] [ 5.04993934e-03 4.02411307e-05 9.99987248e-01 1.53508850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:306.68, Y:1.11, Z:1.53 [[ 9.99722734e-01 2.29991169e-02 -5.04941540e-03 3.06679349e+02] [-2.29989904e-02 9.99735485e-01 8.31305896e-05 1.10556540e+00] [ 5.04999168e-03 3.30239159e-05 9.99987248e-01 1.53398967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:306.71, Y:1.10, Z:1.54 [[ 9.99737972e-01 2.23266874e-02 -5.05033196e-03 3.06709784e+02] [-2.23268446e-02 9.99750725e-01 2.52654107e-05 1.10099395e+00] [ 5.04963713e-03 8.74991865e-05 9.99987247e-01 1.53626026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:306.74, Y:1.10, Z:1.53 [[ 9.99804720e-01 1.91056367e-02 -5.04944366e-03 3.06737219e+02] [-1.91054724e-02 9.99817471e-01 8.07872893e-05 1.09699634e+00] [ 5.05006548e-03 1.57004933e-05 9.99987248e-01 1.53499612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:306.77, Y:1.09, Z:1.54 [[ 9.99834206e-01 1.74946442e-02 -5.04945163e-03 3.06766087e+02] [-1.74944618e-02 9.99846957e-01 8.02858212e-05 1.09461572e+00] [ 5.05008342e-03 8.06492846e-06 9.99987248e-01 1.53629405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:306.79, Y:1.09, Z:1.54 [[ 9.99884930e-01 1.43048711e-02 -5.04945790e-03 3.06793851e+02] [-1.43046501e-02 9.99897680e-01 7.98896748e-05 1.09033662e+00] [ 5.05008405e-03 -7.64975353e-06 9.99987248e-01 1.53617189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:306.82, Y:1.09, Z:1.54 [[ 9.99921403e-01 1.14756806e-02 -5.04946718e-03 3.06821939e+02] [-1.14754264e-02 9.99934152e-01 7.92989669e-05 1.08619888e+00] [ 5.05004469e-03 -2.13479451e-05 9.99987248e-01 1.53659747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:306.85, Y:1.09, Z:1.54 [[ 9.99922766e-01 1.13562260e-02 -5.04947657e-03 3.06850393e+02] [-1.13559734e-02 9.99935516e-01 7.86960277e-05 1.08586972e+00] [ 5.05004465e-03 -2.13482281e-05 9.99987248e-01 1.53674136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814391418 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:306.88, Y:1.08, Z:1.54 [[ 9.99936117e-01 1.01125819e-02 -5.04948590e-03 3.06879500e+02] [-1.01123165e-02 9.99948866e-01 7.80928043e-05 1.08302780e+00] [ 5.05001742e-03 -2.70258159e-05 9.99987248e-01 1.53690571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:306.91, Y:1.08, Z:1.54 [[ 9.99951522e-01 8.45322778e-03 -5.04949210e-03 3.06907710e+02] [-8.45294324e-03 9.99964270e-01 7.76900161e-05 1.08045314e+00] [ 5.04996842e-03 -3.50031797e-05 9.99987248e-01 1.53697825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:306.94, Y:1.08, Z:1.54 [[ 9.99964848e-01 6.69362501e-03 -5.04949974e-03 3.06936282e+02] [-6.69332056e-03 9.99977597e-01 7.71905829e-05 1.07769124e+00] [ 5.04990329e-03 -4.33899492e-05 9.99987248e-01 1.53758745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:306.96, Y:1.07, Z:1.54 [[ 9.99982505e-01 3.08091720e-03 -5.04950589e-03 3.06964327e+02] [-3.08056873e-03 9.99995252e-01 7.67855614e-05 1.07258043e+00] [ 5.04971849e-03 -6.12288681e-05 9.99987248e-01 1.53700361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:306.99, Y:1.07, Z:1.54 [[ 9.99986099e-01 1.51806885e-03 -5.04951348e-03 3.06993407e+02] [-1.51770301e-03 9.99998845e-01 7.62833251e-05 1.06984699e+00] [ 5.04962345e-03 -6.86186029e-05 9.99987248e-01 1.53810728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:307.02, Y:1.07, Z:1.54 [[ 9.99987206e-01 -3.01828590e-04 -5.04951970e-03 3.07022539e+02] [ 3.02215548e-04 9.99999951e-01 7.58696732e-05 1.06518162e+00] [ 5.04949655e-03 -7.73947458e-05 9.99987248e-01 1.53782340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:307.05, Y:1.06, Z:1.54 [[ 9.99987195e-01 -3.33560968e-04 -5.04952589e-03 3.07049849e+02] [ 3.33946239e-04 9.99999941e-01 7.54555247e-05 1.06315541e+00] [ 5.04950042e-03 -7.71408287e-05 9.99987248e-01 1.53767994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:307.08, Y:1.06, Z:1.54 [[ 9.99987182e-01 3.72347948e-04 -5.04953351e-03 3.07077640e+02] [-3.71974266e-04 9.99999928e-01 7.49421221e-05 1.06108925e+00] [ 5.04956105e-03 -7.30628649e-05 9.99987248e-01 1.53747300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.054391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:307.11, Y:1.06, Z:1.54 [[ 9.99985856e-01 1.67005390e-03 -5.04954099e-03 3.07105113e+02] [-1.66969932e-03 9.99998603e-01 7.44342417e-05 1.05931359e+00] [ 5.04965825e-03 -6.60019738e-05 9.99987248e-01 1.53790066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:307.13, Y:1.06, Z:1.54 [[ 9.99985987e-01 1.58971464e-03 -5.04956446e-03 3.07134416e+02] [-1.58936726e-03 9.99998734e-01 7.28066851e-05 1.05896766e+00] [ 5.04967381e-03 -6.47800525e-05 9.99987248e-01 1.53804911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.114391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:307.16, Y:1.06, Z:1.54 [[ 9.99966548e-01 6.43468345e-03 -5.04957027e-03 3.07162580e+02] [-6.43439988e-03 9.99979296e-01 7.24010370e-05 1.05594302e+00] [ 5.04993161e-03 -3.99076607e-05 9.99987248e-01 1.53799102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:307.19, Y:1.05, Z:1.54 [[ 9.99945829e-01 9.10173331e-03 -5.04957743e-03 3.07190948e+02] [-9.10148628e-03 9.99958578e-01 7.18985586e-05 1.05460988e+00] [ 5.05002267e-03 -2.59360041e-05 9.99987248e-01 1.53841957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.174391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:307.22, Y:1.05, Z:1.54 [[ 9.99916106e-01 1.19282382e-02 -5.04960026e-03 3.07218983e+02] [-1.19280355e-02 9.99928856e-01 7.02576891e-05 1.05328637e+00] [ 5.05007906e-03 -1.00199836e-05 9.99987248e-01 1.53893690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:307.25, Y:1.05, Z:1.54 [[ 9.99845498e-01 1.68369185e-02 -5.04960881e-03 3.07247982e+02] [-1.68367815e-02 9.99858249e-01 6.96377683e-05 1.05020995e+00] [ 5.05006551e-03 1.53921511e-05 9.99987248e-01 1.53968453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:307.28, Y:1.05, Z:1.54 [[ 9.99811550e-01 1.87447346e-02 -5.04962837e-03 3.07276229e+02] [-1.87446293e-02 9.99824302e-01 6.81889944e-05 1.04821174e+00] [ 5.05001935e-03 2.64772676e-05 9.99987248e-01 1.53960185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:307.30, Y:1.05, Z:1.54 [[ 9.99792412e-01 1.97391536e-02 -5.04963663e-03 3.07304269e+02] [-1.97390640e-02 9.99805163e-01 6.75719639e-05 1.04613851e+00] [ 5.04998659e-03 3.21171640e-05 9.99987248e-01 1.53919682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:307.33, Y:1.04, Z:1.54 [[ 9.99776081e-01 2.05496773e-02 -5.04964479e-03 3.07330751e+02] [-2.05496012e-02 9.99788832e-01 6.69562571e-05 1.04195440e+00] [ 5.04995440e-03 3.68269223e-05 9.99987248e-01 1.53815892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:307.36, Y:1.04, Z:1.54 [[ 9.99784679e-01 2.01270182e-02 -5.04965413e-03 3.07358264e+02] [-2.01269403e-02 9.99797430e-01 6.62448400e-05 1.03991682e+00] [ 5.04996453e-03 3.54035112e-05 9.99987248e-01 1.53804535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:307.39, Y:1.04, Z:1.54 [[ 9.99803285e-01 1.91805363e-02 -5.04966203e-03 3.07385046e+02] [-1.91804494e-02 9.99816036e-01 6.56366847e-05 1.03770569e+00] [ 5.04999202e-03 3.12310141e-05 9.99987248e-01 1.53688384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:307.41, Y:1.03, Z:1.54 [[ 9.99860583e-01 1.59158594e-02 -5.04967268e-03 3.07412810e+02] [-1.59157351e-02 9.99873335e-01 6.48072786e-05 1.03268089e+00] [ 5.05006452e-03 1.55710093e-05 9.99987248e-01 1.53798186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:307.44, Y:1.03, Z:1.54 [[ 9.99892325e-01 1.37782066e-02 -5.04968045e-03 3.07440789e+02] [-1.37780581e-02 9.99905076e-01 6.41959497e-05 1.02998850e+00] [ 5.05008562e-03 5.38575343e-06 9.99987248e-01 1.53806502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:307.47, Y:1.03, Z:1.54 [[ 9.99926075e-01 1.10610114e-02 -5.04968684e-03 3.07470015e+02] [-1.10608308e-02 9.99938825e-01 6.36891318e-05 1.02739976e+00] [ 5.05008239e-03 -7.83069164e-06 9.99987248e-01 1.53930116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:307.50, Y:1.02, Z:1.54 [[ 9.99972090e-01 5.50625996e-03 -5.04969197e-03 3.07497569e+02] [-5.50601061e-03 9.99984840e-01 6.32799473e-05 1.02257833e+00] [ 5.04996385e-03 -3.54745236e-05 9.99987248e-01 1.54007190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:307.53, Y:1.02, Z:1.54 [[ 9.99984519e-01 2.33714014e-03 -5.04969828e-03 3.07525637e+02] [-2.33685295e-03 9.99997268e-01 6.27722920e-05 1.02004616e+00] [ 5.04983119e-03 -5.09709179e-05 9.99987248e-01 1.54024789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:307.55, Y:1.02, Z:1.54 [[ 9.99986786e-01 -9.63158291e-04 -5.04970454e-03 3.07553530e+02] [ 9.63484992e-04 9.99999534e-01 6.22647449e-05 1.01784983e+00] [ 5.04964221e-03 -6.71292367e-05 9.99987248e-01 1.54008354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:307.58, Y:1.02, Z:1.54 [[ 9.99978466e-01 -4.19138353e-03 -5.04971037e-03 3.07581606e+02] [ 4.19174898e-03 9.99991213e-01 6.17878556e-05 1.01553708e+00] [ 5.04940702e-03 -8.29536433e-05 9.99987248e-01 1.54021556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:307.61, Y:1.01, Z:1.54 [[ 9.99931865e-01 -1.05245658e-02 -5.04971679e-03 3.07610076e+02] [ 1.05250093e-02 9.99944609e-01 6.12587206e-05 1.01101878e+00] [ 5.04879236e-03 -1.14402863e-04 9.99987248e-01 1.54009111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:307.64, Y:1.01, Z:1.54 [[ 9.99892280e-01 -1.37814891e-02 -5.04971909e-03 3.07640161e+02] [ 1.37819731e-02 9.99905022e-01 6.10686449e-05 1.00855998e+00] [ 5.04839786e-03 -1.30657159e-04 9.99987248e-01 1.54119150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:307.67, Y:1.01, Z:1.54 [[ 9.99848458e-01 -1.66601890e-02 -5.04971909e-03 3.07670758e+02] [ 1.66607097e-02 9.99861199e-01 6.10686449e-05 1.00615243e+00] [ 5.04800077e-03 -1.45191294e-04 9.99987248e-01 1.54099653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:307.70, Y:1.00, Z:1.54 [[ 9.99767748e-01 -2.09511342e-02 -5.04971785e-03 3.07701704e+02] [ 2.09517101e-02 9.99780487e-01 6.11708287e-05 1.00196537e+00] [ 5.04732777e-03 -1.66956846e-04 9.99987248e-01 1.54121601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:307.73, Y:1.00, Z:1.54 [[ 9.99739381e-01 -2.22636575e-02 -5.04971538e-03 3.07733856e+02] [ 2.22642512e-02 9.99752119e-01 6.13740716e-05 1.00015016e+00] [ 5.04709724e-03 -1.73786208e-04 9.99987248e-01 1.54138022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:307.76, Y:1.00, Z:1.54 [[ 9.99723237e-01 -2.29771559e-02 -5.04971038e-03 3.07764740e+02] [ 2.29777608e-02 9.99735975e-01 6.17827251e-05 9.98698639e-01] [ 5.04695754e-03 -1.77796663e-04 9.99987248e-01 1.54124844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:307.80, Y:1.00, Z:1.54 [[ 9.99735426e-01 -2.24405571e-02 -5.04970666e-03 3.07796541e+02] [ 2.24411566e-02 9.99748164e-01 6.20853534e-05 9.96667858e-01] [ 5.04704173e-03 -1.75390185e-04 9.99987248e-01 1.54193586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.804391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:307.83, Y:1.00, Z:1.54 [[ 9.99755715e-01 -2.15177025e-02 -5.04970152e-03 3.07827978e+02] [ 2.15182923e-02 9.99768453e-01 6.25006738e-05 9.95631363e-01] [ 5.04718741e-03 -1.71146359e-04 9.99987248e-01 1.54166104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:307.86, Y:0.99, Z:1.54 [[ 9.99790240e-01 -1.98488238e-02 -5.04969768e-03 3.07859157e+02] [ 1.98493940e-02 9.99802979e-01 6.28097612e-05 9.94454187e-01] [ 5.04745608e-03 -1.63030025e-04 9.99987248e-01 1.54193785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.864391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:307.89, Y:0.99, Z:1.54 [[ 9.99862604e-01 -1.57884208e-02 -5.04969512e-03 3.07890666e+02] [ 1.57889402e-02 9.99875345e-01 6.30143821e-05 9.93437402e-01] [ 5.04807075e-03 -1.42735059e-04 9.99987248e-01 1.54233259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:307.92, Y:0.99, Z:1.54 [[ 9.99896662e-01 -1.34598265e-02 -5.04969255e-03 3.07921803e+02] [ 1.34603173e-02 9.99909404e-01 6.32200800e-05 9.93027879e-01] [ 5.04838413e-03 -1.31184011e-04 9.99987248e-01 1.54245154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.924391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:307.95, Y:0.99, Z:1.54 [[ 9.99929323e-01 -1.07633683e-02 -5.04969001e-03 3.07953289e+02] [ 1.07638257e-02 9.99942066e-01 6.34223162e-05 9.92426771e-01] [ 5.04871482e-03 -1.17771817e-04 9.99987248e-01 1.54265473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:307.98, Y:0.99, Z:1.54 [[ 9.99969532e-01 -5.95272541e-03 -5.04968746e-03 3.07982564e+02] [ 5.95312258e-03 9.99982278e-01 6.36246249e-05 9.92128596e-01] [ 5.04921923e-03 -9.36840948e-05 9.99987248e-01 1.54199861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:308.01, Y:0.99, Z:1.54 [[ 9.99979777e-01 -3.86606990e-03 -5.04968872e-03 3.08012397e+02] [ 3.86643996e-03 9.99992523e-01 6.35244819e-05 9.91819320e-01] [ 5.04940537e-03 -8.30475155e-05 9.99987248e-01 1.54167451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:308.04, Y:0.99, Z:1.54 [[ 9.99984727e-01 -2.24624199e-03 -5.04969121e-03 3.08041505e+02] [ 2.24659041e-03 9.99997474e-01 6.33260417e-05 9.91642237e-01] [ 5.04953621e-03 -7.46696624e-05 9.99987248e-01 1.54105920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:308.07, Y:0.99, Z:1.54 [[ 9.99987110e-01 5.30138550e-04 -5.04969488e-03 3.08069822e+02] [-5.29827014e-04 9.99999858e-01 6.30314165e-05 9.91006309e-01] [ 5.04972758e-03 -6.03551392e-05 9.99987248e-01 1.54079029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:308.10, Y:0.99, Z:1.54 [[ 9.99986478e-01 1.24249855e-03 -5.04969940e-03 3.08097626e+02] [-1.24219793e-03 9.99999227e-01 6.26675795e-05 9.90480734e-01] [ 5.04977336e-03 -5.63940060e-05 9.99987248e-01 1.54224019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:308.13, Y:0.99, Z:1.54 [[ 9.99985783e-01 1.71276566e-03 -5.04971891e-03 3.08125964e+02] [-1.71247919e-03 9.99998532e-01 6.10542078e-05 9.89884879e-01] [ 5.04981606e-03 -5.24058013e-05 9.99987248e-01 1.54350540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:308.15, Y:0.99, Z:1.54 [[ 9.99985084e-01 2.08118585e-03 -5.04972387e-03 3.08153367e+02] [-2.08090615e-03 9.99997833e-01 6.06411375e-05 9.89076638e-01] [ 5.04983913e-03 -5.01322316e-05 9.99987248e-01 1.54354598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:308.18, Y:0.99, Z:1.55 [[ 9.99985439e-01 1.90310701e-03 -5.04972995e-03 3.08182563e+02] [-1.90282763e-03 9.99998188e-01 6.01298527e-05 9.87406930e-01] [ 5.04983524e-03 -5.05202115e-05 9.99987248e-01 1.54550900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:308.21, Y:0.99, Z:1.54 [[ 9.99985004e-01 2.11938243e-03 -5.04973481e-03 3.08210211e+02] [-2.11910788e-03 9.99997753e-01 5.97195436e-05 9.85955893e-01] [ 5.04985003e-03 -4.90177152e-05 9.99987248e-01 1.54423184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:308.24, Y:0.99, Z:1.54 [[ 9.99986518e-01 1.21008885e-03 -5.04973992e-03 3.08239173e+02] [-1.20980490e-03 9.99999266e-01 5.92842914e-05 9.85437348e-01] [ 5.04980795e-03 -5.31742920e-05 9.99987248e-01 1.54444625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:308.27, Y:0.98, Z:1.54 [[ 9.99987227e-01 2.15404311e-04 -5.04974503e-03 3.08268408e+02] [-2.15109896e-04 9.99999975e-01 5.88459295e-05 9.84526416e-01] [ 5.04975758e-03 -5.77589277e-05 9.99987248e-01 1.54440471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:308.30, Y:0.98, Z:1.54 [[ 9.99985471e-01 -1.88643284e-03 -5.04975013e-03 3.08295710e+02] [ 1.88675182e-03 9.99998218e-01 5.84048131e-05 9.82854094e-01] [ 5.04963095e-03 -6.79315898e-05 9.99987248e-01 1.54363235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:308.32, Y:0.98, Z:1.54 [[ 9.99982665e-01 -3.02815611e-03 -5.04975640e-03 3.08324571e+02] [ 3.02848689e-03 9.99995412e-01 5.78573686e-05 9.81558501e-01] [ 5.04955803e-03 -7.31494866e-05 9.99987248e-01 1.54438826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:308.35, Y:0.98, Z:1.54 [[ 9.99979007e-01 -4.06035053e-03 -5.04976124e-03 3.08353673e+02] [ 4.06069231e-03 9.99991754e-01 5.74316580e-05 9.80151681e-01] [ 5.04948641e-03 -7.79359789e-05 9.99987248e-01 1.54367931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:308.38, Y:0.98, Z:1.54 [[ 9.99973449e-01 -5.25366115e-03 -5.04977697e-03 3.08382497e+02] [ 5.25401099e-03 9.99986196e-01 5.60136074e-05 9.78353080e-01] [ 5.04941299e-03 -8.25437038e-05 9.99987248e-01 1.54465845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:308.41, Y:0.98, Z:1.55 [[ 9.99975950e-01 -4.75387275e-03 -5.04978057e-03 3.08411336e+02] [ 4.75421456e-03 9.99988697e-01 5.56867765e-05 9.77639732e-01] [ 5.04945877e-03 -7.96931776e-05 9.99987248e-01 1.54539852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:308.44, Y:0.98, Z:1.55 [[ 9.99979824e-01 -3.85364487e-03 -5.04978374e-03 3.08440590e+02] [ 3.85397375e-03 9.99992572e-01 5.53983107e-05 9.77077962e-01] [ 5.04953274e-03 -7.48589270e-05 9.99987248e-01 1.54623165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:308.47, Y:0.98, Z:1.55 [[ 9.99987172e-01 -3.93628618e-04 -5.04978587e-03 3.08469368e+02] [ 3.93912405e-04 9.99999921e-01 5.52033570e-05 9.76657954e-01] [ 5.04976374e-03 -5.71918221e-05 9.99987248e-01 1.54669929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:308.50, Y:0.98, Z:1.55 [[ 9.99985555e-01 1.84106032e-03 -5.04980093e-03 3.08497944e+02] [-1.84081216e-03 9.99998304e-01 5.37899647e-05 9.76351894e-01] [ 5.04989139e-03 -4.44934528e-05 9.99987248e-01 1.54656870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:308.53, Y:0.98, Z:1.55 [[ 9.99977411e-01 4.43592270e-03 -5.04981669e-03 3.08525638e+02] [-4.43571531e-03 9.99990161e-01 5.22668151e-05 9.75864487e-01] [ 5.04999886e-03 -2.98660852e-05 9.99987248e-01 1.54605022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.554391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:308.55, Y:0.98, Z:1.55 [[ 9.99961977e-01 7.10934333e-03 -5.04983395e-03 3.08554190e+02] [-7.10917874e-03 9.99974728e-01 5.05424375e-05 9.75400480e-01] [ 5.05006565e-03 -1.46403436e-05 9.99987248e-01 1.54565774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:308.58, Y:0.97, Z:1.54 [[ 9.99909894e-01 1.24379822e-02 -5.04983822e-03 3.08582067e+02] [-1.24378877e-02 9.99922645e-01 5.01123516e-05 9.74404744e-01] [ 5.05007089e-03 1.27014845e-05 9.99987248e-01 1.54461853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.614391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:308.61, Y:0.97, Z:1.55 [[ 9.99881746e-01 1.45255942e-02 -5.04984343e-03 3.08611345e+02] [-1.45255290e-02 9.99894498e-01 4.95810121e-05 9.73934648e-01] [ 5.05003086e-03 2.37764985e-05 9.99987248e-01 1.54560181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:308.64, Y:0.97, Z:1.55 [[ 9.99856329e-01 1.61808534e-02 -5.04985123e-03 3.08640186e+02] [-1.61808134e-02 9.99869081e-01 4.87743089e-05 9.73543037e-01] [ 5.04997931e-03 3.29433989e-05 9.99987248e-01 1.54550836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.674391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:308.67, Y:0.97, Z:1.55 [[ 9.99822328e-01 1.81607357e-02 -5.04985554e-03 3.08667651e+02] [-1.81607232e-02 9.99835079e-01 4.83236974e-05 9.72430282e-01] [ 5.04990031e-03 4.33939172e-05 9.99987248e-01 1.54522742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:308.70, Y:0.97, Z:1.55 [[ 9.99824338e-01 1.80497011e-02 -5.04986121e-03 3.08696247e+02] [-1.80496903e-02 9.99837090e-01 4.77235244e-05 9.71416607e-01] [ 5.04989993e-03 4.34332898e-05 9.99987248e-01 1.54594115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:308.72, Y:0.97, Z:1.55 [[ 9.99836087e-01 1.73867448e-02 -5.04986543e-03 3.08724524e+02] [-1.73867278e-02 9.99848838e-01 4.72731488e-05 9.70256395e-01] [ 5.04992401e-03 4.05352354e-05 9.99987248e-01 1.54580628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:308.75, Y:0.97, Z:1.55 [[ 9.99876665e-01 1.48712314e-02 -5.04987058e-03 3.08753545e+02] [-1.48711851e-02 9.99889417e-01 4.67164706e-05 9.67401481e-01] [ 5.05000688e-03 2.83868513e-05 9.99987248e-01 1.54808477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:308.78, Y:0.97, Z:1.55 [[ 9.99908759e-01 1.25288362e-02 -5.04987473e-03 3.08781692e+02] [-1.25287623e-02 9.99921511e-01 4.62635415e-05 9.65975878e-01] [ 5.05005799e-03 1.70093599e-05 9.99987248e-01 1.54845520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:308.81, Y:0.96, Z:1.55 [[ 9.99938187e-01 9.90562276e-03 -5.04987982e-03 3.08810193e+02] [-9.90551828e-03 9.99950938e-01 4.57002203e-05 9.64441094e-01] [ 5.05008476e-03 4.32428152e-06 9.99987248e-01 1.54913153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:308.84, Y:0.96, Z:1.55 [[ 9.99980797e-01 3.59219162e-03 -5.04988384e-03 3.08837509e+02] [-3.59200890e-03 9.99993548e-01 4.52516074e-05 9.60945198e-01] [ 5.05001381e-03 -2.71115107e-05 9.99987248e-01 1.54968610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:308.87, Y:0.96, Z:1.55 [[ 9.99987249e-01 -1.23005894e-05 -5.04988875e-03 3.08865024e+02] [ 1.25264647e-05 9.99999999e-01 4.46971526e-05 9.58790826e-01] [ 5.04988820e-03 -4.47598399e-05 9.99987248e-01 1.54921728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:308.89, Y:0.96, Z:1.55 [[ 9.99980299e-01 -3.72818401e-03 -5.04989353e-03 3.08894326e+02] [ 3.72845450e-03 9.99993048e-01 4.41500401e-05 9.56778770e-01] [ 5.04969383e-03 -6.29774686e-05 9.99987248e-01 1.54940690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:308.92, Y:0.95, Z:1.55 [[ 9.99925377e-01 -1.11237691e-02 -5.04989634e-03 3.08922828e+02] [ 1.11241323e-02 9.99938124e-01 4.38264700e-05 9.53795245e-01] [ 5.04909636e-03 -9.99989144e-05 9.99987248e-01 1.54947983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:308.95, Y:0.95, Z:1.55 [[ 9.99880099e-01 -1.46385500e-02 -5.04990005e-03 3.08952735e+02] [ 1.46389558e-02 9.99892844e-01 4.33947575e-05 9.52163489e-01] [ 5.04872369e-03 -1.17314818e-04 9.99987248e-01 1.54908325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:308.98, Y:0.95, Z:1.55 [[ 9.99822695e-01 -1.81404854e-02 -5.04990096e-03 3.08983283e+02] [ 1.81409353e-02 9.99835439e-01 4.32883867e-05 9.50708389e-01] [ 5.04828467e-03 -1.34890638e-04 9.99987248e-01 1.54959296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:309.02, Y:0.95, Z:1.55 [[ 9.99823442e-01 -1.80992450e-02 -5.04990096e-03 3.09015121e+02] [ 1.80996944e-02 9.99836186e-01 4.32883867e-05 9.50389681e-01] [ 5.04829023e-03 -1.34682408e-04 9.99987248e-01 1.54975376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:309.05, Y:0.95, Z:1.55 [[ 9.99760735e-01 -2.12831227e-02 -5.04989917e-03 3.09046034e+02] [ 2.12836137e-02 9.99773477e-01 4.34966859e-05 9.48693047e-01] [ 5.04782951e-03 -1.50966382e-04 9.99987248e-01 1.55022289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:309.08, Y:0.95, Z:1.55 [[ 9.99633530e-01 -2.65952052e-02 -5.04989735e-03 3.09077633e+02] [ 2.65957649e-02 9.99646269e-01 4.37071799e-05 9.46130939e-01] [ 5.04694864e-03 -1.77997045e-04 9.99987248e-01 1.55035045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:309.11, Y:0.95, Z:1.55 [[ 9.99578939e-01 -2.85734629e-02 -5.04989459e-03 3.09109347e+02] [ 2.85740494e-02 9.99591678e-01 4.40229796e-05 9.45237000e-01] [ 5.04657472e-03 -1.88300381e-04 9.99987248e-01 1.55176948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:309.14, Y:0.94, Z:1.55 [[ 9.99543486e-01 -2.97878826e-02 -5.04989268e-03 3.09141959e+02] [ 2.97884857e-02 9.99556224e-01 4.42419487e-05 9.44687849e-01] [ 5.04633378e-03 -1.94650407e-04 9.99987248e-01 1.55210358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:309.17, Y:0.94, Z:1.55 [[ 9.99550898e-01 -2.95381311e-02 -5.04988877e-03 3.09174443e+02] [ 2.95387332e-02 9.99563635e-01 4.46831395e-05 9.44635666e-01] [ 5.04636532e-03 -1.93830390e-04 9.99987248e-01 1.55232139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:309.21, Y:0.95, Z:1.55 [[ 9.99581009e-01 -2.85009508e-02 -5.04988485e-03 3.09205568e+02] [ 2.85015419e-02 9.99593748e-01 4.51224147e-05 9.45045934e-01] [ 5.04654729e-03 -1.89033013e-04 9.99987248e-01 1.55140278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244391418 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:309.24, Y:0.95, Z:1.55 [[ 9.99629088e-01 -2.67616448e-02 -5.04987824e-03 3.09237720e+02] [ 2.67622174e-02 9.99641827e-01 4.58502012e-05 9.45312925e-01] [ 5.04684248e-03 -1.80979134e-04 9.99987248e-01 1.55236865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:309.27, Y:0.95, Z:1.55 [[ 9.99747859e-01 -2.18795875e-02 -5.04987429e-03 3.09269387e+02] [ 2.18801001e-02 9.99760601e-01 4.62808889e-05 9.46424934e-01] [ 5.04765275e-03 -1.56760975e-04 9.99987248e-01 1.55382987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.304391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:309.30, Y:0.95, Z:1.55 [[ 9.99806651e-01 -1.90041818e-02 -5.04987232e-03 3.09300660e+02] [ 1.90046589e-02 9.99819394e-01 4.64951344e-05 9.46971558e-01] [ 5.04807668e-03 -1.42457245e-04 9.99987248e-01 1.55406340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:309.33, Y:0.95, Z:1.56 [[ 9.99885557e-01 -1.42608353e-02 -5.04987045e-03 3.09329812e+02] [ 1.42612529e-02 9.99898302e-01 4.66968558e-05 9.51196639e-01] [ 5.04869096e-03 -1.18708992e-04 9.99987248e-01 1.55538931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.364391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:309.36, Y:0.95, Z:1.56 [[ 9.99937120e-01 -1.00124877e-02 -5.05034276e-03 3.09360888e+02] [ 1.00125828e-02 9.99949873e-01 -6.44859226e-06 9.50053771e-01] [ 5.05015417e-03 -4.41187885e-05 9.99987247e-01 1.55519187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:309.39, Y:0.95, Z:1.55 [[ 9.99975920e-01 -4.76007937e-03 -5.04987228e-03 3.09390034e+02] [ 4.76037047e-03 9.99988668e-01 4.56254049e-05 9.52398172e-01] [ 5.04959788e-03 -6.96635691e-05 9.99987248e-01 1.55280000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.424391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:309.42, Y:0.95, Z:1.55 [[ 9.99984185e-01 -2.47560591e-03 -5.04987228e-03 3.09418223e+02] [ 2.47586788e-03 9.99996934e-01 4.56254049e-05 9.52791569e-01] [ 5.04974385e-03 -5.81274999e-05 9.99987248e-01 1.55250282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:309.45, Y:0.95, Z:1.55 [[ 9.99983428e-01 -2.76446501e-03 -5.04987510e-03 3.09447482e+02] [ 2.76472907e-03 9.99996177e-01 4.53116926e-05 9.52693930e-01] [ 5.04973053e-03 -5.92724782e-05 9.99987248e-01 1.55265065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:309.48, Y:0.95, Z:1.55 [[ 9.99987186e-01 -3.56740317e-04 -5.04988777e-03 3.09476582e+02] [ 3.56966321e-04 9.99999935e-01 4.38529523e-05 9.54187484e-01] [ 5.04987180e-03 -4.56550302e-05 9.99987248e-01 1.55245154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:309.51, Y:0.95, Z:1.55 [[ 9.99987211e-01 2.75804615e-04 -5.04989995e-03 3.09505790e+02] [-2.75594002e-04 9.99999961e-01 4.24022053e-05 9.54682560e-01] [ 5.04991145e-03 -4.10099409e-05 9.99987248e-01 1.55305941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:309.53, Y:0.96, Z:1.55 [[ 9.99986952e-01 7.71155852e-04 -5.04991178e-03 3.09534489e+02] [-7.70958925e-04 9.99999702e-01 4.09426812e-05 9.55129636e-01] [ 5.04994185e-03 -3.70488724e-05 9.99987248e-01 1.55421309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:309.56, Y:0.96, Z:1.55 [[ 9.99987246e-01 7.76687517e-05 -5.04992375e-03 3.09562688e+02] [-7.74707271e-05 9.99999996e-01 3.94089837e-05 9.56714199e-01] [ 5.04992679e-03 -3.90172598e-05 9.99987248e-01 1.55411357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:309.59, Y:0.96, Z:1.55 [[ 9.99986975e-01 -7.40154573e-04 -5.04992793e-03 3.09591832e+02] [ 7.40360285e-04 9.99999725e-01 3.88662927e-05 9.57110860e-01] [ 5.04989777e-03 -4.26045526e-05 9.99987248e-01 1.55455848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:309.62, Y:0.96, Z:1.56 [[ 9.99985240e-01 -2.00446381e-03 -5.04993099e-03 3.09620143e+02] [ 2.00468361e-03 9.99997990e-01 3.84643163e-05 9.57540262e-01] [ 5.04984374e-03 -4.85872625e-05 9.99987248e-01 1.55524040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:309.65, Y:0.96, Z:1.56 [[ 9.99972325e-01 -5.46336961e-03 -5.04993474e-03 3.09649106e+02] [ 5.46363100e-03 9.99985074e-01 3.79658818e-05 9.57442472e-01] [ 5.04965194e-03 -6.55558110e-05 9.99987248e-01 1.55667342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:309.68, Y:0.96, Z:1.56 [[ 9.99959199e-01 -7.48993844e-03 -5.04993778e-03 3.09678338e+02] [ 7.49022359e-03 9.99971947e-01 3.75559959e-05 9.57234519e-01] [ 5.04951483e-03 -7.53796267e-05 9.99987248e-01 1.55787763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:309.71, Y:0.96, Z:1.56 [[ 9.99938948e-01 -9.82849632e-03 -5.04993937e-03 3.09708105e+02] [ 9.82881020e-03 9.99951695e-01 3.73413088e-05 9.57006119e-01] [ 5.04932843e-03 -8.69739246e-05 9.99987248e-01 1.55823783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:309.74, Y:0.96, Z:1.56 [[ 9.99861621e-01 -1.58504719e-02 -5.04994096e-03 3.09737952e+02] [ 1.58508614e-02 9.99874367e-01 3.71249734e-05 9.56947764e-01] [ 5.04871807e-03 -1.17165751e-04 9.99987248e-01 1.55848929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:309.77, Y:0.96, Z:1.56 [[ 9.99806082e-01 -1.90340807e-02 -5.04994174e-03 3.09769469e+02] [ 1.90345103e-02 9.99818827e-01 3.70183772e-05 9.56843059e-01] [ 5.04832222e-03 -1.33134367e-04 9.99987248e-01 1.55854942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:309.80, Y:0.96, Z:1.56 [[ 9.99747316e-01 -2.19043963e-02 -5.04994019e-03 3.09801157e+02] [ 2.19048635e-02 9.99760059e-01 3.72287447e-05 9.56680215e-01] [ 5.04791303e-03 -1.47837588e-04 9.99987248e-01 1.55848273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:309.83, Y:0.96, Z:1.56 [[ 9.99615549e-01 -2.72626574e-02 -5.04993865e-03 3.09831965e+02] [ 2.72631940e-02 9.99628289e-01 3.74367947e-05 9.56565346e-01] [ 5.04704091e-03 -1.75099859e-04 9.99987248e-01 1.55862388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:309.86, Y:0.96, Z:1.56 [[ 9.99538919e-01 -2.99407289e-02 -5.04993633e-03 3.09864217e+02] [ 2.99413012e-02 9.99551658e-01 3.77474977e-05 9.56616532e-01] [ 5.04654204e-03 -1.88931758e-04 9.99987248e-01 1.55888902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:309.90, Y:0.96, Z:1.56 [[ 9.99465315e-01 -3.23045400e-02 -5.04993319e-03 3.09896872e+02] [ 3.23051445e-02 9.99478052e-01 3.81625849e-05 9.56505170e-01] [ 5.04606456e-03 -2.01281002e-04 9.99987248e-01 1.55987124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:309.93, Y:0.96, Z:1.56 [[ 9.99394533e-01 -3.44247715e-02 -5.04992987e-03 3.09927753e+02] [ 3.44254053e-02 9.99407269e-01 3.85974708e-05 9.56831688e-01] [ 5.04560791e-03 -2.12419984e-04 9.99987248e-01 1.56027552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:309.96, Y:0.96, Z:1.56 [[ 9.99324927e-01 -3.63894069e-02 -5.04992737e-03 3.09959994e+02] [ 3.63900673e-02 9.99337661e-01 3.89215731e-05 9.57514786e-01] [ 5.04516627e-03 -2.22662495e-04 9.99987248e-01 1.56127817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:309.99, Y:0.96, Z:1.56 [[ 9.99224508e-01 -3.90497362e-02 -5.04992410e-03 3.09991184e+02] [ 3.90504326e-02 9.99237240e-01 3.93417876e-05 9.60338237e-01] [ 5.04453593e-03 -2.36512999e-04 9.99987248e-01 1.56083874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:310.02, Y:0.96, Z:1.56 [[ 9.99198030e-01 -3.97214667e-02 -5.04992164e-03 3.10022009e+02] [ 3.97221732e-02 9.99210762e-01 3.96547918e-05 9.61902194e-01] [ 5.04436090e-03 -2.40216852e-04 9.99987248e-01 1.56090872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.054391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:310.05, Y:0.97, Z:1.56 [[ 9.99184651e-01 -4.00565943e-02 -5.04991668e-03 3.10054066e+02] [ 4.00573083e-02 9.99197383e-01 4.02770377e-05 9.65497506e-01] [ 5.04425017e-03 -2.42530267e-04 9.99987248e-01 1.56202605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:310.09, Y:0.97, Z:1.56 [[ 9.99195875e-01 -3.97756429e-02 -5.04991340e-03 3.10086380e+02] [ 3.97763553e-02 9.99208607e-01 4.06830054e-05 9.67083215e-01] [ 5.04429874e-03 -2.41517441e-04 9.99987248e-01 1.56232147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.114391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:310.12, Y:0.97, Z:1.56 [[ 9.99210368e-01 -3.94098952e-02 -5.04991002e-03 3.10117363e+02] [ 3.94106051e-02 9.99223099e-01 4.10991971e-05 9.69083606e-01] [ 5.04436702e-03 -2.40086753e-04 9.99987248e-01 1.56160220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:310.15, Y:0.97, Z:1.56 [[ 9.99253968e-01 -3.82884541e-02 -5.04990748e-03 3.10150096e+02] [ 3.82891512e-02 9.99266701e-01 4.14090759e-05 9.74493366e-01] [ 5.04461889e-03 -2.34734854e-04 9.99987248e-01 1.56237037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.174391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:310.18, Y:0.98, Z:1.56 [[ 9.99270617e-01 -3.78514656e-02 -5.04990320e-03 3.10181852e+02] [ 3.78521598e-02 9.99283349e-01 4.19244340e-05 9.77398445e-01] [ 5.04469728e-03 -2.33043598e-04 9.99987248e-01 1.56258348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:310.21, Y:0.98, Z:1.56 [[ 9.99291343e-01 -3.73002608e-02 -5.04989975e-03 3.10212975e+02] [ 3.73009501e-02 9.99304077e-01 4.23358927e-05 9.79914335e-01] [ 5.04480626e-03 -2.30671949e-04 9.99987248e-01 1.56252515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:310.24, Y:0.99, Z:1.56 [[ 9.99327063e-01 -3.63307068e-02 -5.04989716e-03 3.10244250e+02] [ 3.63313852e-02 9.99339796e-01 4.26419448e-05 9.85598991e-01] [ 5.04501399e-03 -2.26083009e-04 9.99987248e-01 1.56368285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:310.28, Y:0.99, Z:1.56 [[ 9.99336975e-01 -3.60570319e-02 -5.04989145e-03 3.10276556e+02] [ 3.60577101e-02 9.99349708e-01 4.33083688e-05 9.88319146e-01] [ 5.04504598e-03 -2.25367176e-04 9.99987248e-01 1.56453281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:310.31, Y:0.99, Z:1.56 [[ 9.99352147e-01 -3.56340449e-02 -5.04988797e-03 3.10308172e+02] [ 3.56347199e-02 9.99364881e-01 4.37106774e-05 9.90884319e-01] [ 5.04512310e-03 -2.23633702e-04 9.99987248e-01 1.56496850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:310.34, Y:1.00, Z:1.57 [[ 9.99387973e-01 -3.46146954e-02 -5.04988537e-03 3.10339908e+02] [ 3.46153588e-02 9.99400708e-01 4.40083198e-05 9.96313270e-01] [ 5.04533568e-03 -2.18784980e-04 9.99987248e-01 1.56515348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:310.37, Y:1.00, Z:1.57 [[ 9.99410544e-01 -3.39567963e-02 -5.04988194e-03 3.10371996e+02] [ 3.39574533e-02 9.99423278e-01 4.43987465e-05 9.99106399e-01] [ 5.04546192e-03 -2.15853706e-04 9.99987248e-01 1.56512202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:310.40, Y:1.00, Z:1.56 [[ 9.99444994e-01 -3.29272356e-02 -5.04987848e-03 3.10404535e+02] [ 3.29278815e-02 9.99457729e-01 4.47891271e-05 1.00182959e+00] [ 5.04566529e-03 -2.11046069e-04 9.99987248e-01 1.56432798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:310.44, Y:1.00, Z:1.57 [[ 9.99454130e-01 -3.26487511e-02 -5.04987502e-03 3.10436767e+02] [ 3.26493953e-02 9.99466865e-01 4.51761245e-05 1.00493320e+00] [ 5.04570781e-03 -2.10026830e-04 9.99987248e-01 1.56600256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:310.47, Y:1.01, Z:1.57 [[ 9.99508334e-01 -3.09449297e-02 -5.04987130e-03 3.10468715e+02] [ 3.09455544e-02 9.99521071e-01 4.55882221e-05 1.01064369e+00] [ 5.04604204e-03 -2.01836875e-04 9.99987248e-01 1.56636343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:310.50, Y:1.01, Z:1.57 [[ 9.99553634e-01 -2.94453930e-02 -5.04986749e-03 3.10499833e+02] [ 2.94460006e-02 9.99566371e-01 4.60059269e-05 1.01327533e+00] [ 5.04632306e-03 -1.94683793e-04 9.99987248e-01 1.56591936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:310.53, Y:1.02, Z:1.57 [[ 9.99599639e-01 -2.78398986e-02 -5.04986464e-03 3.10531993e+02] [ 2.78404873e-02 9.99612377e-01 4.63163279e-05 1.01620982e+00] [ 5.04661776e-03 -1.86888477e-04 9.99987248e-01 1.56719507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:310.56, Y:1.02, Z:1.57 [[ 9.99697603e-01 -2.40666078e-02 -5.04986082e-03 3.10563660e+02] [ 2.40671506e-02 9.99710343e-01 4.67297132e-05 1.02347323e+00] [ 5.04727346e-03 -1.68251343e-04 9.99987248e-01 1.56798658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:310.59, Y:1.03, Z:1.57 [[ 9.99767481e-01 -2.09638129e-02 -5.04991117e-03 3.10594983e+02] [ 2.09642884e-02 9.99780224e-01 4.12459402e-05 1.02628131e+00] [ 5.04793665e-03 -1.47104144e-04 9.99987248e-01 1.56978396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594391418 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:310.63, Y:1.03, Z:1.57 [[ 9.99826000e-01 -1.79573906e-02 -5.04985465e-03 3.10627638e+02] [ 1.79578583e-02 9.99838744e-01 4.72826821e-05 1.02921609e+00] [ 5.04819125e-03 -1.37959029e-04 9.99987248e-01 1.57081870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624391418 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:310.66, Y:1.03, Z:1.57 [[ 9.99913955e-01 -1.21070565e-02 -5.04985077e-03 3.10659820e+02] [ 1.21074517e-02 9.99926701e-01 4.76928601e-05 1.03490226e+00] [ 5.04890320e-03 -1.08829581e-04 9.99987248e-01 1.57177042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:310.69, Y:1.04, Z:1.57 [[ 9.99943050e-01 -9.40195094e-03 -5.04984682e-03 3.10691528e+02] [ 9.40231374e-03 9.99955796e-01 4.81075410e-05 1.03727386e+00] [ 5.04917129e-03 -9.55850454e-05 9.99987248e-01 1.57177264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684391418 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:310.72, Y:1.04, Z:1.57 [[ 9.99979474e-01 -3.94346436e-03 -5.04984386e-03 3.10722096e+02] [ 3.94375913e-03 9.99992222e-01 4.84159700e-05 1.04239223e+00] [ 5.04961366e-03 -6.83303440e-05 9.99987248e-01 1.57210472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:310.75, Y:1.04, Z:1.57 [[ 9.99985442e-01 -1.90153576e-03 -5.04984289e-03 3.10750494e+02] [ 1.90180501e-03 9.99998190e-01 4.85169555e-05 1.04495203e+00] [ 5.04974150e-03 -5.81200657e-05 9.99987248e-01 1.57193837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:310.78, Y:1.05, Z:1.57 [[ 9.99987213e-01 2.71447638e-04 -5.04984576e-03 3.10779142e+02] [-2.71207607e-04 9.99999962e-01 4.82171463e-05 1.04731567e+00] [ 5.04985865e-03 -4.68469732e-05 9.99987248e-01 1.57172870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:310.81, Y:1.05, Z:1.57 [[ 9.99985692e-01 1.76491494e-03 -5.04984857e-03 3.10807730e+02] [-1.76469544e-03 9.99998442e-01 4.79207506e-05 1.04959981e+00] [ 5.04992528e-03 -3.90086202e-05 9.99987248e-01 1.57264033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.804391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:310.84, Y:1.05, Z:1.57 [[ 9.99979314e-01 3.98388370e-03 -5.04986187e-03 3.10835872e+02] [-3.98369979e-03 9.99992064e-01 4.64760589e-05 1.05416797e+00] [ 5.05000694e-03 -2.63579639e-05 9.99987248e-01 1.57260569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:310.86, Y:1.06, Z:1.57 [[ 9.99976822e-01 4.56659322e-03 -5.04986883e-03 3.10864022e+02] [-4.56642063e-03 9.99989573e-01 4.57062759e-05 1.05619328e+00] [ 5.05002490e-03 -2.26453914e-05 9.99987248e-01 1.57297629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.864391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:310.89, Y:1.06, Z:1.57 [[ 9.99974376e-01 5.07413333e-03 -5.04987430e-03 3.10892811e+02] [-5.07397031e-03 9.99987126e-01 4.50939797e-05 1.05756920e+00] [ 5.05003810e-03 -1.94699120e-05 9.99987248e-01 1.57285605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:310.92, Y:1.06, Z:1.57 [[ 9.99974779e-01 4.99400909e-03 -5.04987788e-03 3.10922112e+02] [-4.99384709e-03 9.99987530e-01 4.46895480e-05 1.05738561e+00] [ 5.05003809e-03 -1.94701029e-05 9.99987248e-01 1.57300416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.924391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:310.95, Y:1.06, Z:1.57 [[ 9.99975087e-01 4.93201256e-03 -5.04988143e-03 3.10951254e+02] [-4.93185181e-03 9.99987837e-01 4.42849250e-05 1.05973790e+00] [ 5.05003842e-03 -1.93785548e-05 9.99987248e-01 1.57299513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:310.98, Y:1.06, Z:1.57 [[ 9.99976982e-01 4.53142659e-03 -5.04988491e-03 3.10978857e+02] [-4.53126276e-03 9.99989733e-01 4.38837504e-05 1.06072103e+00] [ 5.05003192e-03 -2.10003848e-05 9.99987248e-01 1.57306250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:311.01, Y:1.06, Z:1.57 [[ 9.99980367e-01 3.70999370e-03 -5.04988947e-03 3.11007466e+02] [-3.70982208e-03 9.99993118e-01 4.33526847e-05 1.06166121e+00] [ 5.05001556e-03 -2.46176421e-05 9.99987248e-01 1.57375841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:311.04, Y:1.06, Z:1.57 [[ 9.99982475e-01 3.09005517e-03 -5.04989285e-03 3.11035004e+02] [-3.08987764e-03 9.99995225e-01 4.29557698e-05 1.06216170e+00] [ 5.05000147e-03 -2.73514660e-05 9.99987248e-01 1.57380805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:311.06, Y:1.06, Z:1.57 [[ 9.99985991e-01 1.58613479e-03 -5.04989698e-03 3.11063213e+02] [-1.58594057e-03 9.99998742e-01 4.24642394e-05 1.06269052e+00] [ 5.04995798e-03 -3.44548080e-05 9.99987248e-01 1.57434359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:311.09, Y:1.06, Z:1.57 [[ 9.99986968e-01 7.49737182e-04 -5.04990103e-03 3.11092393e+02] [-7.49534758e-04 9.99999718e-01 4.19772775e-05 1.06280196e+00] [ 5.04993108e-03 -3.81916541e-05 9.99987248e-01 1.57455406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:311.12, Y:1.06, Z:1.57 [[ 9.99987200e-01 -3.14458171e-04 -5.04990421e-03 3.11120773e+02] [ 3.14672216e-04 9.99999950e-01 4.15915428e-05 1.06276263e+00] [ 5.04989087e-03 -4.31800750e-05 9.99987248e-01 1.57469370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:311.15, Y:1.06, Z:1.57 [[ 9.99984948e-01 -2.14544755e-03 -5.04990735e-03 3.11149805e+02] [ 2.14568299e-03 9.99997697e-01 4.12061966e-05 1.06231892e+00] [ 5.04980732e-03 -5.20410766e-05 9.99987248e-01 1.57479672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:311.18, Y:1.06, Z:1.57 [[ 9.99982841e-01 -2.96934266e-03 -5.04991046e-03 3.11178771e+02] [ 2.96958667e-03 9.99995590e-01 4.08219701e-05 1.06186324e+00] [ 5.04976697e-03 -5.58174164e-05 9.99987248e-01 1.57472737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:311.21, Y:1.06, Z:1.58 [[ 9.99979456e-01 -3.94796359e-03 -5.04991275e-03 3.11208631e+02] [ 3.94821863e-03 9.99992205e-01 4.05361203e-05 1.06158912e+00] [ 5.04971335e-03 -6.04734471e-05 9.99987248e-01 1.57600242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.24, Y:1.06, Z:1.58 [[ 9.99973969e-01 -5.15354443e-03 -5.04991439e-03 3.11237526e+02] [ 5.15381381e-03 9.99986718e-01 4.03315054e-05 1.06072223e+00] [ 5.04963946e-03 -6.63567741e-05 9.99987248e-01 1.57589503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:311.27, Y:1.06, Z:1.58 [[ 9.99971973e-01 -5.52733745e-03 -5.04991680e-03 3.11266765e+02] [ 5.52761006e-03 9.99984722e-01 4.00270895e-05 1.06021417e+00] [ 5.04961840e-03 -6.79399386e-05 9.99987248e-01 1.57613063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:311.30, Y:1.06, Z:1.57 [[ 9.99971256e-01 -5.65551131e-03 -5.04991839e-03 3.11296587e+02] [ 5.65578453e-03 9.99984005e-01 3.98249771e-05 1.05972190e+00] [ 5.04961239e-03 -6.83850827e-05 9.99987248e-01 1.57475304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:311.33, Y:1.06, Z:1.58 [[ 9.99973458e-01 -5.25180930e-03 -5.04991918e-03 3.11326238e+02] [ 5.25207687e-03 9.99986207e-01 3.97249811e-05 1.05908739e+00] [ 5.04964090e-03 -6.62464904e-05 9.99987248e-01 1.57646986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:311.36, Y:1.06, Z:1.58 [[ 9.99984493e-01 -2.34798959e-03 -5.04992078e-03 3.11356065e+02] [ 2.34821911e-03 9.99997242e-01 3.95211178e-05 1.05798384e+00] [ 5.04981405e-03 -5.13788254e-05 9.99987248e-01 1.57736184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:311.39, Y:1.06, Z:1.58 [[ 9.99986756e-01 -9.92235964e-04 -5.05000018e-03 3.11385162e+02] [ 9.92396625e-04 9.99999507e-01 2.93084594e-05 1.05762812e+00] [ 5.04996861e-03 -3.43196744e-05 9.99987248e-01 1.57609442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:311.41, Y:1.06, Z:1.58 [[ 9.99980744e-01 3.60681427e-03 -5.04992458e-03 3.11414109e+02] [-3.60666292e-03 9.99993495e-01 3.90779357e-05 1.05716187e+00] [ 5.05003268e-03 -2.08638075e-05 9.99987248e-01 1.57731748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:311.44, Y:1.06, Z:1.58 [[ 9.99966474e-01 6.44593266e-03 -5.04993531e-03 3.11440737e+02] [-6.44582478e-03 9.99979225e-01 3.76380910e-05 1.05669061e+00] [ 5.05007301e-03 -5.08583091e-06 9.99987248e-01 1.57690372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:311.47, Y:1.06, Z:1.58 [[ 9.99945092e-01 9.18207463e-03 -5.04994380e-03 3.11467521e+02] [-9.18200758e-03 9.99957844e-01 3.64619425e-05 1.05630573e+00] [ 5.05006571e-03 9.90868186e-06 9.99987248e-01 1.57702208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:311.50, Y:1.06, Z:1.58 [[ 9.99914379e-01 1.20719928e-02 -5.04994861e-03 3.11495449e+02] [-1.20719660e-02 9.99927131e-01 3.57834685e-05 1.05540244e+00] [ 5.05001260e-03 2.51824033e-05 9.99987248e-01 1.57701184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:311.52, Y:1.05, Z:1.58 [[ 9.99840140e-01 1.71520465e-02 -5.04995264e-03 3.11523684e+02] [-1.71520874e-02 9.99852892e-01 3.52054175e-05 1.05319453e+00] [ 5.04981360e-03 5.14174396e-05 9.99987248e-01 1.57780855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.554391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:311.55, Y:1.05, Z:1.58 [[ 9.99796028e-01 1.95550470e-02 -5.04995677e-03 3.11551252e+02] [-1.95551216e-02 9.99808780e-01 3.46030541e-05 1.05185835e+00] [ 5.04966778e-03 6.41565227e-05 9.99987248e-01 1.57883156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:311.58, Y:1.05, Z:1.58 [[ 9.99788265e-01 1.99479940e-02 -5.05006724e-03 3.11581012e+02] [-1.99481565e-02 9.99801016e-01 1.82000942e-05 1.05044790e+00] [ 5.04942541e-03 8.25432910e-05 9.99987248e-01 1.57833958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.614391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:311.61, Y:1.05, Z:1.58 [[ 9.99791803e-01 1.97699088e-02 -5.04995675e-03 3.11608152e+02] [-1.97699871e-02 9.99804554e-01 3.44130234e-05 1.04651731e+00] [ 5.04965010e-03 6.54317214e-05 9.99987248e-01 1.57811064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644391418 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:311.64, Y:1.04, Z:1.58 [[ 9.99814410e-01 1.85914631e-02 -5.04996300e-03 3.11636316e+02] [-1.85915312e-02 9.99827162e-01 3.34710941e-05 1.04400820e+00] [ 5.04971245e-03 6.04216623e-05 9.99987248e-01 1.57779944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.674391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:311.66, Y:1.04, Z:1.58 [[ 9.99846852e-01 1.67562297e-02 -5.04996689e-03 3.11664494e+02] [-1.67562774e-02 9.99859603e-01 3.28735475e-05 1.04112065e+00] [ 5.04980872e-03 5.17501329e-05 9.99987248e-01 1.57762440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:311.69, Y:1.04, Z:1.58 [[ 9.99921795e-01 1.14412298e-02 -5.04997068e-03 3.11692433e+02] [-1.14412127e-02 9.99934547e-01 3.22798545e-05 1.03514432e+00] [ 5.05000947e-03 2.55004585e-05 9.99987248e-01 1.57669118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:311.72, Y:1.03, Z:1.58 [[ 9.99958147e-01 7.62897228e-03 -5.04999995e-03 3.11720521e+02] [-7.62893055e-03 9.99970899e-01 2.75268100e-05 1.03191183e+00] [ 5.05006299e-03 1.10004410e-05 9.99987248e-01 1.57599415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:311.75, Y:1.03, Z:1.58 [[ 9.99980371e-01 3.70894524e-03 -5.04997677e-03 3.11748098e+02] [-3.70883462e-03 9.99993122e-01 3.12697996e-05 1.02905510e+00] [ 5.05005801e-03 -1.25396572e-05 9.99987248e-01 1.57559931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:311.78, Y:1.02, Z:1.58 [[ 9.99973568e-01 -5.23078197e-03 -5.05000460e-03 3.11776547e+02] [ 5.23098308e-03 9.99986318e-01 2.66171123e-05 1.02331369e+00] [ 5.04979628e-03 -5.30328974e-05 9.99987248e-01 1.57702199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:311.81, Y:1.02, Z:1.58 [[ 9.99935946e-01 -1.01292851e-02 -5.04998117e-03 3.11806115e+02] [ 1.01295683e-02 9.99948694e-01 3.04966412e-05 1.02036962e+00] [ 5.04941317e-03 -8.16488168e-05 9.99987248e-01 1.57712874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:311.84, Y:1.02, Z:1.58 [[ 9.99888268e-01 -1.40694356e-02 -5.04998236e-03 3.11835712e+02] [ 1.40697680e-02 9.99901015e-01 3.02983733e-05 1.01716332e+00] [ 5.04905621e-03 -1.01347068e-04 9.99987248e-01 1.57650825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:311.87, Y:1.01, Z:1.58 [[ 9.99666089e-01 -2.53418246e-02 -5.05009318e-03 3.11867474e+02] [ 2.53422062e-02 9.99678835e-01 1.15706955e-05 1.01143730e+00] [ 5.04817805e-03 -1.39547335e-04 9.99987248e-01 1.57643522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:311.90, Y:1.01, Z:1.58 [[ 9.99543032e-01 -2.98031103e-02 -5.04997857e-03 3.11897990e+02] [ 2.98036444e-02 9.99555772e-01 3.05290518e-05 1.00881332e+00] [ 5.04682537e-03 -1.81022867e-04 9.99987248e-01 1.57611052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:311.93, Y:1.01, Z:1.58 [[ 9.99396973e-01 -3.43538433e-02 -5.05007758e-03 3.11930455e+02] [ 3.43543501e-02 9.99409715e-01 1.36110335e-05 1.00609179e+00] [ 5.04662900e-03 -1.87094959e-04 9.99987248e-01 1.57588759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:311.96, Y:1.00, Z:1.58 [[ 9.99030868e-01 -4.37243773e-02 -5.05015792e-03 3.11962769e+02] [ 4.37249337e-02 9.99043608e-01 -2.41060227e-07 1.00182056e+00] [ 5.04533852e-03 -2.20576994e-04 9.99987248e-01 1.57680827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:312.00, Y:1.00, Z:1.58 [[ 9.98819156e-01 -4.83196741e-02 -5.05006372e-03 3.11996512e+02] [ 4.83203635e-02 9.98831889e-01 1.45153050e-05 1.00017240e+00] [ 5.04346331e-03 -2.58519079e-04 9.99987248e-01 1.57718688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:312.03, Y:1.00, Z:1.58 [[ 9.98740979e-01 -4.99094704e-02 -5.04994036e-03 3.12026399e+02] [ 4.99102745e-02 9.98753705e-01 3.32506985e-05 9.98400665e-01] [ 5.04198712e-03 -2.85252745e-04 9.99987248e-01 1.57746988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:312.06, Y:1.00, Z:1.58 [[ 9.98531206e-01 -5.39437456e-02 -5.05012237e-03 3.12059030e+02] [ 5.39444596e-02 9.98543938e-01 5.16941505e-06 9.96309387e-01] [ 5.04249022e-03 -2.77587944e-04 9.99987248e-01 1.57647365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:312.09, Y:1.00, Z:1.58 [[ 9.98526594e-01 -5.40290524e-02 -5.05004223e-03 3.12090745e+02] [ 5.40298278e-02 9.98539322e-01 1.71483149e-05 9.95293569e-01] [ 5.04173924e-03 -2.89975961e-04 9.99987248e-01 1.57525766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:312.12, Y:0.99, Z:1.58 [[ 9.98517852e-01 -5.41903745e-02 -5.05010573e-03 3.12121487e+02] [ 5.41911046e-02 9.98530582e-01 7.74876497e-06 9.94892302e-01] [ 5.04226510e-03 -2.81408088e-04 9.99987248e-01 1.57613169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:312.15, Y:0.99, Z:1.58 [[ 9.98487786e-01 -5.47415562e-02 -5.05011126e-03 3.12154153e+02] [ 5.47422892e-02 9.98500517e-01 6.93258282e-06 9.94937010e-01] [ 5.04215920e-03 -2.83376750e-04 9.99987248e-01 1.57526545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:312.19, Y:1.00, Z:1.58 [[ 9.98559326e-01 -5.34206875e-02 -5.04996586e-03 3.12187709e+02] [ 5.34215086e-02 9.98572051e-01 2.77555088e-05 9.95611132e-01] [ 5.04127205e-03 -2.97492317e-04 9.99987248e-01 1.57609415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:312.22, Y:1.00, Z:1.58 [[ 9.98638707e-01 -5.19156239e-02 -5.04990554e-03 3.12219839e+02] [ 5.19164683e-02 9.98651430e-01 3.61752447e-05 9.95884824e-01] [ 5.04121733e-03 -2.98299261e-04 9.99987248e-01 1.57527655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:312.25, Y:1.00, Z:1.58 [[ 9.98733485e-01 -5.00592148e-02 -5.04990278e-03 3.12252541e+02] [ 5.00600375e-02 9.98746210e-01 3.65566178e-05 9.96350217e-01] [ 5.04174127e-03 -2.89308641e-04 9.99987248e-01 1.57566534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:312.28, Y:1.00, Z:1.57 [[ 9.98927275e-01 -4.60304008e-02 -5.04989832e-03 3.12284657e+02] [ 4.60311752e-02 9.98940003e-01 3.71631747e-05 9.98175115e-01] [ 5.04283481e-03 -2.69576063e-04 9.99987248e-01 1.57433450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.304391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:312.32, Y:1.00, Z:1.57 [[ 9.99038340e-01 -4.35533408e-02 -5.04989533e-03 3.12317625e+02] [ 4.35540856e-02 9.99051070e-01 3.75644014e-05 9.99103835e-01] [ 5.04346728e-03 -2.57471851e-04 9.99987248e-01 1.57483423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:312.35, Y:1.00, Z:1.57 [[ 9.99145574e-01 -4.10197685e-02 -5.04989068e-03 3.12349558e+02] [ 4.10204842e-02 9.99158305e-01 3.81794223e-05 1.00051646e+00] [ 5.04407411e-03 -2.45295762e-04 9.99987248e-01 1.57477798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.364391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:312.38, Y:1.00, Z:1.58 [[ 9.99358427e-01 -3.54574807e-02 -5.04988284e-03 3.12381945e+02] [ 3.54581306e-02 9.99371162e-01 3.91905682e-05 1.00449118e+00] [ 5.04531768e-03 -2.18224830e-04 9.99987248e-01 1.57577487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:312.41, Y:1.01, Z:1.58 [[ 9.99508983e-01 -3.09239619e-02 -5.04987967e-03 3.12412637e+02] [ 3.09245560e-02 9.99521721e-01 3.95942932e-05 1.00613680e+00] [ 5.04624001e-03 -1.95740139e-04 9.99987248e-01 1.57697768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.424391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:312.45, Y:1.01, Z:1.58 [[ 9.99590200e-01 -2.81767299e-02 -5.05007663e-03 3.12447036e+02] [ 2.81771621e-02 9.99602945e-01 1.44507184e-05 1.00791869e+00] [ 5.04766430e-03 -1.56741625e-04 9.99987248e-01 1.57679587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:312.48, Y:1.01, Z:1.58 [[ 9.99795768e-01 -1.95683923e-02 -5.04985867e-03 3.12477029e+02] [ 1.95688497e-02 9.99808511e-01 4.11797562e-05 1.01203234e+00] [ 5.04808585e-03 -1.39991271e-04 9.99987249e-01 1.57716580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:312.51, Y:1.01, Z:1.58 [[ 9.99873627e-01 -1.50740642e-02 -5.04999514e-03 3.12508479e+02] [ 1.50743791e-02 9.99886375e-01 2.43027400e-05 1.01361331e+00] [ 5.04905499e-03 -1.00425210e-04 9.99987248e-01 1.57871338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:312.54, Y:1.02, Z:1.58 [[ 9.99943503e-01 -9.35353390e-03 -5.05001445e-03 3.12538954e+02] [ 9.35376437e-03 9.99956252e-01 2.20205357e-05 1.02002427e+00] [ 5.04958756e-03 -6.92559369e-05 9.99987248e-01 1.57950292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:312.57, Y:1.02, Z:1.58 [[ 9.99984772e-01 -2.22511961e-03 -5.05023500e-03 3.12569411e+02] [ 2.22512485e-03 9.99997524e-01 -4.58127623e-06 1.01865546e+00] [ 5.05023269e-03 -6.65619691e-06 9.99987247e-01 1.57864039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574391418 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:312.60, Y:1.02, Z:1.58 [[ 9.99986080e-01 1.52927658e-03 -5.04982639e-03 3.12598283e+02] [-1.52907796e-03 9.99998830e-01 4.31921710e-05 1.02028561e+00] [ 5.04988653e-03 -3.54699915e-05 9.99987249e-01 1.57876244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:312.63, Y:1.02, Z:1.58 [[ 9.99974389e-01 5.07149610e-03 -5.04983789e-03 3.12626369e+02] [-5.07134967e-03 9.99987140e-01 4.18027906e-05 1.02157385e+00] [ 5.04998495e-03 -1.61922263e-05 9.99987249e-01 1.57871071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:312.65, Y:1.02, Z:1.58 [[ 9.99925630e-01 1.11010389e-02 -5.04985049e-03 3.12653462e+02] [-1.11009774e-02 9.99938381e-01 4.02213843e-05 1.02339404e+00] [ 5.04998582e-03 1.58398829e-05 9.99987249e-01 1.57815379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:312.68, Y:1.02, Z:1.58 [[ 9.99900729e-01 1.31541082e-02 -5.04985584e-03 3.12681148e+02] [-1.31540763e-02 9.99913481e-01 3.95372879e-05 1.02416580e+00] [ 5.04993901e-03 2.68928258e-05 9.99987249e-01 1.57816152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:312.71, Y:1.03, Z:1.58 [[ 9.99920100e-01 1.15884787e-02 -5.04986029e-03 3.12705020e+02] [-1.15884297e-02 9.99932851e-01 3.89611860e-05 1.02988180e+00] [ 5.04997270e-03 1.95618779e-05 9.99987249e-01 1.57830790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:312.74, Y:1.02, Z:1.58 [[ 9.99873429e-01 1.50870072e-02 -5.05059201e-03 3.12739756e+02] [-1.50875321e-02 9.99886175e-01 -6.58340911e-05 1.02448674e+00] [ 5.04902388e-03 1.42026727e-04 9.99987244e-01 1.57776722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:312.77, Y:1.02, Z:1.58 [[ 9.99886441e-01 1.41987686e-02 -5.04980697e-03 3.12767240e+02] [-1.41987571e-02 9.99899192e-01 3.81318986e-05 1.02420295e+00] [ 5.04983933e-03 3.35734140e-05 9.99987249e-01 1.57807602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:312.79, Y:1.03, Z:1.58 [[ 9.99925396e-01 1.11221018e-02 -5.04981127e-03 3.12791292e+02] [-1.11220540e-02 9.99938147e-01 3.75541237e-05 1.02776081e+00] [ 5.04991660e-03 1.86129517e-05 9.99987249e-01 1.57804827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:312.82, Y:1.02, Z:1.58 [[ 9.99959791e-01 7.41015187e-03 -5.05038699e-03 3.12823750e+02] [-7.41048552e-03 9.99972541e-01 -4.73540939e-05 1.02209236e+00] [ 5.04989741e-03 8.47780095e-05 9.99987246e-01 1.57803370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:312.85, Y:1.02, Z:1.58 [[ 9.99960364e-01 7.33279030e-03 -5.04977752e-03 3.12853056e+02] [-7.33269876e-03 9.99973115e-01 3.66418735e-05 1.02191803e+00] [ 5.04991044e-03 3.88076215e-07 9.99987249e-01 1.57815713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:312.88, Y:1.02, Z:1.58 [[ 9.99980055e-01 3.79334390e-03 -5.04978034e-03 3.12882272e+02] [-3.79320922e-03 9.99992805e-01 3.62490518e-05 1.02071092e+00] [ 5.04988151e-03 -1.70934554e-05 9.99987249e-01 1.57822382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:312.91, Y:1.02, Z:1.58 [[ 9.99987191e-01 3.42588656e-04 -5.04978312e-03 3.12911123e+02] [-3.42411950e-04 9.99999941e-01 3.58574366e-05 1.01924665e+00] [ 5.04979511e-03 -3.41278713e-05 9.99987249e-01 1.57852221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:312.94, Y:1.02, Z:1.58 [[ 9.99968341e-01 -6.14958588e-03 -5.04978586e-03 3.12939244e+02] [ 6.14984339e-03 9.99981089e-01 3.54680854e-05 1.01639544e+00] [ 5.04947225e-03 -6.65223547e-05 9.99987249e-01 1.57903957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:312.97, Y:1.02, Z:1.58 [[ 9.99948668e-01 -8.78409774e-03 -5.04978854e-03 3.12968411e+02] [ 8.78438689e-03 9.99961416e-01 3.50813706e-05 1.01510026e+00] [ 5.04928554e-03 -7.94388661e-05 9.99987249e-01 1.57917487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:313.00, Y:1.01, Z:1.58 [[ 9.99927326e-01 -1.09472467e-02 -5.04978987e-03 3.12999150e+02] [ 1.09475624e-02 9.99940073e-01 3.48889704e-05 1.01372649e+00] [ 5.04910532e-03 -9.01693247e-05 9.99987249e-01 1.57919988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:313.03, Y:1.01, Z:1.58 [[ 9.99902704e-01 -1.30031869e-02 -5.04978987e-03 3.13030640e+02] [ 1.30035288e-02 9.99915450e-01 3.48889704e-05 1.01135406e+00] [ 5.04890925e-03 -1.00550664e-04 9.99987249e-01 1.57864448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.054391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:313.06, Y:1.01, Z:1.58 [[ 9.99900089e-01 -1.32027140e-02 -5.04978850e-03 3.13062244e+02] [ 1.32030595e-02 9.99912835e-01 3.50858593e-05 1.01003307e+00] [ 5.04888511e-03 -1.01755012e-04 9.99987249e-01 1.57875120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:313.09, Y:1.01, Z:1.58 [[ 9.99898790e-01 -1.33007580e-02 -5.04978644e-03 3.13093754e+02] [ 1.33011063e-02 9.99911536e-01 3.53802674e-05 1.00870099e+00] [ 5.04886913e-03 -1.02544433e-04 9.99987249e-01 1.57871087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.114391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:313.12, Y:1.01, Z:1.58 [[ 9.99920884e-01 -1.15206293e-02 -5.04978507e-03 3.13124144e+02] [ 1.15209558e-02 9.99933631e-01 3.55748592e-05 1.00727134e+00] [ 5.04904008e-03 -9.37503952e-05 9.99987249e-01 1.57936922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:313.15, Y:1.01, Z:1.58 [[ 9.99907805e-01 -1.26047076e-02 -5.05001855e-03 3.13154898e+02] [ 1.26048759e-02 9.99920555e-01 1.49963754e-06 1.00600094e+00] [ 5.04959845e-03 -6.51543563e-05 9.99987249e-01 1.57945573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.174391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:313.19, Y:1.01, Z:1.58 [[ 9.99908608e-01 -1.25409288e-02 -5.04978950e-03 3.13186618e+02] [ 1.25412643e-02 9.99921355e-01 3.47678469e-05 1.00536304e+00] [ 5.04895634e-03 -9.80954141e-05 9.99987249e-01 1.57919011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:313.22, Y:1.00, Z:1.58 [[ 9.99912968e-01 -1.21883349e-02 -5.04978813e-03 3.13217475e+02] [ 1.21886669e-02 9.99925715e-01 3.49666256e-05 1.00446326e+00] [ 5.04898682e-03 -9.65137678e-05 9.99987249e-01 1.57882059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:313.25, Y:1.00, Z:1.58 [[ 9.99913852e-01 -1.21156258e-02 -5.04978675e-03 3.13247753e+02] [ 1.21159578e-02 9.99926598e-01 3.51643981e-05 1.00377209e+00] [ 5.04899005e-03 -9.63443721e-05 9.99987249e-01 1.57814346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:313.28, Y:1.00, Z:1.58 [[ 9.99915197e-01 -1.20041032e-02 -5.04978606e-03 3.13278652e+02] [ 1.20044343e-02 9.99927944e-01 3.52625896e-05 1.00338887e+00] [ 5.04899890e-03 -9.58794243e-05 9.99987249e-01 1.57824692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:313.31, Y:1.00, Z:1.58 [[ 9.99902109e-01 -1.30488012e-02 -5.04978470e-03 3.13309975e+02] [ 1.30491466e-02 9.99914856e-01 3.54569835e-05 1.00281464e+00] [ 5.04889207e-03 -1.01348894e-04 9.99987249e-01 1.57774894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:313.34, Y:1.00, Z:1.58 [[ 9.99886031e-01 -1.42275928e-02 -5.04978332e-03 3.13341729e+02] [ 1.42279543e-02 9.99898777e-01 3.56520396e-05 1.00212332e+00] [ 5.04876492e-03 -1.07496062e-04 9.99987249e-01 1.57758004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:313.37, Y:1.00, Z:1.58 [[ 9.99857885e-01 -1.60844333e-02 -5.04978194e-03 3.13372720e+02] [ 1.60848193e-02 9.99870630e-01 3.58467196e-05 1.00143038e+00] [ 5.04855208e-03 -1.17066455e-04 9.99987249e-01 1.57770367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:313.40, Y:1.00, Z:1.58 [[ 9.99773685e-01 -2.06658556e-02 -5.04978055e-03 3.13404745e+02] [ 2.06663010e-02 9.99786429e-01 3.60410252e-05 1.00026726e+00] [ 5.04795724e-03 -1.40393154e-04 9.99987249e-01 1.57799913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:313.44, Y:1.00, Z:1.58 [[ 9.99712248e-01 -2.34503913e-02 -5.04977760e-03 3.13435762e+02] [ 2.34508743e-02 9.99724990e-01 3.64503675e-05 9.99757477e-01] [ 5.04753408e-03 -1.54861579e-04 9.99987249e-01 1.57800268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:313.46, Y:1.00, Z:1.58 [[ 9.99658143e-01 -2.56534130e-02 -5.04977255e-03 3.13464452e+02] [ 2.56539276e-02 9.99670883e-01 3.71366828e-05 1.00027946e+00] [ 5.04715790e-03 -1.66670487e-04 9.99987249e-01 1.57673175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:313.50, Y:1.00, Z:1.58 [[ 9.99469709e-01 -3.21682539e-02 -5.05019902e-03 3.13498745e+02] [ 3.21685461e-02 9.99482458e-01 -2.33812073e-05 9.98307887e-01] [ 5.04833747e-03 -1.39088751e-04 9.99987247e-01 1.57792100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:313.53, Y:1.00, Z:1.58 [[ 9.99381719e-01 -3.47948239e-02 -5.04973423e-03 3.13529893e+02] [ 3.47954601e-02 9.99394454e-01 3.81470345e-05 9.97541624e-01] [ 5.04534907e-03 -2.13831275e-04 9.99987249e-01 1.57781870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:313.56, Y:1.00, Z:1.58 [[ 9.99288913e-01 -3.73653408e-02 -5.04973197e-03 3.13563337e+02] [ 3.73660112e-02 9.99301646e-01 3.84445311e-05 9.96938189e-01] [ 5.04476897e-03 -2.27105535e-04 9.99987249e-01 1.57883985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:313.60, Y:1.00, Z:1.58 [[ 9.99191257e-01 -3.98915152e-02 -5.04972731e-03 3.13595911e+02] [ 3.98922208e-02 9.99203988e-01 3.90467434e-05 9.96802500e-01] [ 5.04415003e-03 -2.40460002e-04 9.99987249e-01 1.57942099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:313.63, Y:1.00, Z:1.58 [[ 9.98991012e-01 -4.46257516e-02 -5.04972247e-03 3.13629199e+02] [ 4.46265207e-02 9.99003740e-01 3.96630727e-05 9.96978833e-01] [ 5.04292164e-03 -2.64974597e-04 9.99987249e-01 1.57992285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:313.66, Y:1.00, Z:1.58 [[ 9.98903684e-01 -4.65395476e-02 -5.04971750e-03 3.13661521e+02] [ 4.65403442e-02 9.98916410e-01 4.02864780e-05 9.96800323e-01] [ 5.04237076e-03 -2.75257902e-04 9.99987249e-01 1.57992163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:313.69, Y:1.00, Z:1.58 [[ 9.98817206e-01 -4.83600002e-02 -5.04971333e-03 3.13694737e+02] [ 4.83608225e-02 9.98829930e-01 4.08026626e-05 9.96816269e-01] [ 5.04183159e-03 -2.84962692e-04 9.99987249e-01 1.58057065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:313.73, Y:1.00, Z:1.58 [[ 9.98689918e-01 -5.09209918e-02 -5.04970846e-03 3.13727357e+02] [ 5.09218498e-02 9.98702640e-01 4.13965587e-05 9.97558853e-01] [ 5.04104921e-03 -2.98482821e-04 9.99987249e-01 1.58243774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:313.76, Y:1.00, Z:1.58 [[ 9.98639138e-01 -5.19073447e-02 -5.04970350e-03 3.13760125e+02] [ 5.19082183e-02 9.98651859e-01 4.19924348e-05 9.98116763e-01] [ 5.04071607e-03 -3.04056401e-04 9.99987249e-01 1.58407917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:313.79, Y:1.00, Z:1.59 [[ 9.98567774e-01 -5.32625730e-02 -5.04969829e-03 3.13792141e+02] [ 5.32634669e-02 9.98580493e-01 4.26103065e-05 1.00006592e+00] [ 5.04026067e-03 -3.11513717e-04 9.99987249e-01 1.58544987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774391418 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:313.82, Y:1.00, Z:1.59 [[ 9.98545038e-01 -5.36871294e-02 -5.04969392e-03 3.13824915e+02] [ 5.36880313e-02 9.98557757e-01 4.31213872e-05 1.00084508e+00] [ 5.04009597e-03 -3.14166773e-04 9.99987249e-01 1.58596731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.804391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:313.86, Y:1.00, Z:1.59 [[ 9.98516552e-01 -5.42143536e-02 -5.04968875e-03 3.13858034e+02] [ 5.42152652e-02 9.98529270e-01 4.37188598e-05 1.00157858e+00] [ 5.03989183e-03 -3.17424220e-04 9.99987249e-01 1.58576095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:313.89, Y:1.00, Z:1.58 [[ 9.98526100e-01 -5.40382195e-02 -5.04968353e-03 3.13890555e+02] [ 5.40391318e-02 9.98538818e-01 4.43132959e-05 1.00175028e+00] [ 5.03991041e-03 -3.17128497e-04 9.99987249e-01 1.58461847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.864391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:313.92, Y:1.00, Z:1.58 [[ 9.98487513e-01 -5.47465685e-02 -5.04968007e-03 3.13921612e+02] [ 5.47474919e-02 9.98500230e-01 4.47046395e-05 1.00448264e+00] [ 5.03965929e-03 -3.21094343e-04 9.99987249e-01 1.58453796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:313.95, Y:1.01, Z:1.58 [[ 9.98498703e-01 -5.45421008e-02 -5.04967747e-03 3.13954108e+02] [ 5.45430230e-02 9.98511420e-01 4.49961442e-05 1.00552325e+00] [ 5.03970644e-03 -3.20353266e-04 9.99987249e-01 1.58462645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.924391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:313.99, Y:1.01, Z:1.58 [[ 9.98603575e-01 -5.25870808e-02 -5.04967394e-03 3.13986537e+02] [ 5.25879801e-02 9.98616294e-01 4.53894588e-05 1.00821904e+00] [ 5.04029977e-03 -3.10878228e-04 9.99987249e-01 1.58450756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:314.02, Y:1.01, Z:1.58 [[ 9.98669684e-01 -5.13163002e-02 -5.04967034e-03 3.14019092e+02] [ 5.13171854e-02 9.98682404e-01 4.57860853e-05 1.00993026e+00] [ 5.04066734e-03 -3.04860044e-04 9.99987249e-01 1.58450111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:314.05, Y:1.01, Z:1.58 [[ 9.98766175e-01 -4.94027239e-02 -5.04966674e-03 3.14051959e+02] [ 4.94035867e-02 9.98778896e-01 4.61795790e-05 1.01146191e+00] [ 5.04121918e-03 -2.95594250e-04 9.99987249e-01 1.58487677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014391418 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:314.09, Y:1.01, Z:1.58 [[ 9.99038472e-01 -4.35503371e-02 -5.04966127e-03 3.14085424e+02] [ 4.35511282e-02 9.99051198e-01 4.67699334e-05 1.01412117e+00] [ 5.04283330e-03 -2.66643409e-04 9.99987249e-01 1.58398559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:314.12, Y:1.02, Z:1.58 [[ 9.99161649e-01 -4.06263429e-02 -5.04965577e-03 3.14118457e+02] [ 4.06270998e-02 9.99174377e-01 4.73564545e-05 1.01585442e+00] [ 5.04356274e-03 -2.52469622e-04 9.99987249e-01 1.58478193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074391418 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:314.15, Y:1.02, Z:1.59 [[ 9.99447902e-01 -3.28388835e-02 -5.04965025e-03 3.14150363e+02] [ 3.28395441e-02 9.99460636e-01 4.79384093e-05 1.01958231e+00] [ 5.04535240e-03 -2.13740155e-04 9.99987249e-01 1.58645820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:314.18, Y:1.02, Z:1.59 [[ 9.99577712e-01 -2.86163963e-02 -5.04964634e-03 3.14181848e+02] [ 2.86170052e-02 9.99590448e-01 4.83462843e-05 1.02172144e+00] [ 5.04619476e-03 -1.92831624e-04 9.99987249e-01 1.58666798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134391418 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:314.21, Y:1.02, Z:1.59 [[ 9.99699006e-01 -2.40082807e-02 -5.04964342e-03 3.14213691e+02] [ 2.40088324e-02 9.99711745e-01 4.86498353e-05 1.02381329e+00] [ 5.04701984e-03 -1.69871234e-04 9.99987249e-01 1.58784192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:314.25, Y:1.03, Z:1.59 [[ 9.99799135e-01 -1.93956584e-02 -5.04963964e-03 3.14246051e+02] [ 1.93961532e-02 9.99811876e-01 4.90386513e-05 1.02571205e+00] [ 5.04773855e-03 -1.46972385e-04 9.99987249e-01 1.58888987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:314.28, Y:1.03, Z:1.59 [[ 9.99922969e-01 -1.13383071e-02 -5.04963567e-03 3.14278099e+02] [ 1.13387013e-02 9.99935714e-01 4.94448377e-05 1.03018342e+00] [ 5.04875042e-03 -1.06697339e-04 9.99987249e-01 1.59002358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:314.31, Y:1.03, Z:1.59 [[ 9.99959045e-01 -7.51061780e-03 -5.04963167e-03 3.14308190e+02] [ 7.51096527e-03 9.99971791e-01 4.98499699e-05 1.03212802e+00] [ 5.04911482e-03 -8.77755363e-05 9.99987249e-01 1.58993495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:314.34, Y:1.03, Z:1.59 [[ 9.99978962e-01 -4.07134275e-03 -5.04963068e-03 3.14338995e+02] [ 4.07164688e-03 9.99991710e-01 4.99498360e-05 1.03370175e+00] [ 5.04938545e-03 -7.05090982e-05 9.99987249e-01 1.59054576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:314.37, Y:1.04, Z:1.59 [[ 9.99986737e-01 1.01302844e-03 -5.04963068e-03 3.14368799e+02] [-1.01278913e-03 9.99999486e-01 4.99498360e-05 1.03713585e+00] [ 5.04967868e-03 -4.48349625e-05 9.99987249e-01 1.59207207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:314.40, Y:1.04, Z:1.59 [[ 9.99984749e-01 2.23661407e-03 -5.04963267e-03 3.14396976e+02] [-2.23639137e-03 9.99997498e-01 4.97475441e-05 1.03921546e+00] [ 5.04973130e-03 -3.84538305e-05 9.99987249e-01 1.59233390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:314.43, Y:1.04, Z:1.59 [[ 9.99974441e-01 5.06157299e-03 -5.04963756e-03 3.14425606e+02] [-5.06138884e-03 9.99987190e-01 4.92460576e-05 1.04151461e+00] [ 5.04982214e-03 -2.36866197e-05 9.99987249e-01 1.59303371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:314.45, Y:1.04, Z:1.59 [[ 9.99971318e-01 5.64485353e-03 -5.04965106e-03 3.14454633e+02] [-5.64468402e-03 9.99984068e-01 4.78210796e-05 1.04220396e+00] [ 5.04984055e-03 -1.93160234e-05 9.99987249e-01 1.59263624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:314.48, Y:1.04, Z:1.59 [[ 9.99973467e-01 5.25029344e-03 -5.04965496e-03 3.14482465e+02] [-5.25012100e-03 9.99986217e-01 4.74050135e-05 1.04332047e+00] [ 5.04983425e-03 -2.08924562e-05 9.99987249e-01 1.59287483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:314.51, Y:1.04, Z:1.59 [[ 9.99975508e-01 4.84599015e-03 -5.04966010e-03 3.14510687e+02] [-4.84581535e-03 9.99988258e-01 4.68511624e-05 1.04425372e+00] [ 5.04982785e-03 -2.23802945e-05 9.99987249e-01 1.59285854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:314.54, Y:1.05, Z:1.59 [[ 9.99976679e-01 4.59813824e-03 -5.04966465e-03 3.14538990e+02] [-4.59796278e-03 9.99989428e-01 4.63552291e-05 1.04552996e+00] [ 5.04982442e-03 -2.31359779e-05 9.99987249e-01 1.59355489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:314.57, Y:1.05, Z:1.59 [[ 9.99975932e-01 4.75778175e-03 -5.04966901e-03 3.14568269e+02] [-4.75761075e-03 9.99988681e-01 4.58762702e-05 1.04535252e+00] [ 5.04983012e-03 -2.18508065e-05 9.99987249e-01 1.59352811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:314.60, Y:1.05, Z:1.59 [[ 9.99979921e-01 3.82875399e-03 -5.04967273e-03 3.14595649e+02] [-3.82857323e-03 9.99992670e-01 4.54626057e-05 1.04539804e+00] [ 5.04980978e-03 -2.61286511e-05 9.99987249e-01 1.59370881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.554391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:314.62, Y:1.05, Z:1.60 [[ 9.99985383e-01 1.93229491e-03 -5.04967739e-03 3.14624463e+02] [-1.93209261e-03 9.99998133e-01 4.49393781e-05 1.04584621e+00] [ 5.04975479e-03 -3.51822769e-05 9.99987249e-01 1.59554720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:314.65, Y:1.05, Z:1.60 [[ 9.99986921e-01 -8.11072221e-04 -5.04968096e-03 3.14652171e+02] [ 8.11307449e-04 9.99999670e-01 4.45345800e-05 1.04741698e+00] [ 5.04964317e-03 -4.86308413e-05 9.99987249e-01 1.59633541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.614391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:314.68, Y:1.04, Z:1.59 [[ 9.99983494e-01 -2.74057466e-03 -5.04989943e-03 3.14680674e+02] [ 2.74070868e-03 9.99996244e-01 1.96190206e-05 1.04285159e+00] [ 5.04982669e-03 -3.34589999e-05 9.99987249e-01 1.59479929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:314.71, Y:1.04, Z:1.60 [[ 9.99970165e-01 -5.84549767e-03 -5.04968258e-03 3.14710147e+02] [ 5.84579602e-03 9.99982912e-01 4.43240069e-05 1.04168928e+00] [ 5.04933720e-03 -7.38420988e-05 9.99987249e-01 1.59566953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.674391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:314.74, Y:1.04, Z:1.60 [[ 9.99950853e-01 -8.53187235e-03 -5.04968436e-03 3.14740211e+02] [ 8.53220392e-03 9.99963599e-01 4.41206603e-05 1.03983258e+00] [ 5.04912411e-03 -8.72034285e-05 9.99987249e-01 1.59528534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:314.77, Y:1.04, Z:1.60 [[ 9.99950853e-01 -8.53187235e-03 -5.04968436e-03 3.14771209e+02] [ 8.53220392e-03 9.99963599e-01 4.41206602e-05 1.03956174e+00] [ 5.04912411e-03 -8.72034285e-05 9.99987249e-01 1.59544188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:314.80, Y:1.04, Z:1.59 [[ 9.99872532e-01 -1.51466049e-02 -5.04968436e-03 3.14799042e+02] [ 1.51470208e-02 9.99885276e-01 4.41206603e-05 1.03953115e+00] [ 5.04843676e-03 -1.20602710e-04 9.99987249e-01 1.59397225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:314.83, Y:1.03, Z:1.59 [[ 9.99851193e-01 -1.64950605e-02 -5.05018052e-03 3.14832617e+02] [ 1.64952072e-02 9.99863945e-01 -1.26040947e-05 1.03482364e+00] [ 5.04970132e-03 -7.07015552e-05 9.99987248e-01 1.59463240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:314.87, Y:1.03, Z:1.59 [[ 9.99804775e-01 -1.91026737e-02 -5.04965014e-03 3.14865088e+02] [ 1.91031486e-02 9.99817517e-01 4.58323390e-05 1.03349128e+00] [ 5.04785315e-03 -1.42287608e-04 9.99987249e-01 1.59430605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:314.90, Y:1.03, Z:1.59 [[ 9.99691765e-01 -2.43079397e-02 -5.04964645e-03 3.14898699e+02] [ 2.43084831e-02 9.99704504e-01 4.62358072e-05 1.03156393e+00] [ 5.04703040e-03 -1.68970801e-04 9.99987249e-01 1.59335137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:314.93, Y:1.03, Z:1.59 [[ 9.99680987e-01 -2.47472807e-02 -5.04948094e-03 3.14929174e+02] [ 2.47479201e-02 9.99693721e-01 6.41848312e-05 1.02983185e+00] [ 5.04634599e-03 -1.89128506e-04 9.99987249e-01 1.59353735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884391418 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:314.96, Y:1.03, Z:1.59 [[ 9.99658271e-01 -2.56484426e-02 -5.04964724e-03 3.14961700e+02] [ 2.56490012e-02 9.99671009e-01 4.58818754e-05 1.02892502e+00] [ 5.04680916e-03 -1.75384604e-04 9.99987249e-01 1.59367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:314.99, Y:1.03, Z:1.59 [[ 9.99655505e-01 -2.57560116e-02 -5.04964342e-03 3.14993231e+02] [ 2.57565736e-02 9.99668243e-01 4.62987538e-05 1.02798085e+00] [ 5.04677570e-03 -1.76344317e-04 9.99987249e-01 1.59313746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:315.03, Y:1.03, Z:1.59 [[ 9.99657509e-01 -2.56781241e-02 -5.04964056e-03 3.15025531e+02] [ 2.56786868e-02 9.99670247e-01 4.66091411e-05 1.02720049e+00] [ 5.04677859e-03 -1.76261316e-04 9.99987249e-01 1.59377854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:315.05, Y:1.03, Z:1.59 [[ 9.99655413e-01 -2.57595930e-02 -5.04963675e-03 3.15054916e+02] [ 2.57601588e-02 9.99668151e-01 4.70184212e-05 1.02887383e+00] [ 5.04674985e-03 -1.77081664e-04 9.99987249e-01 1.59368768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:315.09, Y:1.03, Z:1.59 [[ 9.99675811e-01 -2.49553425e-02 -5.05012075e-03 3.15086912e+02] [ 2.49556263e-02 9.99688560e-01 -6.82350174e-06 1.02820109e+00] [ 5.04871822e-03 -1.19207636e-04 9.99987248e-01 1.59346973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:315.12, Y:1.03, Z:1.59 [[ 9.99705398e-01 -2.37405469e-02 -5.05009890e-03 3.15120057e+02] [ 2.37408269e-02 9.99718147e-01 -4.50886585e-06 1.02744059e+00] [ 5.04878256e-03 -1.15385986e-04 9.99987248e-01 1.59378084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:315.15, Y:1.03, Z:1.59 [[ 9.99735812e-01 -2.24232925e-02 -5.05002194e-03 3.15152480e+02] [ 2.24235951e-02 9.99748560e-01 3.30709047e-06 1.02701905e+00] [ 5.04867800e-03 -1.16545864e-04 9.99987249e-01 1.59405812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:315.19, Y:1.02, Z:1.59 [[ 9.99799572e-01 -1.93729917e-02 -5.05007316e-03 3.15185930e+02] [ 1.93732299e-02 9.99812321e-01 -1.73229894e-06 1.02479412e+00] [ 5.04915892e-03 -9.61042767e-05 9.99987248e-01 1.59362002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:315.22, Y:1.02, Z:1.59 [[ 9.99838357e-01 -1.72557911e-02 -5.04949667e-03 3.15217865e+02] [ 1.72562791e-02 9.99851098e-01 5.30945840e-05 1.02453569e+00] [ 5.04782860e-03 -1.40221525e-04 9.99987250e-01 1.59404317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:315.25, Y:1.02, Z:1.59 [[ 9.99870477e-01 -1.52817779e-02 -5.04949252e-03 3.15249602e+02] [ 1.52822427e-02 9.99883218e-01 5.34860908e-05 1.02464722e+00] [ 5.04808547e-03 -1.30646734e-04 9.99987250e-01 1.59449002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:315.28, Y:1.03, Z:1.60 [[ 9.99926059e-01 -1.10625432e-02 -5.04948832e-03 3.15282111e+02] [ 1.10629563e-02 9.99938802e-01 5.38795705e-05 1.02529233e+00] [ 5.04858326e-03 -1.09737855e-04 9.99987250e-01 1.59553391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:315.31, Y:1.02, Z:1.60 [[ 9.99947360e-01 -8.93200622e-03 -5.04948403e-03 3.15313324e+02] [ 8.93239415e-03 9.99960104e-01 5.42783921e-05 1.02499962e+00] [ 5.04879777e-03 -9.93795165e-05 9.99987250e-01 1.59576460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:315.34, Y:1.02, Z:1.60 [[ 9.99959527e-01 -7.44626874e-03 -5.04948083e-03 3.15343907e+02] [ 7.44663924e-03 9.99972272e-01 5.45752558e-05 1.02486392e+00] [ 5.04893443e-03 -9.21747091e-05 9.99987250e-01 1.59711726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:315.37, Y:1.02, Z:1.60 [[ 9.99974943e-01 -4.96154205e-03 -5.04934276e-03 3.15373567e+02] [ 4.96194542e-03 9.99987687e-01 6.73615077e-05 1.02445170e+00] [ 5.04894637e-03 -9.24143830e-05 9.99987250e-01 1.59539036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.304391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:315.40, Y:1.02, Z:1.60 [[ 9.99986787e-01 -9.63204828e-04 -5.04948877e-03 3.15403032e+02] [ 9.63487804e-04 9.99999534e-01 5.36083276e-05 1.02476176e+00] [ 5.04943479e-03 -5.84727401e-05 9.99987250e-01 1.59621213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:315.43, Y:1.02, Z:1.60 [[ 9.99986109e-01 1.51152471e-03 -5.04945648e-03 3.15431450e+02] [-1.51125774e-03 9.99998856e-01 5.66852328e-05 1.02499968e+00] [ 5.04953639e-03 -4.90534151e-05 9.99987250e-01 1.59557824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.364391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:315.46, Y:1.03, Z:1.60 [[ 9.99967587e-01 6.27119225e-03 -5.04954525e-03 3.15458714e+02] [-6.27102923e-03 9.99980336e-01 4.81165736e-05 1.02567295e+00] [ 5.04974770e-03 -1.64491681e-05 9.99987250e-01 1.59554343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:315.49, Y:1.03, Z:1.59 [[ 9.99958316e-01 7.60702481e-03 -5.04962605e-03 3.15488241e+02] [-7.60691879e-03 9.99971066e-01 4.02025112e-05 1.02564733e+00] [ 5.04978577e-03 -1.78874007e-06 9.99987250e-01 1.59443170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.424391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:315.52, Y:1.03, Z:1.60 [[ 9.99928545e-01 1.08354477e-02 -5.04951291e-03 3.15516302e+02] [-1.08353267e-02 9.99941295e-01 5.13328475e-05 1.02574170e+00] [ 5.04977269e-03 3.38394229e-06 9.99987250e-01 1.59507798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:315.54, Y:1.03, Z:1.60 [[ 9.99913742e-01 1.21248232e-02 -5.04952854e-03 3.15544128e+02] [-1.21247266e-02 9.99926492e-01 4.97452903e-05 1.02543754e+00] [ 5.04976051e-03 1.14831539e-05 9.99987250e-01 1.59548410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:315.57, Y:1.03, Z:1.60 [[ 9.99906858e-01 1.26798216e-02 -5.04953430e-03 3.15572358e+02] [-1.26797351e-02 9.99919608e-01 4.91543679e-05 1.02525936e+00] [ 5.04975162e-03 1.48769675e-05 9.99987250e-01 1.59621689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:315.60, Y:1.02, Z:1.60 [[ 9.99898291e-01 1.33382579e-02 -5.04954010e-03 3.15598840e+02] [-1.33381828e-02 9.99911041e-01 4.85508548e-05 1.02478504e+00] [ 5.04973848e-03 1.88057722e-05 9.99987250e-01 1.59614669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:315.63, Y:1.02, Z:1.60 [[ 9.99900659e-01 1.31595558e-02 -5.04954670e-03 3.15627312e+02] [-1.31594819e-02 9.99913409e-01 4.78544444e-05 1.02388812e+00] [ 5.04973920e-03 1.85997280e-05 9.99987250e-01 1.59720809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:315.66, Y:1.02, Z:1.60 [[ 9.99914300e-01 1.20786980e-02 -5.04955038e-03 3.15655356e+02] [-1.20786124e-02 9.99927050e-01 4.74634265e-05 1.02285584e+00] [ 5.04975531e-03 1.35322027e-05 9.99987250e-01 1.59712594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:315.68, Y:1.02, Z:1.60 [[ 9.99956481e-01 7.84464825e-03 -5.04955578e-03 3.15683162e+02] [-7.84451153e-03 9.99969230e-01 4.68808504e-05 1.01980680e+00] [ 5.04976817e-03 -7.26751157e-06 9.99987250e-01 1.59626091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:315.71, Y:1.02, Z:1.60 [[ 9.99975485e-01 4.85090594e-03 -5.04956021e-03 3.15711895e+02] [-4.85073348e-03 9.99988234e-01 4.63993777e-05 1.01801413e+00] [ 5.04972587e-03 -2.19041695e-05 9.99987250e-01 1.59605042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:315.74, Y:1.02, Z:1.60 [[ 9.99986499e-01 1.22603210e-03 -5.04956368e-03 3.15740740e+02] [-1.22581535e-03 9.99999248e-01 4.60179083e-05 1.01613025e+00] [ 5.04961630e-03 -3.98274544e-05 9.99987250e-01 1.59613764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694391418 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:315.77, Y:1.01, Z:1.60 [[ 9.99958143e-01 -7.62983189e-03 -5.04956733e-03 3.15768620e+02] [ 7.63015949e-03 9.99970889e-01 4.56141191e-05 1.01237444e+00] [ 5.04907231e-03 -8.41412139e-05 9.99987250e-01 1.59526722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:315.80, Y:1.01, Z:1.59 [[ 9.99907450e-01 -1.26330608e-02 -5.04957181e-03 3.15798978e+02] [ 1.26334496e-02 9.99920194e-01 4.51126391e-05 1.01000297e+00] [ 5.04859891e-03 -1.08901975e-04 9.99987250e-01 1.59416360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:315.83, Y:1.01, Z:1.59 [[ 9.99822601e-01 -1.81457647e-02 -5.04957181e-03 3.15830130e+02] [ 1.81462238e-02 9.99835343e-01 4.51126391e-05 1.00797197e+00] [ 5.04792176e-03 -1.36735296e-04 9.99987250e-01 1.59458870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:315.86, Y:1.01, Z:1.59 [[ 9.99713636e-01 -2.33912045e-02 -5.04957005e-03 3.15862765e+02] [ 2.33917314e-02 9.99726375e-01 4.53094292e-05 1.00555735e+00] [ 5.04712852e-03 -1.63414640e-04 9.99987250e-01 1.59467927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814391418 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:315.90, Y:1.00, Z:1.59 [[ 9.99427697e-01 -3.34481829e-02 -5.04956645e-03 3.15895179e+02] [ 3.34488400e-02 9.99440430e-01 4.57062776e-05 1.00120145e+00] [ 5.04521208e-03 -2.14582260e-04 9.99987250e-01 1.59371708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:315.93, Y:1.00, Z:1.59 [[ 9.99270111e-01 -3.78648456e-02 -5.04956193e-03 3.15928625e+02] [ 3.78655614e-02 9.99282841e-01 4.62012714e-05 9.99398555e-01] [ 5.04419118e-03 -2.37372047e-04 9.99987250e-01 1.59388695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:315.96, Y:1.00, Z:1.59 [[ 9.99132799e-01 -4.13297896e-02 -5.04955645e-03 3.15961181e+02] [ 4.13305525e-02 9.99145527e-01 4.67918818e-05 9.97477597e-01] [ 5.04330784e-03 -2.55452262e-04 9.99987250e-01 1.59391089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:315.99, Y:1.00, Z:1.59 [[ 9.98906649e-01 -4.64759012e-02 -5.04955093e-03 3.15994523e+02] [ 4.64767326e-02 9.98919372e-01 4.73801305e-05 9.95487869e-01] [ 5.04189221e-03 -2.82014956e-04 9.99987250e-01 1.59390719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:316.03, Y:0.99, Z:1.59 [[ 9.98855525e-01 -4.75619831e-02 -5.04954521e-03 3.16026588e+02] [ 4.75628314e-02 9.98868247e-01 4.79826783e-05 9.94538484e-01] [ 5.04154822e-03 -2.88098431e-04 9.99987250e-01 1.59388829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:316.06, Y:0.99, Z:1.59 [[ 9.98830766e-01 -4.80791412e-02 -5.04954041e-03 3.16059784e+02] [ 4.80799986e-02 9.98843487e-01 4.84819289e-05 9.93808327e-01] [ 5.04136958e-03 -2.91207138e-04 9.99987250e-01 1.59434842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:316.09, Y:0.99, Z:1.59 [[ 9.98883119e-01 -4.69789050e-02 -5.04953453e-03 3.16091384e+02] [ 4.69797515e-02 9.98895841e-01 4.90872343e-05 9.93513238e-01] [ 5.04165297e-03 -2.86258287e-04 9.99987250e-01 1.59420719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024391418 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:316.12, Y:0.99, Z:1.59 [[ 9.98935326e-01 -4.58553901e-02 -5.04952861e-03 3.16123296e+02] [ 4.58562253e-02 9.98948049e-01 4.96883099e-05 9.93523469e-01] [ 5.04193828e-03 -2.81187730e-04 9.99987250e-01 1.59446419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.054391418 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:316.16, Y:0.99, Z:1.59 [[ 9.99119746e-01 -4.16441524e-02 -5.04952369e-03 3.16156342e+02] [ 4.16449364e-02 9.99132472e-01 5.01842686e-05 9.94855568e-01] [ 5.04305320e-03 -2.60427187e-04 9.99987250e-01 1.59447457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:316.19, Y:1.00, Z:1.59 [[ 9.99228832e-01 -3.89389830e-02 -5.04951779e-03 3.16189575e+02] [ 3.89397356e-02 9.99241560e-01 5.07710383e-05 9.95713316e-01] [ 5.04371106e-03 -2.47358773e-04 9.99987250e-01 1.59465946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.114391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:316.22, Y:1.00, Z:1.59 [[ 9.99341468e-01 -3.59323410e-02 -5.04951178e-03 3.16222227e+02] [ 3.59330583e-02 9.99354198e-01 5.13619118e-05 9.96589845e-01] [ 5.04440524e-03 -2.32772489e-04 9.99987250e-01 1.59483558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:316.25, Y:1.00, Z:1.60 [[ 9.99444455e-01 -3.29436327e-02 -5.04950574e-03 3.16254175e+02] [ 3.29443148e-02 9.99457187e-01 5.19489448e-05 9.97535184e-01] [ 5.04505341e-03 -2.18272591e-04 9.99987250e-01 1.59517207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.174391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:316.29, Y:1.00, Z:1.60 [[ 9.99611987e-01 -2.73930462e-02 -5.04950172e-03 3.16286674e+02] [ 2.73936596e-02 9.99624722e-01 5.23366099e-05 9.99947950e-01] [ 5.04617309e-03 -1.90640634e-04 9.99987250e-01 1.59567380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:316.32, Y:1.00, Z:1.60 [[ 9.99679747e-01 -2.47972865e-02 -5.04949758e-03 3.16318742e+02] [ 2.47978688e-02 9.99692484e-01 5.27330404e-05 1.00099546e+00] [ 5.04663714e-03 -1.77932931e-04 9.99987250e-01 1.59620222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:316.35, Y:1.00, Z:1.60 [[ 9.99735986e-01 -2.24156436e-02 -5.04949333e-03 3.16350285e+02] [ 2.24161976e-02 9.99748724e-01 5.31369237e-05 1.00221903e+00] [ 5.04703341e-03 -1.66313335e-04 9.99987250e-01 1.59548636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:316.38, Y:1.00, Z:1.60 [[ 9.99792351e-01 -1.97422872e-02 -5.04949015e-03 3.16382497e+02] [ 1.97428086e-02 9.99805090e-01 5.34374240e-05 1.00338937e+00] [ 5.04745098e-03 -1.53117445e-04 9.99987250e-01 1.59577213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:316.42, Y:1.01, Z:1.59 [[ 9.99872024e-01 -1.51801914e-02 -5.04948590e-03 3.16415133e+02] [ 1.51806567e-02 9.99884766e-01 5.38360133e-05 1.00603813e+00] [ 5.04808678e-03 -1.30483636e-04 9.99987250e-01 1.59483809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:316.45, Y:1.01, Z:1.59 [[ 9.99901571e-01 -1.30901014e-02 -5.04948166e-03 3.16446160e+02] [ 1.30905420e-02 9.99914314e-01 5.42310290e-05 1.00699904e+00] [ 5.04833910e-03 -1.20326143e-04 9.99987250e-01 1.59459223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:316.48, Y:1.01, Z:1.59 [[ 9.99949358e-01 -8.70538922e-03 -5.04947947e-03 3.16477678e+02] [ 8.70577505e-03 9.99962103e-01 5.44340698e-05 1.00965740e+00] [ 5.04881424e-03 -9.83909455e-05 9.99987250e-01 1.59437330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:316.51, Y:1.01, Z:1.59 [[ 9.99965706e-01 -6.56434342e-03 -5.04947728e-03 3.16508425e+02] [ 6.56470298e-03 9.99978451e-01 5.46359885e-05 1.01080943e+00] [ 5.04900982e-03 -8.77824334e-05 9.99987250e-01 1.59450542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:316.54, Y:1.01, Z:1.60 [[ 9.99978043e-01 -4.29135908e-03 -5.04947366e-03 3.16538693e+02] [ 4.29169135e-03 9.99990789e-01 5.49683842e-05 1.01153565e+00] [ 5.04919127e-03 -7.66379597e-05 9.99987250e-01 1.59516315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:316.57, Y:1.01, Z:1.60 [[ 9.99987250e-01 -5.39242988e-05 -5.04947366e-03 3.16568302e+02] [ 5.42025511e-05 9.99999997e-01 5.49683842e-05 1.01340883e+00] [ 5.04947068e-03 -5.52413777e-05 9.99987250e-01 1.59650354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:316.60, Y:1.01, Z:1.60 [[ 9.99985028e-01 2.10890730e-03 -5.04947583e-03 3.16596552e+02] [-2.10865762e-03 9.99997775e-01 5.47688245e-05 1.01392612e+00] [ 5.04958010e-03 -4.41203888e-05 9.99987250e-01 1.59728382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:316.62, Y:1.01, Z:1.60 [[ 9.99969174e-01 6.01277469e-03 -5.04948114e-03 3.16623634e+02] [-6.01257728e-03 9.99981923e-01 5.42743932e-05 1.01446604e+00] [ 5.04971620e-03 -2.39123245e-05 9.99987250e-01 1.59733996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:316.65, Y:1.01, Z:1.60 [[ 9.99960248e-01 7.34876680e-03 -5.04948841e-03 3.16652306e+02] [-7.34858988e-03 9.99972997e-01 5.35900344e-05 1.01449270e+00] [ 5.04974588e-03 -1.64812847e-05 9.99987250e-01 1.59761042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:316.68, Y:1.01, Z:1.60 [[ 9.99950294e-01 8.59721013e-03 -5.04949257e-03 3.16680715e+02] [-8.59705112e-03 9.99963043e-01 5.31947042e-05 1.01419985e+00] [ 5.04976328e-03 -9.78131437e-06 9.99987250e-01 1.59746077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:316.71, Y:1.01, Z:1.60 [[ 9.99945710e-01 9.11482146e-03 -5.04949879e-03 3.16709751e+02] [-9.11467207e-03 9.99958459e-01 5.25981119e-05 1.01408999e+00] [ 5.04976845e-03 -6.57073079e-06 9.99987250e-01 1.59724526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:316.74, Y:1.01, Z:1.60 [[ 9.99952884e-01 8.29047536e-03 -5.04950290e-03 3.16738595e+02] [-8.29031747e-03 9.99965633e-01 5.22004021e-05 1.01282356e+00] [ 5.04976213e-03 -1.03359606e-05 9.99987250e-01 1.59663229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:316.77, Y:1.01, Z:1.60 [[ 9.99953534e-01 8.21171588e-03 -5.04950697e-03 3.16767898e+02] [-8.21155899e-03 9.99966283e-01 5.18030611e-05 1.01260022e+00] [ 5.04976211e-03 -1.03363296e-05 9.99987250e-01 1.59678040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:316.80, Y:1.01, Z:1.60 [[ 9.99963746e-01 6.85635342e-03 -5.04951102e-03 3.16796117e+02] [-6.85618125e-03 9.99976495e-01 5.14053506e-05 1.01113093e+00] [ 5.04974479e-03 -1.67831242e-05 9.99987250e-01 1.59639328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:316.82, Y:1.01, Z:1.60 [[ 9.99974461e-01 5.05770251e-03 -5.04951599e-03 3.16824433e+02] [-5.05750990e-03 9.99987209e-01 5.09126178e-05 1.00930264e+00] [ 5.04970890e-03 -2.53733404e-05 9.99987250e-01 1.59619157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:316.85, Y:1.01, Z:1.60 [[ 9.99982599e-01 3.05012540e-03 -5.04952001e-03 3.16851769e+02] [-3.04990923e-03 9.99995348e-01 5.05102966e-05 1.00738467e+00] [ 5.04965059e-03 -3.51088399e-05 9.99987250e-01 1.59587182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:316.88, Y:1.00, Z:1.60 [[ 9.99986229e-01 -1.43000119e-03 -5.04952495e-03 3.16880450e+02] [ 1.43027196e-03 9.99998976e-01 5.00118467e-05 1.00453840e+00] [ 5.04944826e-03 -5.72333520e-05 9.99987250e-01 1.59539758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.804391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:316.91, Y:1.00, Z:1.60 [[ 9.99979998e-01 -3.80857280e-03 -5.04952880e-03 3.16908772e+02] [ 3.80887191e-03 9.99992745e-01 4.96198069e-05 1.00331439e+00] [ 5.04930319e-03 -6.88518228e-05 9.99987250e-01 1.59529142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:316.94, Y:1.00, Z:1.59 [[ 9.99956729e-01 -7.81300904e-03 -5.04953166e-03 3.16938370e+02] [ 7.81335772e-03 9.99969474e-01 4.93275288e-05 1.00029713e+00] [ 5.04899212e-03 -8.87791915e-05 9.99987250e-01 1.59469455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.864391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:316.97, Y:1.00, Z:1.59 [[ 9.99939248e-01 -9.79813377e-03 -5.04953359e-03 3.16967444e+02] [ 9.79850675e-03 9.99951992e-01 4.91294619e-05 9.98505289e-01] [ 5.04880979e-03 -9.86043660e-05 9.99987250e-01 1.59463001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:317.00, Y:1.00, Z:1.59 [[ 9.99918461e-01 -1.17292166e-02 -5.04953454e-03 3.16998301e+02] [ 1.17296137e-02 9.99931205e-01 4.90312112e-05 9.96689644e-01] [ 5.04861206e-03 -1.08256303e-04 9.99987250e-01 1.59462960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.924391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:317.03, Y:0.99, Z:1.59 [[ 9.99870836e-01 -1.52582358e-02 -5.04953257e-03 3.17029220e+02] [ 1.52586789e-02 9.99883578e-01 4.92337280e-05 9.93795459e-01] [ 5.04819347e-03 -1.26276565e-04 9.99987250e-01 1.59486432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:317.06, Y:0.99, Z:1.59 [[ 9.99856036e-01 -1.61990738e-02 -5.04952960e-03 3.17059938e+02] [ 1.61995304e-02 9.99868778e-01 4.95363457e-05 9.92437131e-01] [ 5.04806454e-03 -1.31329222e-04 9.99987250e-01 1.59448574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:317.09, Y:0.99, Z:1.59 [[ 9.99843655e-01 -1.69459903e-02 -5.04965048e-03 3.17090422e+02] [ 1.69463934e-02 9.99856399e-01 3.70455094e-05 9.91100133e-01] [ 5.04829758e-03 -1.22613081e-04 9.99987250e-01 1.59460191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014391418 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:317.12, Y:0.99, Z:1.59 [[ 9.99731591e-01 -2.26107424e-02 -5.04982125e-03 3.17122847e+02] [ 2.26111281e-02 9.99744336e-01 1.92978400e-05 9.90201414e-01] [ 5.04809385e-03 -1.33474816e-04 9.99987249e-01 1.59476090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:317.16, Y:0.99, Z:1.59 [[ 9.99687746e-01 -2.44726809e-02 -5.04952523e-03 3.17155028e+02] [ 2.44732427e-02 9.99700484e-01 4.94970321e-05 9.89284869e-01] [ 5.04680149e-03 -1.73059833e-04 9.99987250e-01 1.59465395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:317.18, Y:0.99, Z:1.59 [[ 9.99686156e-01 -2.45375594e-02 -5.04952137e-03 3.17183757e+02] [ 2.45381241e-02 9.99698894e-01 4.98883634e-05 9.87991047e-01] [ 5.04677678e-03 -1.73778488e-04 9.99987250e-01 1.59375133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:317.22, Y:0.99, Z:1.59 [[ 9.99506549e-01 -3.10025517e-02 -5.04983856e-03 3.17217638e+02] [ 3.10030336e-02 9.99519290e-01 1.71700733e-05 9.86906391e-01] [ 5.04687874e-03 -1.73721915e-04 9.99987249e-01 1.59383548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:317.25, Y:0.99, Z:1.59 [[ 9.99432837e-01 -3.32942568e-02 -5.04951489e-03 3.17250799e+02] [ 3.32949331e-02 9.99445569e-01 4.99140313e-05 9.86197661e-01] [ 5.04505343e-03 -2.18008983e-04 9.99987250e-01 1.59376161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:317.28, Y:0.99, Z:1.59 [[ 9.99355480e-01 -3.55404858e-02 -5.04950880e-03 3.17282712e+02] [ 3.55411938e-02 9.99368211e-01 5.05224022e-05 9.85482416e-01] [ 5.04452299e-03 -2.29955411e-04 9.99987250e-01 1.59348011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194391418 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:317.32, Y:0.99, Z:1.59 [[ 9.99259792e-01 -3.81362063e-02 -5.04950371e-03 3.17316008e+02] [ 3.81369499e-02 9.99272521e-01 5.10262154e-05 9.85129579e-01] [ 5.04388436e-03 -2.43561116e-04 9.99987250e-01 1.59318704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:317.35, Y:0.98, Z:1.59 [[ 9.99059334e-01 -4.30691310e-02 -5.04949761e-03 3.17349252e+02] [ 4.30699404e-02 9.99072058e-01 5.16230404e-05 9.84932516e-01] [ 5.04258861e-03 -2.69056042e-04 9.99987250e-01 1.59193632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:317.38, Y:0.98, Z:1.59 [[ 9.98973895e-01 -4.50073266e-02 -5.04949149e-03 3.17381920e+02] [ 4.50081637e-02 9.98986618e-01 5.22151378e-05 9.84809379e-01] [ 5.04202436e-03 -2.79429899e-04 9.99987250e-01 1.59149456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:317.41, Y:0.99, Z:1.59 [[ 9.98883841e-01 -4.69635488e-02 -5.04948533e-03 3.17414908e+02] [ 4.69644138e-02 9.98896562e-01 5.28042527e-05 9.85038860e-01] [ 5.04143366e-03 -2.89891433e-04 9.99987250e-01 1.59098692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:317.45, Y:0.99, Z:1.59 [[ 9.98810405e-01 -4.85002909e-02 -5.04947912e-03 3.17448309e+02] [ 4.85011784e-02 9.98823124e-01 5.33913567e-05 9.85357366e-01] [ 5.04094701e-03 -2.98233530e-04 9.99987250e-01 1.59066227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:317.48, Y:0.99, Z:1.59 [[ 9.98667454e-01 -5.13597072e-02 -5.04947288e-03 3.17480246e+02] [ 5.13606341e-02 9.98680170e-01 5.39749308e-05 9.87395366e-01] [ 5.04003630e-03 -3.13247136e-04 9.99987250e-01 1.59022905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:317.51, Y:0.99, Z:1.59 [[ 9.98614511e-01 -5.23790158e-02 -5.04946872e-03 3.17512965e+02] [ 5.23799576e-02 9.98627226e-01 5.43618520e-05 9.88377080e-01] [ 5.03968952e-03 -3.18777492e-04 9.99987250e-01 1.59061006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:317.54, Y:0.99, Z:1.59 [[ 9.98548466e-01 -5.36233577e-02 -5.04946227e-03 3.17544478e+02] [ 5.36243184e-02 9.98561180e-01 5.49538706e-05 9.89539843e-01] [ 5.03925019e-03 -3.25648076e-04 9.99987250e-01 1.59055009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:317.58, Y:0.99, Z:1.59 [[ 9.98416216e-01 -5.60317943e-02 -5.04945906e-03 3.17577339e+02] [ 5.60327871e-02 9.98428928e-01 5.52472197e-05 9.92042660e-01] [ 5.03843040e-03 -3.38094985e-04 9.99987250e-01 1.59233647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:317.61, Y:0.99, Z:1.59 [[ 9.98352980e-01 -5.71474528e-02 -5.04945258e-03 3.17609839e+02] [ 5.71484627e-02 9.98365690e-01 5.58340556e-05 9.92948596e-01] [ 5.03800943e-03 -3.44310548e-04 9.99987250e-01 1.59246068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:317.64, Y:0.99, Z:1.59 [[ 9.98287413e-01 -5.82815903e-02 -5.04944715e-03 3.17641835e+02] [ 5.82826171e-02 9.98300122e-01 5.63200819e-05 9.93636182e-01] [ 5.03758129e-03 -3.50518624e-04 9.99987250e-01 1.59248098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:317.67, Y:1.00, Z:1.59 [[ 9.98167817e-01 -6.02952081e-02 -5.04943640e-03 3.17674488e+02] [ 6.02962653e-02 9.98180523e-01 5.72687383e-05 9.95886259e-01] [ 5.03679603e-03 -3.61625968e-04 9.99987250e-01 1.59304592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.554391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:317.71, Y:1.00, Z:1.59 [[ 9.98127001e-01 -6.09671441e-02 -5.04942956e-03 3.17706107e+02] [ 6.09682129e-02 9.98139706e-01 5.78655553e-05 9.96898674e-01] [ 5.03650824e-03 -3.65611869e-04 9.99987250e-01 1.59287125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:317.74, Y:1.00, Z:1.59 [[ 9.98087011e-01 -6.16183493e-02 -5.04942616e-03 3.17738953e+02] [ 6.16194279e-02 9.98099716e-01 5.81606846e-05 1.00012053e+00] [ 5.03624705e-03 -3.69192175e-04 9.99987250e-01 1.59377242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.614391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:317.77, Y:1.00, Z:1.59 [[ 9.98117233e-01 -6.11268632e-02 -5.04941914e-03 3.17770686e+02] [ 6.11279385e-02 9.98129937e-01 5.87638543e-05 1.00144331e+00] [ 5.03638436e-03 -3.67313798e-04 9.99987250e-01 1.59395435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:317.80, Y:1.00, Z:1.60 [[ 9.98190285e-01 -5.99220987e-02 -5.04941328e-03 3.17804224e+02] [ 5.99231613e-02 9.98202991e-01 5.92628631e-05 1.00261668e+00] [ 5.03678828e-03 -3.61732420e-04 9.99987250e-01 1.59503060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.674391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:317.84, Y:1.01, Z:1.60 [[ 9.98408099e-01 -5.61762611e-02 -5.04940618e-03 3.17836958e+02] [ 5.61772789e-02 9.98420808e-01 5.98614790e-05 1.00530270e+00] [ 5.03806941e-03 -3.43428085e-04 9.99987250e-01 1.59592517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:317.87, Y:1.01, Z:1.60 [[ 9.98551701e-01 -5.35630768e-02 -5.04939903e-03 3.17869725e+02] [ 5.35640644e-02 9.98564413e-01 6.04591919e-05 1.00669564e+00] [ 5.03891180e-03 -3.30837964e-04 9.99987250e-01 1.59671483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:317.90, Y:1.01, Z:1.60 [[ 9.98711475e-01 -5.04964738e-02 -5.04939180e-03 3.17902289e+02] [ 5.04974254e-02 9.98724189e-01 6.10571788e-05 1.00828105e+00] [ 5.03986656e-03 -3.15959790e-04 9.99987250e-01 1.59717566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:317.94, Y:1.01, Z:1.60 [[ 9.98856835e-01 -4.75344810e-02 -5.04938456e-03 3.17935198e+02] [ 4.75353979e-02 9.98869552e-01 6.16495333e-05 1.01002307e+00] [ 5.04074602e-03 -3.01603562e-04 9.99987250e-01 1.59748035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:317.97, Y:1.01, Z:1.60 [[ 9.99017009e-01 -4.40399861e-02 -5.04937715e-03 3.17966862e+02] [ 4.40408615e-02 9.99029729e-01 6.22508688e-05 1.01156457e+00] [ 5.04173636e-03 -2.84568596e-04 9.99987250e-01 1.59723017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:318.00, Y:1.02, Z:1.60 [[ 9.99313369e-01 -3.67055090e-02 -5.04937097e-03 3.17998793e+02] [ 3.67062934e-02 9.99326095e-01 6.27478505e-05 1.01555710e+00] [ 5.04366499e-03 -2.48048459e-04 9.99987250e-01 1.59733323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:318.03, Y:1.02, Z:1.60 [[ 9.99461418e-01 -3.24249606e-02 -5.04936582e-03 3.18031371e+02] [ 3.24256926e-02 9.99474147e-01 6.31597100e-05 1.01710186e+00] [ 5.04466265e-03 -2.26854878e-04 9.99987250e-01 1.59732308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:318.06, Y:1.02, Z:1.60 [[ 9.99678418e-01 -2.48508667e-02 -5.04935287e-03 3.18063175e+02] [ 2.48515075e-02 9.99691152e-01 6.41785424e-05 1.02042388e+00] [ 5.04619850e-03 -1.89641934e-04 9.99987250e-01 1.59659985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:318.10, Y:1.02, Z:1.60 [[ 9.99762348e-01 -2.12073339e-02 -5.04934774e-03 3.18095057e+02] [ 2.12079302e-02 9.99775084e-01 6.45797742e-05 1.02154591e+00] [ 5.04684250e-03 -1.71650641e-04 9.99987250e-01 1.59677158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:318.13, Y:1.02, Z:1.60 [[ 9.99824145e-01 -1.80605417e-02 -5.04934261e-03 3.18126883e+02] [ 1.80611000e-02 9.99836883e-01 6.49787693e-05 1.02278560e+00] [ 5.04734542e-03 -1.56164024e-04 9.99987250e-01 1.59744042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:318.16, Y:1.03, Z:1.60 [[ 9.99914396e-01 -1.20708519e-02 -5.04933735e-03 3.18158903e+02] [ 1.20713359e-02 9.99927137e-01 6.53848818e-05 1.02574934e+00] [ 5.04818019e-03 -1.26331532e-04 9.99987250e-01 1.59842870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:318.19, Y:1.03, Z:1.60 [[ 9.99943092e-01 -9.39773958e-03 -5.04933206e-03 3.18191024e+02] [ 9.39819155e-03 9.99955834e-01 6.57908524e-05 1.02670861e+00] [ 5.04849076e-03 -1.13241698e-04 9.99987250e-01 1.59869118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:318.22, Y:1.03, Z:1.60 [[ 9.99964912e-01 -6.68427007e-03 -5.04932676e-03 3.18222084e+02] [ 6.68468950e-03 9.99977655e-01 6.61951011e-05 1.02745020e+00] [ 5.04877147e-03 -9.99459600e-05 9.99987250e-01 1.59902262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:318.25, Y:1.03, Z:1.60 [[ 9.99986187e-01 -1.45953955e-03 -5.04932411e-03 3.18252739e+02] [ 1.45989341e-03 9.99998932e-01 6.63963988e-05 1.02859595e+00] [ 5.04922181e-03 -7.37669567e-05 9.99987250e-01 1.59922422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:318.28, Y:1.03, Z:1.60 [[ 9.99986817e-01 9.33019902e-04 -5.04932411e-03 3.18281598e+02] [-9.32696533e-04 9.99999563e-01 6.63963988e-05 1.02910125e+00] [ 5.04938385e-03 -6.16860364e-05 9.99987250e-01 1.59935894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:318.31, Y:1.03, Z:1.60 [[ 9.99979043e-01 4.05190013e-03 -5.04934227e-03 3.18309344e+02] [-4.05162364e-03 9.99991790e-01 6.49856224e-05 1.02906660e+00] [ 5.04956413e-03 -4.45262260e-05 9.99987250e-01 1.59898864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:318.34, Y:1.03, Z:1.60 [[ 9.99946452e-01 9.03315458e-03 -5.04936250e-03 3.18336834e+02] [-9.03294974e-03 9.99959200e-01 6.33734722e-05 1.03022526e+00] [ 5.04972895e-03 -1.77594410e-05 9.99987250e-01 1.60022211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:318.36, Y:1.03, Z:1.60 [[ 9.99926356e-01 1.10356990e-02 -5.04936871e-03 3.18364372e+02] [-1.10355222e-02 9.99939105e-01 6.28750936e-05 1.03045499e+00] [ 5.04975510e-03 -7.14804272e-06 9.99987250e-01 1.60066506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:318.39, Y:1.03, Z:1.60 [[ 9.99907116e-01 1.26595233e-02 -5.04937472e-03 3.18391146e+02] [-1.26593697e-02 9.99919865e-01 6.23884569e-05 1.03032773e+00] [ 5.04975990e-03 1.53923906e-06 9.99987250e-01 1.60086329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:318.42, Y:1.03, Z:1.60 [[ 9.99897016e-01 1.34335981e-02 -5.04938294e-03 3.18418798e+02] [-1.34334578e-02 9.99909765e-01 6.17160479e-05 1.02992312e+00] [ 5.04975638e-03 6.12098035e-06 9.99987250e-01 1.60107786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:318.45, Y:1.03, Z:1.60 [[ 9.99906079e-01 1.27411281e-02 -5.04939015e-03 3.18446094e+02] [-1.27409819e-02 9.99918829e-01 6.11207069e-05 1.02824784e+00] [ 5.04975903e-03 3.21922204e-06 9.99987250e-01 1.60015148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.304391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:318.47, Y:1.03, Z:1.60 [[ 9.99926100e-01 1.10588315e-02 -5.04939837e-03 3.18473790e+02] [-1.10586674e-02 9.99938849e-01 6.04332342e-05 1.02671696e+00] [ 5.04975792e-03 -4.58915117e-06 9.99987250e-01 1.60023079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:318.50, Y:1.03, Z:1.60 [[ 9.99951817e-01 8.41830757e-03 -5.04940550e-03 3.18501428e+02] [-8.41811277e-03 9.99964565e-01 5.98317826e-05 1.02522807e+00] [ 5.04973026e-03 -1.73224348e-05 9.99987250e-01 1.59969625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.364391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:318.53, Y:1.02, Z:1.60 [[ 9.99987011e-01 6.93570239e-04 -5.04941135e-03 3.18529660e+02] [-6.93279473e-04 9.99999758e-01 5.93343813e-05 1.02182916e+00] [ 5.04945128e-03 -5.58329574e-05 9.99987250e-01 1.59875418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:318.56, Y:1.02, Z:1.60 [[ 9.99978246e-01 -4.24398756e-03 -5.04941709e-03 3.18558017e+02] [ 4.24433877e-03 9.99990991e-01 5.88416581e-05 1.02010864e+00] [ 5.04912187e-03 -8.02718148e-05 9.99987250e-01 1.59878992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.424391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:318.59, Y:1.02, Z:1.60 [[ 9.99888026e-01 -1.40868594e-02 -5.04942161e-03 3.18587381e+02] [ 1.40873341e-02 9.99900767e-01 5.84508286e-05 1.01602586e+00] [ 5.04809715e-03 -1.29577173e-04 9.99987250e-01 1.59945830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:318.62, Y:1.01, Z:1.60 [[ 9.99820525e-01 -1.82598491e-02 -5.04942391e-03 3.18619883e+02] [ 1.82603760e-02 9.99833264e-01 5.82518014e-05 1.01353137e+00] [ 5.04751832e-03 -1.50445726e-04 9.99987250e-01 1.60043452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:318.65, Y:1.01, Z:1.60 [[ 9.99742192e-01 -2.21371521e-02 -5.04941926e-03 3.18652218e+02] [ 2.21377304e-02 9.99754929e-01 5.86517763e-05 1.01113416e+00] [ 5.04688341e-03 -1.70419338e-04 9.99987250e-01 1.60110014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:318.68, Y:1.01, Z:1.60 [[ 9.99743934e-01 -2.20583441e-02 -5.04941461e-03 3.18684913e+02] [ 2.20589234e-02 9.99756671e-01 5.90492094e-05 1.01067299e+00] [ 5.04688342e-03 -1.70418739e-04 9.99987250e-01 1.60126512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:318.72, Y:1.01, Z:1.60 [[ 9.99612476e-01 -2.73751865e-02 -5.04940993e-03 3.18716640e+02] [ 2.73758355e-02 9.99625210e-01 5.94472404e-05 1.00700541e+00] [ 5.04589008e-03 -1.97656019e-04 9.99987250e-01 1.60248812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:318.75, Y:1.01, Z:1.60 [[ 9.99571087e-01 -2.88469179e-02 -5.04940519e-03 3.18748632e+02] [ 2.88475877e-02 9.99583820e-01 5.98468435e-05 1.00520451e+00] [ 5.04557733e-03 -2.05484334e-04 9.99987250e-01 1.60297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:318.78, Y:1.00, Z:1.60 [[ 9.99541757e-01 -2.98459264e-02 -5.04939923e-03 3.18781585e+02] [ 2.98466114e-02 9.99554489e-01 6.03458509e-05 1.00373447e+00] [ 5.04534859e-03 -2.11025654e-04 9.99987250e-01 1.60323096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:318.81, Y:1.00, Z:1.60 [[ 9.99508827e-01 -3.09290956e-02 -5.04939202e-03 3.18813564e+02] [ 3.09297975e-02 9.99521558e-01 6.09432883e-05 1.00143562e+00] [ 5.04509125e-03 -2.17090027e-04 9.99987250e-01 1.60262153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:318.85, Y:1.00, Z:1.60 [[ 9.99507178e-01 -3.09823449e-02 -5.04938600e-03 3.18846395e+02] [ 3.09830499e-02 9.99519908e-01 6.14377495e-05 1.00004828e+00] [ 5.04505835e-03 -2.17852850e-04 9.99987250e-01 1.60205380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:318.88, Y:1.00, Z:1.60 [[ 9.99519837e-01 -3.05712151e-02 -5.04937872e-03 3.18877354e+02] [ 3.05719179e-02 9.99532568e-01 6.20301034e-05 9.98753671e-01] [ 5.04512215e-03 -2.16369510e-04 9.99987250e-01 1.60119472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:318.91, Y:1.00, Z:1.60 [[ 9.99535122e-01 -3.00673057e-02 -5.04937083e-03 3.18909658e+02] [ 3.00680052e-02 9.99547853e-01 6.26657756e-05 9.97739496e-01] [ 5.04520359e-03 -2.14461152e-04 9.99987250e-01 1.60068724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:318.94, Y:1.00, Z:1.60 [[ 9.99580569e-01 -2.85165024e-02 -5.04936605e-03 3.18941404e+02] [ 2.85171841e-02 9.99593300e-01 6.30493653e-05 9.97024541e-01] [ 5.04551452e-03 -2.07016622e-04 9.99987250e-01 1.59873111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:318.97, Y:1.00, Z:1.60 [[ 9.99604417e-01 -2.76679169e-02 -5.04936126e-03 3.18973711e+02] [ 2.76685897e-02 9.99617149e-01 6.34303165e-05 9.96977159e-01] [ 5.04567312e-03 -2.03113930e-04 9.99987250e-01 1.59868074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:319.01, Y:1.00, Z:1.60 [[ 9.99619488e-01 -2.71179414e-02 -5.04935617e-03 3.19005202e+02] [ 2.71186092e-02 9.99632221e-01 6.38325827e-05 9.97155991e-01] [ 5.04576812e-03 -2.00739811e-04 9.99987250e-01 1.59820801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:319.04, Y:1.00, Z:1.60 [[ 9.99623350e-01 -2.69752238e-02 -5.04934740e-03 3.19035970e+02] [ 2.69758933e-02 9.99636082e-01 6.45195731e-05 9.97676190e-01] [ 5.04576942e-03 -2.00705928e-04 9.99987250e-01 1.59664088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:319.07, Y:1.00, Z:1.60 [[ 9.99620332e-01 -2.70868349e-02 -5.04934359e-03 3.19068359e+02] [ 2.70875073e-02 9.99633064e-01 6.48159850e-05 9.97398094e-01] [ 5.04573515e-03 -2.01565508e-04 9.99987250e-01 1.59638775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:319.10, Y:1.00, Z:1.60 [[ 9.99617855e-01 -2.71780923e-02 -5.04933851e-03 3.19100298e+02] [ 2.71787679e-02 9.99630587e-01 6.52092735e-05 9.97440147e-01] [ 5.04570096e-03 -2.02419154e-04 9.99987250e-01 1.59657590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:319.13, Y:1.00, Z:1.60 [[ 9.99618775e-01 -2.71442216e-02 -5.04933342e-03 3.19131250e+02] [ 2.71448987e-02 9.99631507e-01 6.56013486e-05 9.99291735e-01] [ 5.04569208e-03 -2.02639984e-04 9.99987250e-01 1.59796864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:319.16, Y:1.00, Z:1.60 [[ 9.99623238e-01 -2.69793568e-02 -5.04932961e-03 3.19163896e+02] [ 2.69800332e-02 9.99635970e-01 6.58932623e-05 1.00033513e+00] [ 5.04571375e-03 -2.02099517e-04 9.99987250e-01 1.59957032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:319.19, Y:1.00, Z:1.60 [[ 9.99638106e-01 -2.64227535e-02 -5.04932446e-03 3.19194594e+02] [ 2.64234248e-02 9.99650838e-01 6.62853830e-05 1.00132974e+00] [ 5.04580999e-03 -1.99681840e-04 9.99987250e-01 1.60033029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:319.23, Y:1.00, Z:1.60 [[ 9.99663355e-01 -2.54495835e-02 -5.04932189e-03 3.19226684e+02] [ 2.54502434e-02 9.99676088e-01 6.64807385e-05 1.00351597e+00] [ 5.04599445e-03 -1.94964829e-04 9.99987250e-01 1.60275390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.054391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:319.26, Y:1.00, Z:1.60 [[ 9.99669415e-01 -2.52103995e-02 -5.04931681e-03 3.19259120e+02] [ 2.52110583e-02 9.99682149e-01 6.68643244e-05 1.00440716e+00] [ 5.04602620e-03 -1.94140841e-04 9.99987250e-01 1.60468737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:319.29, Y:1.01, Z:1.61 [[ 9.99670027e-01 -2.51861495e-02 -5.04931143e-03 3.19291651e+02] [ 2.51868100e-02 9.99682760e-01 6.72680040e-05 1.00512658e+00] [ 5.04601536e-03 -1.94421855e-04 9.99987250e-01 1.60554037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.114391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:319.32, Y:1.01, Z:1.61 [[ 9.99660915e-01 -2.55452590e-02 -5.04930606e-03 3.19324098e+02] [ 2.55459262e-02 9.99673647e-01 6.76690458e-05 1.00662107e+00] [ 5.04592958e-03 -1.96635300e-04 9.99987250e-01 1.60686065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:319.36, Y:1.01, Z:1.61 [[ 9.99653729e-01 -2.58249136e-02 -5.04929931e-03 3.19355959e+02] [ 2.58255869e-02 9.99666462e-01 6.81690278e-05 1.00714889e+00] [ 5.04585471e-03 -1.98546541e-04 9.99987250e-01 1.60766799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.174391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:319.39, Y:1.01, Z:1.61 [[ 9.99637035e-01 -2.64632254e-02 -5.04929396e-03 3.19388405e+02] [ 2.64639088e-02 9.99649767e-01 6.85628520e-05 1.00773624e+00] [ 5.04571114e-03 -2.02162021e-04 9.99987250e-01 1.60799055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:319.42, Y:1.01, Z:1.61 [[ 9.99636715e-01 -2.64753317e-02 -5.04928855e-03 3.19419876e+02] [ 2.64760172e-02 9.99649446e-01 6.89592187e-05 1.00853064e+00] [ 5.04569278e-03 -2.02619217e-04 9.99987250e-01 1.60695895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:319.45, Y:1.01, Z:1.61 [[ 9.99655066e-01 -2.57731402e-02 -5.04928450e-03 3.19452936e+02] [ 2.57738183e-02 9.99667798e-01 6.92543038e-05 1.00870475e+00] [ 5.04582221e-03 -1.99369757e-04 9.99987250e-01 1.60700024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:319.48, Y:1.01, Z:1.61 [[ 9.99687772e-01 -2.44716910e-02 -5.04927638e-03 3.19483865e+02] [ 2.44723555e-02 9.99700505e-01 6.98411193e-05 1.00931728e+00] [ 5.04605502e-03 -1.93386999e-04 9.99987250e-01 1.60650939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:319.52, Y:1.01, Z:1.61 [[ 9.99795106e-01 -1.96023184e-02 -5.04927235e-03 3.19515787e+02] [ 1.96029223e-02 9.99807842e-01 7.01316158e-05 1.01224311e+00] [ 5.04692735e-03 -1.69097740e-04 9.99987250e-01 1.60797128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:319.55, Y:1.01, Z:1.61 [[ 9.99857672e-01 -1.60978251e-02 -5.04926663e-03 3.19546579e+02] [ 1.60983865e-02 9.99870410e-01 7.05408659e-05 1.01356941e+00] [ 5.04747674e-03 -1.51815872e-04 9.99987250e-01 1.60710034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:319.58, Y:1.02, Z:1.61 [[ 9.99921754e-01 -1.14450908e-02 -5.04926236e-03 3.19576965e+02] [ 1.14455943e-02 9.99934495e-01 7.08451832e-05 1.01575836e+00] [ 5.04812078e-03 -1.28631448e-04 9.99987250e-01 1.61051571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:319.61, Y:1.02, Z:1.61 [[ 9.99984740e-01 -2.24055725e-03 -5.04967281e-03 3.19608284e+02] [ 2.24079548e-03 9.99997489e-01 4.15210717e-05 1.01821016e+00] [ 5.04956710e-03 -5.28357221e-05 9.99987249e-01 1.60859423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:319.64, Y:1.02, Z:1.61 [[ 9.99984277e-01 2.43953790e-03 -5.04924354e-03 3.19637154e+02] [-2.43920677e-03 9.99997023e-01 7.17360621e-05 1.01953132e+00] [ 5.04940351e-03 -5.94187851e-05 9.99987250e-01 1.60888177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:319.66, Y:1.02, Z:1.61 [[ 9.99948160e-01 8.84212772e-03 -5.04926232e-03 3.19664831e+02] [-8.84188501e-03 9.99960907e-01 7.03889783e-05 1.02059697e+00] [ 5.04968731e-03 -2.57403325e-05 9.99987250e-01 1.61042461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:319.70, Y:1.02, Z:1.61 [[ 9.99863055e-01 1.57598276e-02 -5.04969710e-03 3.19695541e+02] [-1.57598324e-02 9.99875805e-01 3.88428139e-05 1.02299863e+00] [ 5.04968211e-03 4.07448852e-05 9.99987249e-01 1.60928821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:319.72, Y:1.02, Z:1.61 [[ 9.99803113e-01 1.91895949e-02 -5.04926933e-03 3.19723183e+02] [-1.91894871e-02 9.99815862e-01 6.97914790e-05 1.02384260e+00] [ 5.04967884e-03 2.71151508e-05 9.99987250e-01 1.60923505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:319.75, Y:1.02, Z:1.61 [[ 9.99743944e-01 2.20578957e-02 -5.04927745e-03 3.19750411e+02] [-2.20578275e-02 9.99756694e-01 6.91990937e-05 1.02443368e+00] [ 5.04957531e-03 4.21947162e-05 9.99987250e-01 1.60902552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:319.78, Y:1.03, Z:1.61 [[ 9.99652043e-01 2.58900920e-02 -5.04928675e-03 3.19778480e+02] [-2.58900761e-02 9.99664793e-01 6.85133596e-05 1.02535267e+00] [ 5.04936801e-03 6.22368985e-05 9.99987250e-01 1.60913420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594391418 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:319.81, Y:1.03, Z:1.61 [[ 9.99637429e-01 2.64483500e-02 -5.04929465e-03 3.19805972e+02] [-2.64483442e-02 9.99650179e-01 6.79259019e-05 1.02537036e+00] [ 5.04932483e-03 6.56442090e-05 9.99987250e-01 1.60954432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:319.83, Y:1.03, Z:1.61 [[ 9.99652068e-01 2.58891473e-02 -5.04930262e-03 3.19833158e+02] [-2.58891374e-02 9.99664818e-01 6.73287117e-05 1.02514758e+00] [ 5.04935326e-03 6.34168034e-05 9.99987250e-01 1.60887682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:319.86, Y:1.02, Z:1.61 [[ 9.99679057e-01 2.48251371e-02 -5.04931658e-03 3.19861826e+02] [-2.48251190e-02 9.99691807e-01 6.62644364e-05 1.02458220e+00] [ 5.04940544e-03 5.91067157e-05 9.99987250e-01 1.60901082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:319.89, Y:1.02, Z:1.61 [[ 9.99775963e-01 2.05554837e-02 -5.04932164e-03 3.19889648e+02] [-2.05554132e-02 9.99788713e-01 6.58764823e-05 1.02306864e+00] [ 5.04960891e-03 3.79291691e-05 9.99987250e-01 1.60926475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:319.92, Y:1.02, Z:1.61 [[ 9.99836266e-01 1.73765801e-02 -5.04932923e-03 3.19917781e+02] [-1.73764719e-02 9.99849016e-01 6.52899539e-05 1.02202646e+00] [ 5.04970137e-03 2.24602640e-05 9.99987250e-01 1.60913444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:319.95, Y:1.02, Z:1.61 [[ 9.99942344e-01 9.47694794e-03 -5.04933671e-03 3.19945203e+02] [-9.47674202e-03 9.99955093e-01 6.47062809e-05 1.01967395e+00] [ 5.04972317e-03 -1.68512888e-05 9.99987250e-01 1.60980193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:319.97, Y:1.02, Z:1.61 [[ 9.99973490e-01 5.24628245e-03 -5.04934421e-03 3.19974229e+02] [-5.24602558e-03 9.99986237e-01 6.41153808e-05 1.01782593e+00] [ 5.04961109e-03 -3.76246922e-05 9.99987250e-01 1.60997725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.804391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:320.00, Y:1.02, Z:1.61 [[ 9.99987042e-01 6.48245102e-04 -5.04934916e-03 3.20001617e+02] [-6.47931600e-04 9.99999788e-01 6.37233549e-05 1.01605833e+00] [ 5.04938940e-03 -6.04508963e-05 9.99987250e-01 1.60990827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:320.03, Y:1.01, Z:1.61 [[ 9.99952471e-01 -8.34024898e-03 -5.04935525e-03 3.20030048e+02] [ 8.34067459e-03 9.99965214e-01 6.32371620e-05 1.01274582e+00] [ 5.04865219e-03 -1.05349185e-04 9.99987250e-01 1.61129974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.864391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:320.06, Y:1.01, Z:1.61 [[ 9.99908216e-01 -1.25723690e-02 -5.04936027e-03 3.20060858e+02] [ 1.25728465e-02 9.99920957e-01 6.28335796e-05 1.01098212e+00] [ 5.04817118e-03 -1.26312644e-04 9.99987250e-01 1.61101323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:320.09, Y:1.01, Z:1.61 [[ 9.99848066e-01 -1.66837706e-02 -5.04935902e-03 3.20092969e+02] [ 1.66843010e-02 9.99860805e-01 6.29337899e-05 1.00914410e+00] [ 5.04760620e-03 -1.47169254e-04 9.99987250e-01 1.61224884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.924391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:320.12, Y:1.01, Z:1.61 [[ 9.99699985e-01 -2.39675722e-02 -5.04935392e-03 3.20124521e+02] [ 2.39681974e-02 9.99712719e-01 6.33403867e-05 1.00587937e+00] [ 5.04638522e-03 -1.84345295e-04 9.99987250e-01 1.61201473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:320.16, Y:1.00, Z:1.61 [[ 9.99619947e-01 -2.71010227e-02 -5.04934106e-03 3.20157561e+02] [ 2.71016929e-02 9.99632680e-01 6.43498799e-05 1.00391780e+00] [ 5.04574238e-03 -2.01171114e-04 9.99987250e-01 1.61208151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:320.19, Y:1.00, Z:1.61 [[ 9.99535706e-01 -3.00478906e-02 -5.04933321e-03 3.20189975e+02] [ 3.00486014e-02 9.99548437e-01 6.49598157e-05 1.00228643e+00] [ 5.04510121e-03 -2.16655056e-04 9.99987250e-01 1.61188041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:320.22, Y:1.00, Z:1.61 [[ 9.99453885e-01 -3.26563431e-02 -5.04932666e-03 3.20223086e+02] [ 3.26570897e-02 9.99466613e-01 6.54648492e-05 1.00091237e+00] [ 5.04449557e-03 -2.30325412e-04 9.99987250e-01 1.61170592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:320.26, Y:1.00, Z:1.61 [[ 9.99325098e-01 -3.63847839e-02 -5.04931874e-03 3.20255571e+02] [ 3.63855810e-02 9.99337823e-01 6.60698472e-05 9.98771615e-01] [ 5.04357127e-03 -2.49747653e-04 9.99987250e-01 1.61215783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:320.29, Y:1.00, Z:1.61 [[ 9.99291741e-01 -3.72896755e-02 -5.04931342e-03 3.20288523e+02] [ 3.72904862e-02 9.99304466e-01 6.64745734e-05 9.97851451e-01] [ 5.04332263e-03 -2.54718845e-04 9.99987250e-01 1.61259587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:320.32, Y:1.00, Z:1.61 [[ 9.99274316e-01 -3.77537635e-02 -5.04930527e-03 3.20320229e+02] [ 3.77545832e-02 9.99287039e-01 6.70879106e-05 9.97238726e-01] [ 5.04317249e-03 -2.57673642e-04 9.99987250e-01 1.61286590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:320.35, Y:1.00, Z:1.61 [[ 9.99285099e-01 -3.74672513e-02 -5.04929848e-03 3.20353632e+02] [ 3.74680699e-02 9.99297823e-01 6.75947941e-05 9.97506748e-01] [ 5.04322039e-03 -2.56733939e-04 9.99987250e-01 1.61364416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:320.39, Y:1.00, Z:1.61 [[ 9.99320620e-01 -3.65075823e-02 -5.04929026e-03 3.20386596e+02] [ 3.65083918e-02 9.99333344e-01 6.82034231e-05 9.97538950e-01] [ 5.04343418e-03 -2.52498554e-04 9.99987250e-01 1.61401162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:320.42, Y:1.00, Z:1.61 [[ 9.99357903e-01 -3.54723306e-02 -5.04928184e-03 3.20418779e+02] [ 3.54731300e-02 9.99370628e-01 6.88213264e-05 9.97961070e-01] [ 5.04366271e-03 -2.47890967e-04 9.99987250e-01 1.61386651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:320.45, Y:1.00, Z:1.61 [[ 9.99460199e-01 -3.24625328e-02 -5.04927482e-03 3.20450883e+02] [ 3.24632965e-02 9.99472926e-01 6.93323646e-05 9.99553132e-01] [ 5.04436278e-03 -2.33211045e-04 9.99987250e-01 1.61274787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:320.48, Y:1.00, Z:1.61 [[ 9.99524184e-01 -3.04287850e-02 -5.04926925e-03 3.20483664e+02] [ 3.04295248e-02 9.99536912e-01 6.97356140e-05 1.00021115e+00] [ 5.04480903e-03 -2.23349297e-04 9.99987250e-01 1.61220235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:320.52, Y:1.00, Z:1.61 [[ 9.99588658e-01 -2.82315345e-02 -5.04926082e-03 3.20515373e+02] [ 2.82322493e-02 9.99601388e-01 7.03406051e-05 1.00124867e+00] [ 5.04526231e-03 -2.12863662e-04 9.99987250e-01 1.61169859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:320.55, Y:1.00, Z:1.61 [[ 9.99722678e-01 -2.30015738e-02 -5.04924716e-03 3.20547759e+02] [ 2.30022269e-02 9.99735411e-01 7.13081591e-05 1.00432319e+00] [ 5.04627099e-03 -1.87432312e-04 9.99987250e-01 1.61242773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:320.58, Y:1.01, Z:1.61 [[ 9.99785686e-01 -2.00770492e-02 -5.04924153e-03 3.20579564e+02] [ 2.00776671e-02 9.99798421e-01 7.17043399e-05 1.00607731e+00] [ 5.04678410e-03 -1.73065963e-04 9.99987250e-01 1.61342479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:320.61, Y:1.01, Z:1.61 [[ 9.99847156e-01 -1.67382860e-02 -5.04923579e-03 3.20611969e+02] [ 1.67388633e-02 9.99859893e-01 7.21065477e-05 1.00784681e+00] [ 5.04732142e-03 -1.56613994e-04 9.99987250e-01 1.61476215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:320.64, Y:1.01, Z:1.62 [[ 9.99944379e-01 -9.25979875e-03 -5.04923003e-03 3.20644687e+02] [ 9.26028287e-03 9.99957120e-01 7.25075350e-05 1.01182113e+00] [ 5.04834212e-03 -1.19260800e-04 9.99987250e-01 1.61741696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:320.68, Y:1.01, Z:1.62 [[ 9.99974608e-01 -5.02877199e-03 -5.04922418e-03 3.20675902e+02] [ 5.02920423e-03 9.99987351e-01 7.29130155e-05 1.01350791e+00] [ 5.04879364e-03 -9.83047437e-05 9.99987250e-01 1.61866601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:320.71, Y:1.01, Z:1.62 [[ 9.99974608e-01 -5.02877047e-03 -5.04921981e-03 3.20706898e+02] [ 5.02920423e-03 9.99987351e-01 7.32144132e-05 1.01305832e+00] [ 5.04878776e-03 -9.86061118e-05 9.99987250e-01 1.61882244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:320.74, Y:1.01, Z:1.62 [[ 9.99987007e-01 -7.01081660e-04 -5.04921981e-03 3.20737719e+02] [ 7.01460276e-04 9.99999751e-01 7.32144132e-05 1.01477549e+00] [ 5.04916722e-03 -7.67552890e-05 9.99987250e-01 1.62015738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524391418 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:320.77, Y:1.02, Z:1.62 [[ 9.99981387e-01 3.42518881e-03 -5.04921981e-03 3.20765074e+02] [-3.42486279e-03 9.99994132e-01 7.32144132e-05 1.01671702e+00] [ 5.04944095e-03 -5.59201654e-05 9.99987250e-01 1.62102543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.554391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:320.79, Y:1.02, Z:1.62 [[ 9.99925081e-01 1.11506977e-02 -5.04923048e-03 3.20791738e+02] [-1.11504739e-02 9.99937829e-01 7.24705852e-05 1.02026085e+00] [ 5.04972466e-03 -1.61638432e-05 9.99987250e-01 1.62306088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:320.82, Y:1.02, Z:1.62 [[ 9.99886947e-01 1.41632943e-02 -5.04924044e-03 3.20819309e+02] [-1.41631125e-02 9.99899696e-01 7.17696714e-05 1.02143642e+00] [ 5.04975048e-03 -2.48597136e-07 9.99987250e-01 1.62420091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.614391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:320.85, Y:1.02, Z:1.63 [[ 9.99848787e-01 1.66405860e-02 -5.04924881e-03 3.20846887e+02] [-1.66404388e-02 9.99861536e-01 7.11761292e-05 1.02218523e+00] [ 5.04973408e-03 1.28563494e-05 9.99987250e-01 1.62516172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644391418 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:320.88, Y:1.02, Z:1.63 [[ 9.99794222e-01 1.96473718e-02 -5.04925739e-03 3.20875667e+02] [-1.96472660e-02 9.99806971e-01 7.05623050e-05 1.02313888e+00] [ 5.04966910e-03 2.86563181e-05 9.99987250e-01 1.62567493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.674391418 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:320.90, Y:1.02, Z:1.63 [[ 9.99786049e-01 2.00589217e-02 -5.04926306e-03 3.20903359e+02] [-2.00588232e-02 9.99798799e-01 7.01544178e-05 1.02302843e+00] [ 5.04965436e-03 3.11428668e-05 9.99987250e-01 1.62566344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704391418 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:320.93, Y:1.02, Z:1.63 [[ 9.99809133e-01 1.88733015e-02 -5.04927161e-03 3.20930010e+02] [-1.88731910e-02 9.99821883e-01 6.95332678e-05 1.02237498e+00] [ 5.04968457e-03 2.57758711e-05 9.99987250e-01 1.62507836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734391418 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:320.96, Y:1.02, Z:1.62 [[ 9.99837054e-01 1.73311716e-02 -5.04928139e-03 3.20957741e+02] [-1.73310450e-02 9.99849804e-01 6.88159664e-05 1.02157274e+00] [ 5.04971566e-03 1.87045700e-05 9.99987250e-01 1.62439858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764391418 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:320.98, Y:1.02, Z:1.62 [[ 9.99868284e-01 1.54246358e-02 -5.04928982e-03 3.20984620e+02] [-1.54244882e-02 9.99881033e-01 6.81915054e-05 1.02078534e+00] [ 5.04974095e-03 9.70018759e-06 9.99987250e-01 1.62432776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:321.01, Y:1.02, Z:1.62 [[ 9.99921228e-01 1.14909883e-02 -5.04929947e-03 3.21011347e+02] [-1.14907941e-02 9.99933976e-01 6.74693773e-05 1.01873195e+00] [ 5.04974139e-03 -9.44360210e-06 9.99987250e-01 1.62431346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:321.04, Y:1.02, Z:1.62 [[ 9.99943049e-01 9.40235219e-03 -5.04930883e-03 3.21038820e+02] [-9.40213494e-03 9.99955797e-01 6.67612753e-05 1.01737524e+00] [ 5.04971335e-03 -1.92831902e-05 9.99987250e-01 1.62437240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:321.07, Y:1.02, Z:1.62 [[ 9.99956321e-01 7.86512981e-03 -5.04931682e-03 3.21066733e+02] [-7.86489604e-03 9.99969069e-01 6.61518693e-05 1.01554239e+00] [ 5.04968093e-03 -2.64366280e-05 9.99987250e-01 1.62461402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884391418 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:321.10, Y:1.01, Z:1.62 [[ 9.99975875e-01 4.77007792e-03 -5.04932336e-03 3.21095561e+02] [-4.76980724e-03 9.99988622e-01 6.56484145e-05 1.01273578e+00] [ 5.04957906e-03 -4.15625316e-05 9.99987250e-01 1.62388071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:321.12, Y:1.01, Z:1.62 [[ 9.99981098e-01 3.50815787e-03 -5.04932855e-03 3.21123929e+02] [-3.50787313e-03 9.99993845e-01 6.52467198e-05 1.01099530e+00] [ 5.04952637e-03 -4.75330825e-05 9.99987250e-01 1.62357719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:321.15, Y:1.01, Z:1.62 [[ 9.99984772e-01 2.22709037e-03 -5.04933367e-03 3.21153056e+02] [-2.22679131e-03 9.99997519e-01 6.48478231e-05 1.00929156e+00] [ 5.04946557e-03 -5.36030233e-05 9.99987250e-01 1.62288426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:321.18, Y:1.01, Z:1.62 [[ 9.99987202e-01 -3.17509785e-04 -5.04933876e-03 3.21181392e+02] [ 3.17839261e-04 9.99999947e-01 6.44491119e-05 1.00618602e+00] [ 5.04931803e-03 -6.60531651e-05 9.99987250e-01 1.62115523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:321.21, Y:1.00, Z:1.62 [[ 9.99986283e-01 -1.39204314e-03 -5.04934385e-03 3.21210136e+02] [ 1.39238429e-03 9.99999029e-01 6.40480254e-05 1.00403696e+00] [ 5.04924979e-03 -7.10777739e-05 9.99987250e-01 1.62034268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:321.24, Y:1.00, Z:1.62 [[ 9.99978677e-01 -4.14110719e-03 -5.04934895e-03 3.21239097e+02] [ 4.14148133e-03 9.99991422e-01 6.36434450e-05 1.00007547e+00] [ 5.04904208e-03 -8.45538724e-05 9.99987250e-01 1.61858542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:321.27, Y:1.00, Z:1.62 [[ 9.99972863e-01 -5.36446053e-03 -5.04935272e-03 3.21269120e+02] [ 5.36484874e-03 9.99985607e-01 6.33427559e-05 9.97770683e-01] [ 5.04894025e-03 -9.04300506e-05 9.99987250e-01 1.61767424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:321.30, Y:1.00, Z:1.62 [[ 9.99966055e-01 -6.51093922e-03 -5.04935524e-03 3.21298298e+02] [ 6.51134103e-03 9.99978799e-01 6.31416114e-05 9.95601962e-01] [ 5.04883708e-03 -9.60175420e-05 9.99987250e-01 1.61704433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:321.33, Y:0.99, Z:1.62 [[ 9.99961517e-01 -7.17411117e-03 -5.04935648e-03 3.21327563e+02] [ 7.17452093e-03 9.99974261e-01 6.30419392e-05 9.93009234e-01] [ 5.04877425e-03 -9.92662270e-05 9.99987250e-01 1.61611657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:321.36, Y:0.99, Z:1.61 [[ 9.99946553e-01 -9.02197938e-03 -5.04935770e-03 3.21358370e+02] [ 9.02241219e-03 9.99959295e-01 6.29441728e-05 9.88635189e-01] [ 5.04858429e-03 -1.08498195e-04 9.99987250e-01 1.61399864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:321.39, Y:0.99, Z:1.61 [[ 9.99939624e-01 -9.75968267e-03 -5.04935770e-03 3.21388933e+02] [ 9.76012489e-03 9.99952367e-01 6.29441728e-05 9.86116437e-01] [ 5.04850287e-03 -1.12222734e-04 9.99987250e-01 1.61259159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:321.42, Y:0.98, Z:1.61 [[ 9.99929760e-01 -1.07227964e-02 -5.04935339e-03 3.21420249e+02] [ 1.07232527e-02 9.99942502e-01 6.32884617e-05 9.83498272e-01] [ 5.04838443e-03 -1.17429508e-04 9.99987250e-01 1.61102248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:321.45, Y:0.98, Z:1.61 [[ 9.99910187e-01 -1.24145991e-02 -5.04935093e-03 3.21451896e+02] [ 1.24150779e-02 9.99922928e-01 6.34836113e-05 9.78067213e-01] [ 5.04817364e-03 -1.26165995e-04 9.99987250e-01 1.60785422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:321.48, Y:0.98, Z:1.61 [[ 9.99900378e-01 -1.31810112e-02 -5.04934838e-03 3.21483730e+02] [ 1.31815008e-02 9.99913118e-01 6.36858338e-05 9.75076348e-01] [ 5.04807024e-03 -1.30237479e-04 9.99987250e-01 1.60657396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.304391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:321.52, Y:0.97, Z:1.61 [[ 9.99891741e-01 -1.38206432e-02 -5.04934321e-03 3.21515608e+02] [ 1.38211430e-02 9.99904481e-01 6.40936340e-05 9.72158532e-01] [ 5.04797508e-03 -1.33874390e-04 9.99987250e-01 1.60527932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:321.55, Y:0.97, Z:1.60 [[ 9.99886158e-01 -1.42188104e-02 -5.04933796e-03 3.21546521e+02] [ 1.42193174e-02 9.99898898e-01 6.45044076e-05 9.69481326e-01] [ 5.04791029e-03 -1.36295203e-04 9.99987250e-01 1.60316140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.364391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:321.58, Y:0.96, Z:1.60 [[ 9.99875814e-01 -1.49285373e-02 -5.04933403e-03 3.21578637e+02] [ 1.49290548e-02 9.99888553e-01 6.48101369e-05 9.64665039e-01] [ 5.04780378e-03 -1.40183873e-04 9.99987250e-01 1.60007763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:321.61, Y:0.96, Z:1.60 [[ 9.99881792e-01 -1.45226358e-02 -5.04932889e-03 3.21609409e+02] [ 1.45231501e-02 9.99894531e-01 6.52085296e-05 9.62155265e-01] [ 5.04784934e-03 -1.38532983e-04 9.99987250e-01 1.59829568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.424391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:321.64, Y:0.96, Z:1.60 [[ 9.99897418e-01 -1.34036310e-02 -5.04932002e-03 3.21640457e+02] [ 1.34041345e-02 9.99910158e-01 6.58880118e-05 9.57904017e-01] [ 5.04798324e-03 -1.33563018e-04 9.99987250e-01 1.59715065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:321.67, Y:0.96, Z:1.60 [[ 9.99906804e-01 -1.26841492e-02 -5.04931737e-03 3.21671224e+02] [ 1.26846445e-02 9.99919544e-01 6.60908537e-05 9.55729300e-01] [ 5.04807282e-03 -1.30133490e-04 9.99987250e-01 1.59578858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:321.70, Y:0.95, Z:1.60 [[ 9.99924437e-01 -1.12082527e-02 -5.04931338e-03 3.21702525e+02] [ 1.12087308e-02 9.99937178e-01 6.63940628e-05 9.53638573e-01] [ 5.04825201e-03 -1.22985440e-04 9.99987250e-01 1.59537826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:321.73, Y:0.95, Z:1.60 [[ 9.99960926e-01 -7.25616088e-03 -5.04931077e-03 3.21733584e+02] [ 7.25658960e-03 9.99973668e-01 6.65917255e-05 9.50787875e-01] [ 5.04869462e-03 -1.03229900e-04 9.99987250e-01 1.59605402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:321.76, Y:0.95, Z:1.60 [[ 9.99975515e-01 -4.84494121e-03 -5.04930810e-03 3.21763853e+02] [ 4.84534023e-03 9.99988259e-01 6.67936375e-05 9.49509582e-01] [ 5.04892521e-03 -9.12576177e-05 9.99987250e-01 1.59666387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:321.79, Y:0.95, Z:1.60 [[ 9.99987083e-01 5.81987204e-04 -5.04930810e-03 3.21793438e+02] [-5.81657356e-04 9.99999829e-01 6.67936375e-05 9.47102500e-01] [ 5.04934611e-03 -6.38558075e-05 9.99987250e-01 1.59796116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:321.82, Y:0.95, Z:1.60 [[ 9.99983628e-01 2.69222015e-03 -5.04931079e-03 3.21820881e+02] [-2.69191823e-03 9.99996375e-01 6.65902093e-05 9.45892085e-01] [ 5.04947175e-03 -5.29967874e-05 9.99987250e-01 1.59866220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:321.85, Y:0.94, Z:1.60 [[ 9.99978234e-01 4.24694660e-03 -5.04933184e-03 3.21848792e+02] [-4.24667276e-03 9.99990981e-01 6.49535754e-05 9.44795717e-01] [ 5.04956215e-03 -4.35093016e-05 9.99987250e-01 1.59956380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:321.88, Y:0.94, Z:1.60 [[ 9.99970945e-01 5.71076750e-03 -5.04935252e-03 3.21876174e+02] [-5.71052064e-03 9.99983693e-01 6.33042239e-05 9.43378085e-01] [ 5.04963169e-03 -3.44679529e-05 9.99987250e-01 1.59993090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:321.91, Y:0.94, Z:1.60 [[ 9.99958494e-01 7.58375093e-03 -5.04935886e-03 3.21905268e+02] [-7.58353053e-03 9.99971243e-01 6.27942526e-05 9.40744755e-01] [ 5.04968987e-03 -2.44996793e-05 9.99987250e-01 1.60179192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:321.93, Y:0.94, Z:1.60 [[ 9.99956070e-01 7.89695263e-03 -5.04936385e-03 3.21933762e+02] [-7.89673826e-03 9.99968818e-01 6.23900987e-05 9.39232172e-01] [ 5.04969910e-03 -2.25138532e-05 9.99987250e-01 1.60220206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:321.96, Y:0.94, Z:1.60 [[ 9.99953509e-01 8.21489610e-03 -5.04936877e-03 3.21962059e+02] [-8.21468781e-03 9.99966257e-01 6.19898049e-05 9.37617527e-01] [ 5.04970763e-03 -2.05079349e-05 9.99987250e-01 1.60285746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:321.99, Y:0.94, Z:1.60 [[ 9.99952670e-01 8.31638339e-03 -5.04937366e-03 3.21989618e+02] [-8.31617842e-03 9.99965418e-01 6.15887161e-05 9.36046024e-01] [ 5.04971124e-03 -1.95943088e-05 9.99987250e-01 1.60230446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:322.02, Y:0.93, Z:1.60 [[ 9.99954454e-01 8.09900423e-03 -5.04937967e-03 3.22017869e+02] [-8.09879899e-03 9.99967202e-01 6.10918351e-05 9.32884609e-01] [ 5.04970885e-03 -2.01951416e-05 9.99987250e-01 1.60244540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:322.05, Y:0.93, Z:1.60 [[ 9.99956126e-01 7.88990114e-03 -5.04938555e-03 3.22047022e+02] [-7.88969571e-03 9.99968874e-01 6.06015877e-05 9.31091224e-01] [ 5.04970653e-03 -2.07608133e-05 9.99987250e-01 1.60313520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:322.07, Y:0.93, Z:1.60 [[ 9.99962607e-01 7.02056042e-03 -5.04939022e-03 3.22074936e+02] [-7.02034589e-03 9.99975355e-01 6.02107178e-05 9.28002700e-01] [ 5.04968849e-03 -2.47600005e-05 9.99987250e-01 1.60387605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:322.10, Y:0.93, Z:1.60 [[ 9.99967964e-01 6.21083521e-03 -5.04939594e-03 3.22103965e+02] [-6.21061280e-03 9.99980712e-01 5.97264386e-05 9.26031910e-01] [ 5.04966950e-03 -2.83646822e-05 9.99987250e-01 1.60410001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:322.13, Y:0.92, Z:1.61 [[ 9.99973183e-01 5.30444077e-03 -5.04940045e-03 3.22132257e+02] [-5.30420874e-03 9.99985931e-01 5.93427672e-05 9.23944780e-01] [ 5.04964419e-03 -3.25581018e-05 9.99987250e-01 1.60537495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:322.16, Y:0.92, Z:1.61 [[ 9.99983438e-01 2.76184419e-03 -5.04940517e-03 3.22161092e+02] [-2.76158178e-03 9.99996185e-01 5.89389910e-05 9.20122723e-01] [ 5.04954868e-03 -4.49936695e-05 9.99987250e-01 1.60593143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:322.19, Y:0.92, Z:1.60 [[ 9.99986472e-01 1.24885816e-03 -5.04940988e-03 3.22188609e+02] [-1.24857852e-03 9.99999219e-01 5.85321072e-05 9.18278225e-01] [ 5.04947904e-03 -5.22267306e-05 9.99987250e-01 1.60494917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:322.22, Y:0.92, Z:1.61 [[ 9.99987175e-01 -3.92232323e-04 -5.04941568e-03 3.22217735e+02] [ 3.92530332e-04 9.99999921e-01 5.80276374e-05 9.16442997e-01] [ 5.04939252e-03 -6.00089420e-05 9.99987250e-01 1.60759975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.054391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:322.25, Y:0.91, Z:1.61 [[ 9.99983968e-01 -2.56260273e-03 -5.04942032e-03 3.22246128e+02] [ 2.56292635e-03 9.99996714e-01 5.76209460e-05 9.12893903e-01] [ 5.04925607e-03 -7.05613146e-05 9.99987250e-01 1.60942537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:322.28, Y:0.91, Z:1.61 [[ 9.99979561e-01 -3.92177231e-03 -5.04942496e-03 3.22275136e+02] [ 3.92211119e-03 9.99992307e-01 5.72111017e-05 9.11729134e-01] [ 5.04916175e-03 -7.70143386e-05 9.99987250e-01 1.60988575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.114391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:322.30, Y:0.91, Z:1.61 [[ 9.99976081e-01 -4.72664761e-03 -5.04942956e-03 3.22304482e+02] [ 4.72699468e-03 9.99988826e-01 5.68023290e-05 9.10401310e-01] [ 5.04910466e-03 -8.06695970e-05 9.99987250e-01 1.61051106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:322.33, Y:0.91, Z:1.61 [[ 9.99969970e-01 -5.87903539e-03 -5.04943186e-03 3.22333843e+02] [ 5.87939612e-03 9.99982715e-01 5.65975380e-05 9.09278296e-01] [ 5.04901184e-03 -8.62834484e-05 9.99987250e-01 1.61111659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.174391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:322.36, Y:0.91, Z:1.61 [[ 9.99954934e-01 -8.03947932e-03 -5.04943415e-03 3.22363723e+02] [ 8.03986655e-03 9.99967678e-01 5.63927469e-05 9.07166132e-01] [ 5.04881757e-03 -9.69869822e-05 9.99987250e-01 1.61082049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:322.39, Y:0.91, Z:1.61 [[ 9.99943204e-01 -9.38577310e-03 -5.04943424e-03 3.22394375e+02] [ 9.38617744e-03 9.99955947e-01 5.63846252e-05 9.05955132e-01] [ 5.04868258e-03 -1.03776308e-04 9.99987250e-01 1.61268261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:322.42, Y:0.90, Z:1.61 [[ 9.99913132e-01 -1.21750458e-02 -5.04943424e-03 3.22424721e+02] [ 1.21754856e-02 9.99925874e-01 5.63846252e-05 9.04004328e-01] [ 5.04837346e-03 -1.17859041e-04 9.99987250e-01 1.61286934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:322.46, Y:0.90, Z:1.61 [[ 9.99900089e-01 -1.32028549e-02 -5.04943309e-03 3.22455716e+02] [ 1.32033084e-02 9.99912831e-01 5.64870711e-05 9.02841160e-01] [ 5.04824714e-03 -1.23150650e-04 9.99987250e-01 1.61410271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:322.49, Y:0.90, Z:1.61 [[ 9.99887400e-01 -1.41312130e-02 -5.04943077e-03 3.22486929e+02] [ 1.41316794e-02 9.99900141e-01 5.66937988e-05 9.01794411e-01] [ 5.04812539e-03 -1.28044352e-04 9.99987250e-01 1.61426973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:322.52, Y:0.90, Z:1.61 [[ 9.99888531e-01 -1.40509061e-02 -5.04942728e-03 3.22519618e+02] [ 1.40513730e-02 9.99901273e-01 5.70026827e-05 9.01348652e-01] [ 5.04812783e-03 -1.27947715e-04 9.99987250e-01 1.61443473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:322.55, Y:0.90, Z:1.61 [[ 9.99871298e-01 -1.52279412e-02 -5.04942267e-03 3.22550543e+02] [ 1.52284251e-02 9.99884039e-01 5.74082290e-05 9.00320675e-01] [ 5.04796293e-03 -1.34295596e-04 9.99987250e-01 1.61494772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:322.58, Y:0.90, Z:1.62 [[ 9.99871355e-01 -1.52241944e-02 -5.04941922e-03 3.22582711e+02] [ 1.52246798e-02 9.99884096e-01 5.77100974e-05 8.99996273e-01] [ 5.04795538e-03 -1.34578464e-04 9.99987250e-01 1.61563863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:322.61, Y:0.90, Z:1.62 [[ 9.99885544e-01 -1.42619437e-02 -5.04941456e-03 3.22614360e+02] [ 1.42624189e-02 9.99898285e-01 5.81150218e-05 8.99503854e-01] [ 5.04807213e-03 -1.30125236e-04 9.99987250e-01 1.61570169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:322.65, Y:0.90, Z:1.62 [[ 9.99902984e-01 -1.29817585e-02 -5.04940694e-03 3.22646888e+02] [ 1.29822207e-02 9.99915726e-01 5.87700832e-05 8.99179631e-01] [ 5.04821846e-03 -1.24316897e-04 9.99987250e-01 1.61666051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:322.68, Y:0.90, Z:1.62 [[ 9.99951624e-01 -8.44119680e-03 -5.04940222e-03 3.22677486e+02] [ 8.44160317e-03 9.99964367e-01 5.91723043e-05 8.98764169e-01] [ 5.04872281e-03 -1.01794492e-04 9.99987250e-01 1.61757081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:322.71, Y:0.90, Z:1.62 [[ 9.99968373e-01 -6.14469021e-03 -5.04940106e-03 3.22708269e+02] [ 6.14506782e-03 9.99981117e-01 5.92715200e-05 8.98424050e-01] [ 5.04894151e-03 -9.02985573e-05 9.99987250e-01 1.61836662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:322.74, Y:0.90, Z:1.62 [[ 9.99979457e-01 -3.94843540e-03 -5.04940106e-03 3.22737582e+02] [ 3.94878502e-03 9.99992202e-01 5.92715200e-05 8.98190391e-01] [ 5.04912765e-03 -7.92093016e-05 9.99987250e-01 1.61973806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:322.77, Y:0.90, Z:1.62 [[ 9.99987213e-01 2.79467617e-04 -5.04940345e-03 3.22766364e+02] [-2.79172922e-04 9.99999959e-01 5.90670470e-05 8.98285977e-01] [ 5.04941975e-03 -5.76566349e-05 9.99987250e-01 1.62023475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:322.80, Y:0.90, Z:1.62 [[ 9.99986108e-01 1.51223816e-03 -5.04940698e-03 3.22795281e+02] [-1.51196071e-03 9.99998855e-01 5.87634156e-05 8.98354030e-01] [ 5.04949007e-03 -5.11280943e-05 9.99987250e-01 1.62120967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:322.82, Y:0.90, Z:1.62 [[ 9.99984311e-01 2.42517263e-03 -5.04942322e-03 3.22823327e+02] [-2.42491404e-03 9.99997058e-01 5.73333540e-05 8.98296792e-01] [ 5.04954741e-03 -4.50880373e-05 9.99987250e-01 1.62123145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:322.85, Y:0.90, Z:1.62 [[ 9.99983860e-01 2.60442695e-03 -5.04942891e-03 3.22851238e+02] [-2.60417320e-03 9.99996608e-01 5.68280544e-05 8.97024971e-01] [ 5.04955978e-03 -4.36775498e-05 9.99987250e-01 1.61956912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:322.88, Y:0.90, Z:1.62 [[ 9.99985724e-01 1.74804633e-03 -5.04943448e-03 3.22880479e+02] [-1.74778418e-03 9.99998471e-01 5.63283946e-05 8.95677320e-01] [ 5.04952523e-03 -4.75022688e-05 9.99987250e-01 1.61858962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:322.91, Y:0.89, Z:1.62 [[ 9.99987247e-01 8.97211975e-05 -5.04943865e-03 3.22908985e+02] [-8.94398124e-05 9.99999994e-01 5.59518249e-05 8.94508126e-01] [ 5.04944365e-03 -5.54994905e-05 9.99987250e-01 1.61807367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:322.94, Y:0.89, Z:1.62 [[ 9.99985603e-01 -1.81565559e-03 -5.04944281e-03 3.22937508e+02] [ 1.81595936e-03 9.99998350e-01 5.55743852e-05 8.93535216e-01] [ 5.04933357e-03 -6.47431681e-05 9.99987250e-01 1.61911826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:322.97, Y:0.89, Z:1.62 [[ 9.99966477e-01 -6.44573040e-03 -5.04944727e-03 3.22965970e+02] [ 6.44609112e-03 9.99979222e-01 5.51660475e-05 8.92181562e-01] [ 5.04898677e-03 -8.77133954e-05 9.99987250e-01 1.61853936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.804391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:323.00, Y:0.89, Z:1.62 [[ 9.99949429e-01 -8.69730315e-03 -5.04944968e-03 3.22996036e+02] [ 8.69769145e-03 9.99962173e-01 5.49445315e-05 8.91163109e-01] [ 5.04878080e-03 -9.88603082e-05 9.99987250e-01 1.62107413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:323.03, Y:0.89, Z:1.62 [[ 9.99903131e-01 -1.29703774e-02 -5.04945189e-03 3.23026505e+02] [ 1.29708192e-02 9.99915874e-01 5.47405667e-05 8.88914043e-01] [ 5.04831709e-03 -1.20230791e-04 9.99987250e-01 1.62260272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.864391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:323.06, Y:0.89, Z:1.62 [[ 9.99873108e-01 -1.51086199e-02 -5.04945189e-03 3.23058231e+02] [ 1.51090889e-02 9.99885850e-01 5.47405667e-05 8.87451434e-01] [ 5.04804844e-03 -1.31026238e-04 9.99987250e-01 1.62320003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:323.09, Y:0.89, Z:1.62 [[ 9.99836096e-01 -1.73863238e-02 -5.04944966e-03 3.23089117e+02] [ 1.73868228e-02 9.99848836e-01 5.49453969e-05 8.86042927e-01] [ 5.04773107e-03 -1.42730278e-04 9.99987250e-01 1.62315312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.924391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:323.12, Y:0.88, Z:1.62 [[ 9.99754283e-01 -2.15841560e-02 -5.04944631e-03 3.23121715e+02] [ 2.15847100e-02 9.99767021e-01 5.52516052e-05 8.83752733e-01] [ 5.04707734e-03 -1.64228863e-04 9.99987250e-01 1.62355991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:323.15, Y:0.88, Z:1.62 [[ 9.99705462e-01 -2.37379985e-02 -5.04944182e-03 3.23153517e+02] [ 2.37385821e-02 9.99718199e-01 5.56592206e-05 8.82552803e-01] [ 5.04669764e-03 -1.75509416e-04 9.99987250e-01 1.62371728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:323.19, Y:0.88, Z:1.62 [[ 9.99654364e-01 -2.58003158e-02 -5.04943732e-03 3.23186135e+02] [ 2.58009276e-02 9.99667099e-01 5.60640972e-05 8.81196399e-01] [ 5.04630989e-03 -1.86324886e-04 9.99987250e-01 1.62409019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:323.22, Y:0.88, Z:1.62 [[ 9.99591522e-01 -2.81299356e-02 -5.04943266e-03 3.23218529e+02] [ 2.81305793e-02 9.99604255e-01 5.64809057e-05 8.79885443e-01] [ 5.04584557e-03 -1.98501300e-04 9.99987250e-01 1.62393154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:323.25, Y:0.88, Z:1.62 [[ 9.99455456e-01 -3.26081863e-02 -5.04942792e-03 3.23250900e+02] [ 3.26088891e-02 9.99468187e-01 5.69012839e-05 8.77421020e-01] [ 5.04488713e-03 -2.21526534e-04 9.99987250e-01 1.62344522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:323.28, Y:0.88, Z:1.62 [[ 9.99380248e-01 -3.48371080e-02 -5.04942318e-03 3.23281854e+02] [ 3.48378413e-02 9.99392977e-01 5.73196128e-05 8.76205674e-01] [ 5.04436121e-03 -2.33195092e-04 9.99987250e-01 1.62286422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:323.31, Y:0.88, Z:1.62 [[ 9.99234927e-01 -3.87822646e-02 -5.04941962e-03 3.23313791e+02] [ 3.87830497e-02 9.99247653e-01 5.76314105e-05 8.75328862e-01] [ 5.04338562e-03 -2.53419210e-04 9.99987250e-01 1.62354415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:323.34, Y:0.87, Z:1.62 [[ 9.99180531e-01 -4.01592978e-02 -5.04941482e-03 3.23344925e+02] [ 4.01601026e-02 9.99193256e-01 5.80482701e-05 8.74895069e-01] [ 5.04301006e-03 -2.60785719e-04 9.99987250e-01 1.62299821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:323.38, Y:0.87, Z:1.62 [[ 9.99139428e-01 -4.11692584e-02 -5.04940699e-03 3.23377912e+02] [ 4.11700794e-02 9.99152151e-01 5.87222967e-05 8.74377184e-01] [ 5.04270830e-03 -2.66556249e-04 9.99987250e-01 1.62321896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:323.41, Y:0.87, Z:1.62 [[ 9.99107613e-01 -4.19342554e-02 -5.04939969e-03 3.23409534e+02] [ 4.19350893e-02 9.99120335e-01 5.93431163e-05 8.73457549e-01] [ 5.04246940e-03 -2.71037186e-04 9.99987250e-01 1.62356251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:323.44, Y:0.87, Z:1.62 [[ 9.99057288e-01 -4.31165521e-02 -5.04957210e-03 3.23442489e+02] [ 4.31173267e-02 9.99070015e-01 4.45798930e-05 8.72994836e-01] [ 5.04295395e-03 -2.62261917e-04 9.99987250e-01 1.62297597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254391418 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:323.48, Y:0.87, Z:1.62 [[ 9.99054805e-01 -4.31740604e-02 -5.04939839e-03 3.23475661e+02] [ 4.31749102e-02 9.99067527e-01 5.93575118e-05 8.72538782e-01] [ 5.04212726e-03 -2.77308729e-04 9.99987250e-01 1.62324535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:323.51, Y:0.87, Z:1.62 [[ 9.99035548e-01 -4.36174045e-02 -5.04939112e-03 3.23506691e+02] [ 4.36182630e-02 9.99048269e-01 5.99697052e-05 8.73255588e-01] [ 5.04196973e-03 -2.80157537e-04 9.99987250e-01 1.62268483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:323.54, Y:0.87, Z:1.62 [[ 9.99032269e-01 -4.36924321e-02 -5.04938193e-03 3.23539367e+02] [ 4.36932954e-02 9.99044990e-01 6.07339842e-05 8.73960241e-01] [ 5.04190610e-03 -2.81299346e-04 9.99987250e-01 1.62290377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:323.57, Y:0.87, Z:1.62 [[ 9.99026476e-01 -4.38246899e-02 -5.04937700e-03 3.23571009e+02] [ 4.38255570e-02 9.99039197e-01 6.11407748e-05 8.74839696e-01] [ 5.04184607e-03 -2.82373012e-04 9.99987250e-01 1.62171611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:323.60, Y:0.88, Z:1.62 [[ 9.99006692e-01 -4.42733968e-02 -5.04937331e-03 3.23602899e+02] [ 4.42742711e-02 9.99019412e-01 6.14438457e-05 8.77256991e-01] [ 5.04170163e-03 -2.84940136e-04 9.99987250e-01 1.62224798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:323.64, Y:0.88, Z:1.62 [[ 9.99001666e-01 -4.43866632e-02 -5.04936832e-03 3.23635446e+02] [ 4.43875409e-02 9.99014385e-01 6.18514551e-05 8.78089072e-01] [ 5.04164621e-03 -2.85918750e-04 9.99987250e-01 1.62266133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:323.67, Y:0.88, Z:1.62 [[ 9.98995092e-01 -4.45343763e-02 -5.04936196e-03 3.23667619e+02] [ 4.45352586e-02 9.99007811e-01 6.23662403e-05 8.79056598e-01] [ 5.04157460e-03 -2.87178208e-04 9.99987250e-01 1.62284891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:323.70, Y:0.88, Z:1.62 [[ 9.99019569e-01 -4.39818654e-02 -5.04935561e-03 3.23699945e+02] [ 4.39827432e-02 9.99032289e-01 6.28759500e-05 8.81913099e-01] [ 5.04170389e-03 -2.84898816e-04 9.99987250e-01 1.62482325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:323.73, Y:0.88, Z:1.63 [[ 9.99058234e-01 -4.30946603e-02 -5.04935057e-03 3.23732751e+02] [ 4.30955288e-02 9.99070954e-01 6.32783547e-05 8.83376506e-01] [ 5.04193253e-03 -2.80823194e-04 9.99987250e-01 1.62559736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:323.77, Y:0.89, Z:1.63 [[ 9.99106367e-01 -4.19639428e-02 -5.04934293e-03 3.23765556e+02] [ 4.19648000e-02 9.99119088e-01 6.38824341e-05 8.85144863e-01] [ 5.04221414e-03 -2.75720013e-04 9.99987250e-01 1.62687651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.554391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:323.80, Y:0.89, Z:1.63 [[ 9.99211894e-01 -3.93712462e-02 -5.04933506e-03 3.23797458e+02] [ 3.93720735e-02 9.99224617e-01 6.44981221e-05 8.88811195e-01] [ 5.04288052e-03 -2.63250082e-04 9.99987250e-01 1.62833701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:323.83, Y:0.89, Z:1.63 [[ 9.99270063e-01 -3.78661571e-02 -5.04932980e-03 3.23829083e+02] [ 3.78669672e-02 9.99282787e-01 6.49078678e-05 8.90178813e-01] [ 5.04325054e-03 -2.56063295e-04 9.99987250e-01 1.62882624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.614391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:323.86, Y:0.89, Z:1.63 [[ 9.99322414e-01 -3.64584380e-02 -5.04932318e-03 3.23861219e+02] [ 3.64592328e-02 9.99335139e-01 6.54183615e-05 8.91399031e-01] [ 5.04358103e-03 -2.49468484e-04 9.99987250e-01 1.62901827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:323.89, Y:0.89, Z:1.63 [[ 9.99395699e-01 -3.43909930e-02 -5.04931790e-03 3.23893591e+02] [ 3.43917635e-02 9.99408426e-01 6.58238496e-05 8.94592584e-01] [ 5.04406710e-03 -2.39439019e-04 9.99987250e-01 1.62935906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.674391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:323.93, Y:0.90, Z:1.63 [[ 9.99423370e-01 -3.35772676e-02 -5.04931259e-03 3.23925838e+02] [ 3.35780298e-02 9.99436097e-01 6.62281466e-05 8.95979687e-01] [ 5.04424151e-03 -2.35735926e-04 9.99987250e-01 1.62944730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:323.96, Y:0.90, Z:1.63 [[ 9.99447218e-01 -3.28597586e-02 -5.04929925e-03 3.23956596e+02] [ 3.28605167e-02 9.99459945e-01 6.72299806e-05 8.98456328e-01] [ 5.04436319e-03 -2.33115400e-04 9.99987250e-01 1.63028764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:323.99, Y:0.90, Z:1.63 [[ 9.99449008e-01 -3.28052685e-02 -5.04929534e-03 3.23988928e+02] [ 3.28060274e-02 9.99461735e-01 6.75224548e-05 8.99364403e-01] [ 5.04436239e-03 -2.33132572e-04 9.99987250e-01 1.63051757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:324.02, Y:0.90, Z:1.63 [[ 9.99458644e-01 -3.25103631e-02 -5.04928996e-03 3.24021036e+02] [ 3.25111203e-02 9.99471372e-01 6.79224679e-05 8.99825368e-01] [ 5.04441258e-03 -2.32043771e-04 9.99987250e-01 1.63055003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:324.05, Y:0.90, Z:1.63 [[ 9.99460416e-01 -3.24558440e-02 -5.04928459e-03 3.24054249e+02] [ 3.24566024e-02 9.99473143e-01 6.83192941e-05 9.00508559e-01] [ 5.04440698e-03 -2.32165053e-04 9.99987250e-01 1.63089019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:324.09, Y:0.90, Z:1.63 [[ 9.99463739e-01 -3.23533643e-02 -5.04927606e-03 3.24086460e+02] [ 3.23541246e-02 9.99476466e-01 6.89440103e-05 9.01381646e-01] [ 5.04440202e-03 -2.32271945e-04 9.99987250e-01 1.63001458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:324.12, Y:0.90, Z:1.63 [[ 9.99492729e-01 -3.14450288e-02 -5.04926896e-03 3.24118643e+02] [ 3.14457801e-02 9.99505457e-01 6.94606400e-05 9.03678550e-01] [ 5.04458768e-03 -2.28203606e-04 9.99987250e-01 1.62973933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:324.15, Y:0.90, Z:1.63 [[ 9.99526826e-01 -3.03418560e-02 -5.04926354e-03 3.24152152e+02] [ 3.03425952e-02 9.99539555e-01 6.98523069e-05 9.04715475e-01] [ 5.04481918e-03 -2.23027014e-04 9.99987250e-01 1.63065837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:324.18, Y:0.91, Z:1.63 [[ 9.99637080e-01 -2.64615578e-02 -5.04925484e-03 3.24183875e+02] [ 2.64622508e-02 9.99649811e-01 7.04756551e-05 9.07468077e-01] [ 5.04562175e-03 -2.04064726e-04 9.99987250e-01 1.63037460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:324.22, Y:0.91, Z:1.63 [[ 9.99701502e-01 -2.39042440e-02 -5.04925052e-03 3.24216110e+02] [ 2.39049059e-02 9.99714234e-01 7.07835689e-05 9.08920106e-01] [ 5.04611559e-03 -1.91464299e-04 9.99987250e-01 1.63134110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:324.25, Y:0.91, Z:1.63 [[ 9.99766677e-01 -2.10023064e-02 -5.04924473e-03 3.24247674e+02] [ 2.10029335e-02 9.99779412e-01 7.11945307e-05 9.10639675e-01] [ 5.04663567e-03 -1.77226871e-04 9.99987250e-01 1.63182509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:324.28, Y:0.91, Z:1.63 [[ 9.99876068e-01 -1.49115137e-02 -5.04924040e-03 3.24279929e+02] [ 1.49120648e-02 9.99888806e-01 7.15001102e-05 9.14270009e-01] [ 5.04761278e-03 -1.46785849e-04 9.99987250e-01 1.63254747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:324.31, Y:0.92, Z:1.63 [[ 9.99915702e-01 -1.19621891e-02 -5.04923461e-03 3.24311633e+02] [ 1.19627046e-02 9.99928442e-01 7.19068893e-05 9.15704264e-01] [ 5.04801313e-03 -1.32303330e-04 9.99987250e-01 1.63270902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:324.34, Y:0.92, Z:1.63 [[ 9.99946486e-01 -9.02947330e-03 -5.04922560e-03 3.24343525e+02] [ 9.02995461e-03 9.99959227e-01 7.25338615e-05 9.16986843e-01] [ 5.04836478e-03 -1.18124258e-04 9.99987250e-01 1.63395274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:324.37, Y:0.92, Z:1.63 [[ 9.99980258e-01 -3.74022951e-03 -5.04921973e-03 3.24373841e+02] [ 3.74064547e-03 9.99993001e-01 7.29398231e-05 9.18857578e-01] [ 5.04891158e-03 -9.18257241e-05 9.99987250e-01 1.63484645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:324.40, Y:0.92, Z:1.63 [[ 9.99986166e-01 -1.47426228e-03 -5.04921829e-03 3.24402572e+02] [ 1.47464987e-03 9.99998910e-01 7.30399838e-05 9.19560847e-01] [ 5.04910510e-03 -8.04848024e-05 9.99987250e-01 1.63492681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.43, Y:0.92, Z:1.64 [[ 9.99986852e-01 8.95404825e-04 -5.04922255e-03 3.24431159e+02] [-8.95048931e-04 9.99999597e-01 7.27440998e-05 9.19996851e-01] [ 5.04928565e-03 -6.82238421e-05 9.99987250e-01 1.63559062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:324.46, Y:0.92, Z:1.64 [[ 9.99974821e-01 4.98615998e-03 -5.04924197e-03 3.24459031e+02] [-4.98586317e-03 9.99987568e-01 7.13700212e-05 9.22346449e-01] [ 5.04953506e-03 -4.61933947e-05 9.99987250e-01 1.63551246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:324.49, Y:0.92, Z:1.64 [[ 9.99964363e-01 6.76585873e-03 -5.04924878e-03 3.24486908e+02] [-6.76558705e-03 9.99977111e-01 7.08847729e-05 9.23094956e-01] [ 5.04961281e-03 -3.67211146e-05 9.99987250e-01 1.63573177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:324.52, Y:0.92, Z:1.64 [[ 9.99951579e-01 8.44661806e-03 -5.04925697e-03 3.24515349e+02] [-8.44637078e-03 9.99964326e-01 7.02967175e-05 9.23527567e-01] [ 5.04967061e-03 -2.76454171e-05 9.99987250e-01 1.63582147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:324.54, Y:0.92, Z:1.64 [[ 9.99952228e-01 8.36940357e-03 -5.04926504e-03 3.24544650e+02] [-8.36915825e-03 9.99964976e-01 6.97118625e-05 9.23201817e-01] [ 5.04967164e-03 -2.74504340e-05 9.99987250e-01 1.63596964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.304391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:324.57, Y:0.92, Z:1.64 [[ 9.99934725e-01 1.02494120e-02 -5.04927040e-03 3.24572471e+02] [-1.02491926e-02 9.99947473e-01 6.93219769e-05 9.24306691e-01] [ 5.04971569e-03 -1.75665070e-05 9.99987250e-01 1.63573317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:324.60, Y:0.92, Z:1.64 [[ 9.99932738e-01 1.04415097e-02 -5.04927851e-03 3.24599901e+02] [-1.04412958e-02 9.99945486e-01 6.87257539e-05 9.24362057e-01] [ 5.04972086e-03 -1.60001207e-05 9.99987250e-01 1.63515549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.364391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:324.63, Y:0.92, Z:1.63 [[ 9.99941808e-01 9.53334652e-03 -5.04928517e-03 3.24627556e+02] [-9.53312351e-03 9.99954556e-01 6.82333246e-05 9.24418839e-01] [ 5.04970620e-03 -2.00938949e-05 9.99987250e-01 1.63424916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:324.66, Y:0.92, Z:1.63 [[ 9.99945900e-01 9.09401113e-03 -5.04929288e-03 3.24655877e+02] [-9.09378543e-03 9.99958648e-01 6.76578654e-05 9.24181313e-01] [ 5.04969936e-03 -2.17370192e-05 9.99987250e-01 1.63471513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.424391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:324.68, Y:0.92, Z:1.63 [[ 9.99963607e-01 6.87656408e-03 -5.04945740e-03 3.24683681e+02] [-6.87637252e-03 9.99976356e-01 5.52980779e-05 9.23876171e-01] [ 5.04971827e-03 -2.05741153e-05 9.99987250e-01 1.63313003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:324.71, Y:0.92, Z:1.63 [[ 9.99975373e-01 4.87417670e-03 -5.04930782e-03 3.24712521e+02] [-4.87390238e-03 9.99988120e-01 6.66328986e-05 9.23523807e-01] [ 5.04957261e-03 -4.20214243e-05 9.99987250e-01 1.63350785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:324.74, Y:0.92, Z:1.63 [[ 9.99986389e-01 1.31388646e-03 -5.04931301e-03 3.24740726e+02] [-1.31356875e-03 9.99999135e-01 6.62372174e-05 9.22021202e-01] [ 5.04939567e-03 -5.96036960e-05 9.99987250e-01 1.63247679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:324.77, Y:0.92, Z:1.63 [[ 9.99987248e-01 -9.01211028e-05 -5.04931979e-03 3.24769090e+02] [ 9.04540763e-05 9.99999994e-01 6.57159284e-05 9.21223750e-01] [ 5.04931384e-03 -6.61718220e-05 9.99987250e-01 1.63324010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:324.80, Y:0.92, Z:1.63 [[ 9.99985108e-01 -2.07054373e-03 -5.04938789e-03 3.24797959e+02] [ 2.07087563e-03 9.99997854e-01 6.05020973e-05 9.20443360e-01] [ 5.04925178e-03 -7.09578506e-05 9.99987250e-01 1.63185692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:324.83, Y:0.92, Z:1.63 [[ 9.99979186e-01 -4.01643683e-03 -5.04931542e-03 3.24826780e+02] [ 4.01682149e-03 9.99991930e-01 6.60426941e-05 9.19939394e-01] [ 5.04900942e-03 -8.63235182e-05 9.99987250e-01 1.63142454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:324.85, Y:0.92, Z:1.63 [[ 9.99959092e-01 -7.50458920e-03 -5.04931921e-03 3.24854975e+02] [ 7.50501684e-03 9.99971835e-01 6.57515515e-05 9.19625387e-01] [ 5.04868356e-03 -1.03644087e-04 9.99987250e-01 1.63060985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:324.89, Y:0.92, Z:1.63 [[ 9.99943996e-01 -9.30107366e-03 -5.04932291e-03 3.24885090e+02] [ 9.30152276e-03 9.99956738e-01 6.54661465e-05 9.19367231e-01] [ 5.04849556e-03 -1.12428872e-04 9.99987250e-01 1.63067845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:324.92, Y:0.92, Z:1.63 [[ 9.99899976e-01 -1.32114749e-02 -5.04932291e-03 3.24915990e+02] [ 1.32119738e-02 9.99912716e-01 6.54661465e-05 9.18722079e-01] [ 5.04801728e-03 -1.32171121e-04 9.99987250e-01 1.63101471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:324.95, Y:0.92, Z:1.63 [[ 9.99869595e-01 -1.53394331e-02 -5.04932038e-03 3.24946722e+02] [ 1.53399601e-02 9.99882334e-01 6.56605226e-05 9.17949972e-01] [ 5.04771905e-03 -1.43108334e-04 9.99987250e-01 1.63066702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:324.98, Y:0.92, Z:1.63 [[ 9.99831905e-01 -1.76257484e-02 -5.04931237e-03 3.24978588e+02] [ 1.76263077e-02 9.99844642e-01 6.62714990e-05 9.17083640e-01] [ 5.04735983e-03 -1.55261092e-04 9.99987250e-01 1.63113841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:325.01, Y:0.92, Z:1.63 [[ 9.99730137e-01 -2.26750502e-02 -5.04930722e-03 3.25010551e+02] [ 2.26756757e-02 9.99742872e-01 6.66613056e-05 9.15729749e-01] [ 5.04649735e-03 -1.81139769e-04 9.99987250e-01 1.63145263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:325.04, Y:0.91, Z:1.63 [[ 9.99672859e-01 -2.50734923e-02 -5.04930201e-03 3.25042993e+02] [ 2.50741504e-02 9.99685592e-01 6.70537818e-05 9.14708608e-01] [ 5.04603319e-03 -1.93638804e-04 9.99987250e-01 1.63186897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:325.07, Y:0.91, Z:1.63 [[ 9.99607485e-01 -2.75568629e-02 -5.04929660e-03 3.25074386e+02] [ 2.75575546e-02 9.99620216e-01 6.74582673e-05 9.13795228e-01] [ 5.04552002e-03 -2.06578056e-04 9.99987250e-01 1.63079659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:325.11, Y:0.91, Z:1.63 [[ 9.99485044e-01 -3.16883616e-02 -5.04929256e-03 3.25106369e+02] [ 3.16891075e-02 9.99497772e-01 6.77596693e-05 9.12610627e-01] [ 5.04460947e-03 -2.27732351e-04 9.99987250e-01 1.63323288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:325.14, Y:0.91, Z:1.63 [[ 9.99434964e-01 -3.32303639e-02 -5.04928722e-03 3.25139897e+02] [ 3.32311314e-02 9.99447691e-01 6.81554425e-05 9.11659764e-01] [ 5.04423362e-03 -2.35910459e-04 9.99987250e-01 1.63329889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:325.17, Y:0.91, Z:1.63 [[ 9.99382002e-01 -3.47867729e-02 -5.04927912e-03 3.25172666e+02] [ 3.47875632e-02 9.99394727e-01 6.87498310e-05 9.10941929e-01] [ 5.04383135e-03 -2.44359460e-04 9.99987250e-01 1.63314590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:325.20, Y:0.91, Z:1.63 [[ 9.99292801e-01 -3.72612665e-02 -5.04927097e-03 3.25204491e+02] [ 3.72620913e-02 9.99305525e-01 6.93435999e-05 9.10053106e-01] [ 5.04318055e-03 -2.57440956e-04 9.99987250e-01 1.63332256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:325.24, Y:0.91, Z:1.63 [[ 9.99275512e-01 -3.77220878e-02 -5.04926540e-03 3.25236507e+02] [ 3.77229205e-02 9.99288235e-01 6.97470868e-05 9.09512403e-01] [ 5.04304050e-03 -2.60169593e-04 9.99987250e-01 1.63300277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:325.27, Y:0.91, Z:1.63 [[ 9.99263330e-01 -3.80434287e-02 -5.04925982e-03 3.25268574e+02] [ 3.80442676e-02 9.99276052e-01 7.01481249e-05 9.09078273e-01] [ 5.04293575e-03 -2.62191841e-04 9.99987250e-01 1.63281082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:325.30, Y:0.91, Z:1.63 [[ 9.99268822e-01 -3.78988956e-02 -5.04925424e-03 3.25301072e+02] [ 3.78997346e-02 9.99281544e-01 7.05479013e-05 9.08748271e-01] [ 5.04295289e-03 -2.61861714e-04 9.99987250e-01 1.63225687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.054391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:325.33, Y:0.91, Z:1.63 [[ 9.99325264e-01 -3.63802356e-02 -5.04924724e-03 3.25333087e+02] [ 3.63810577e-02 9.99337988e-01 7.10456193e-05 9.09269507e-01] [ 5.04331992e-03 -2.54694637e-04 9.99987250e-01 1.63199741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:325.37, Y:0.91, Z:1.63 [[ 9.99375016e-01 -3.49869044e-02 -5.04924156e-03 3.25366490e+02] [ 3.49877109e-02 9.99387740e-01 7.14468427e-05 9.09610734e-01] [ 5.04365041e-03 -2.48063593e-04 9.99987250e-01 1.63230710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.114391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:325.40, Y:0.91, Z:1.63 [[ 9.99474384e-01 -3.20228287e-02 -5.04923295e-03 3.25398604e+02] [ 3.20236004e-02 9.99487110e-01 7.20499117e-05 9.10984713e-01] [ 5.04433601e-03 -2.33706660e-04 9.99987250e-01 1.63194492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:325.43, Y:0.91, Z:1.63 [[ 9.99538235e-01 -2.99636949e-02 -5.04922579e-03 3.25431960e+02] [ 2.99644429e-02 9.99550963e-01 7.25481497e-05 9.11326537e-01] [ 5.04478469e-03 -2.23811887e-04 9.99987250e-01 1.63300933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.174391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:325.46, Y:0.91, Z:1.63 [[ 9.99611395e-01 -2.74146579e-02 -5.04921700e-03 3.25464255e+02] [ 2.74153765e-02 9.99624125e-01 7.31549871e-05 9.12292185e-01] [ 5.04531361e-03 -2.11552744e-04 9.99987250e-01 1.63391329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:325.50, Y:0.92, Z:1.64 [[ 9.99775095e-01 -2.05976731e-02 -5.04921105e-03 3.25495013e+02] [ 2.05983070e-02 9.99787830e-01 7.35636507e-05 9.15366746e-01] [ 5.04662452e-03 -1.77552305e-04 9.99987250e-01 1.63505795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:325.53, Y:0.92, Z:1.64 [[ 9.99854045e-01 -1.63215782e-02 -5.04920660e-03 3.25527474e+02] [ 1.63221592e-02 9.99866782e-01 7.38677835e-05 9.16602699e-01] [ 5.04732831e-03 -1.56270956e-04 9.99987250e-01 1.63575802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:325.56, Y:0.92, Z:1.64 [[ 9.99912404e-01 -1.22347535e-02 -5.04920068e-03 3.25558526e+02] [ 1.22352844e-02 9.99925143e-01 7.42701763e-05 9.18000066e-01] [ 5.04791404e-03 -1.36042077e-04 9.99987250e-01 1.63574513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:325.59, Y:0.92, Z:1.64 [[ 9.99955314e-01 -7.99222883e-03 -5.04919626e-03 3.25590265e+02] [ 7.99270720e-03 9.99968055e-01 7.45694372e-05 9.19566460e-01] [ 5.04843899e-03 -1.14922852e-04 9.99987250e-01 1.63753960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:325.62, Y:0.92, Z:1.64 [[ 9.99987237e-01 -1.77074890e-04 -5.04919332e-03 3.25620355e+02] [ 1.77454670e-04 9.99999981e-01 7.47681003e-05 9.22450265e-01] [ 5.04917999e-03 -7.56631489e-05 9.99987250e-01 1.63932411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:325.65, Y:0.92, Z:1.64 [[ 9.99982556e-01 3.06493980e-03 -5.04919332e-03 3.25648933e+02] [-3.06460134e-03 9.99995301e-01 7.47681003e-05 9.23281548e-01] [ 5.04939875e-03 -5.92930314e-05 9.99987250e-01 1.63964669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:325.68, Y:0.93, Z:1.64 [[ 9.99952591e-01 8.32597072e-03 -5.04921388e-03 3.25677049e+02] [-8.32570647e-03 9.99965338e-01 7.33526862e-05 9.25183636e-01] [ 5.04964960e-03 -3.13109360e-05 9.99987250e-01 1.63971125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:325.70, Y:0.93, Z:1.64 [[ 9.99935149e-01 1.02079803e-02 -5.04923684e-03 3.25704126e+02] [-1.02077482e-02 9.99947897e-01 7.17370037e-05 9.25632798e-01] [ 5.04970605e-03 -2.01910134e-05 9.99987250e-01 1.63923064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:325.73, Y:0.93, Z:1.64 [[ 9.99921209e-01 1.14926162e-02 -5.04924665e-03 3.25733384e+02] [-1.14924040e-02 9.99933958e-01 7.10391824e-05 9.26023396e-01] [ 5.04972962e-03 -1.30056027e-05 9.99987250e-01 1.63857499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:325.76, Y:0.93, Z:1.64 [[ 9.99890638e-01 1.39002350e-02 -5.04925212e-03 3.25762041e+02] [-1.39000554e-02 9.99903387e-01 7.06483659e-05 9.26956096e-01] [ 5.04974633e-03 -4.55755317e-07 9.99987250e-01 1.63779480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:325.79, Y:0.93, Z:1.64 [[ 9.99868618e-01 1.54029770e-02 -5.04925752e-03 3.25789412e+02] [-1.54028186e-02 9.99881367e-01 7.02602409e-05 9.27290147e-01] [ 5.04974073e-03 7.52178744e-06 9.99987250e-01 1.63725750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:325.82, Y:0.93, Z:1.64 [[ 9.99826724e-01 1.79172233e-02 -5.04926417e-03 3.25818540e+02] [-1.79170994e-02 9.99839473e-01 6.97794969e-05 9.27175782e-01] [ 5.04970388e-03 2.07007622e-05 9.99987250e-01 1.63642992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:325.85, Y:0.93, Z:1.64 [[ 9.99809202e-01 1.88696911e-02 -5.04926943e-03 3.25845911e+02] [-1.88695813e-02 9.99821951e-01 6.93967748e-05 9.26987159e-01] [ 5.04967991e-03 2.58940658e-05 9.99987250e-01 1.63625306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:325.87, Y:0.93, Z:1.64 [[ 9.99794407e-01 1.96379217e-02 -5.04927846e-03 3.25874344e+02] [-1.96378250e-02 9.99807157e-01 6.87329910e-05 9.26908808e-01] [ 5.04965452e-03 3.04379870e-05 9.99987250e-01 1.63795456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:325.90, Y:0.93, Z:1.64 [[ 9.99772085e-01 2.07432620e-02 -5.04928646e-03 3.25902622e+02] [-2.07431824e-02 9.99784835e-01 6.81399922e-05 9.26535691e-01] [ 5.04961348e-03 3.66138083e-05 9.99987250e-01 1.63950046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:325.93, Y:0.93, Z:1.64 [[ 9.99743328e-01 2.20858059e-02 -5.04929327e-03 3.25930784e+02] [-2.20857460e-02 9.99756078e-01 6.76321368e-05 9.25581086e-01] [ 5.04955534e-03 4.39026313e-05 9.99987250e-01 1.64074010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:325.96, Y:0.92, Z:1.64 [[ 9.99741930e-01 2.21489925e-02 -5.04929996e-03 3.25959520e+02] [-2.21489359e-02 9.99754680e-01 6.71286842e-05 9.24805472e-01] [ 5.04954810e-03 4.47252610e-05 9.99987250e-01 1.64140350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:325.99, Y:0.92, Z:1.64 [[ 9.99747619e-01 2.18907199e-02 -5.04930523e-03 3.25988484e+02] [-2.18906620e-02 9.99760369e-01 6.67300202e-05 9.23911282e-01] [ 5.04955602e-03 4.38194556e-05 9.99987250e-01 1.64205853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:326.02, Y:0.92, Z:1.64 [[ 9.99783977e-01 2.01619234e-02 -5.04931042e-03 3.26016042e+02] [-2.01618455e-02 9.99796727e-01 6.63350689e-05 9.21442272e-01] [ 5.04962147e-03 3.54826773e-05 9.99987250e-01 1.64219935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:326.04, Y:0.92, Z:1.64 [[ 9.99817556e-01 1.84216868e-02 -5.04931680e-03 3.26043765e+02] [-1.84215892e-02 9.99830306e-01 6.58452767e-05 9.19930571e-01] [ 5.04967295e-03 2.71831764e-05 9.99987250e-01 1.64209032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.804391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:326.07, Y:0.92, Z:1.64 [[ 9.99880513e-01 1.46103935e-02 -5.04932430e-03 3.26071647e+02] [-1.46102502e-02 9.99893262e-01 6.52656079e-05 9.16626266e-01] [ 5.04973890e-03 8.51408165e-06 9.99987250e-01 1.64124124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:326.10, Y:0.91, Z:1.64 [[ 9.99909221e-01 1.24921311e-02 -5.04933169e-03 3.26099030e+02] [-1.24919637e-02 9.99921970e-01 6.46884069e-05 9.14662246e-01] [ 5.04974579e-03 -1.60646618e-06 9.99987250e-01 1.64082858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.864391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:326.13, Y:0.91, Z:1.64 [[ 9.99936826e-01 1.00423047e-02 -5.04933776e-03 3.26127051e+02] [-1.00421085e-02 9.99949575e-01 6.42108637e-05 9.12577810e-01] [ 5.04972798e-03 -1.35008096e-05 9.99987250e-01 1.63999153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:326.16, Y:0.91, Z:1.64 [[ 9.99956608e-01 7.82852819e-03 -5.04934373e-03 3.26155821e+02] [-7.82830615e-03 9.99969356e-01 6.37381523e-05 9.10260793e-01] [ 5.04968798e-03 -2.42075780e-05 9.99987250e-01 1.63929108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.924391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:326.18, Y:0.91, Z:1.64 [[ 9.99978253e-01 4.24230733e-03 -5.04934843e-03 3.26184168e+02] [-4.24204145e-03 9.99991001e-01 6.33633557e-05 9.06066727e-01] [ 5.04957180e-03 -4.19424324e-05 9.99987250e-01 1.63949743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:326.21, Y:0.90, Z:1.64 [[ 9.99982925e-01 2.94169026e-03 -5.04935331e-03 3.26212926e+02] [-2.94140978e-03 9.99995672e-01 6.29721315e-05 9.04006914e-01] [ 5.04951671e-03 -4.81188391e-05 9.99987250e-01 1.63980570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:326.24, Y:0.90, Z:1.64 [[ 9.99985170e-01 2.04057726e-03 -5.04935834e-03 3.26242091e+02] [-2.04028734e-03 9.99997917e-01 6.25666925e-05 9.01664339e-01] [ 5.04947549e-03 -5.22636227e-05 9.99987250e-01 1.64006161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:326.27, Y:0.90, Z:1.64 [[ 9.99986417e-01 1.29193380e-03 -5.04936332e-03 3.26270963e+02] [-1.29163638e-03 9.99999164e-01 6.21619198e-05 8.98489264e-01] [ 5.04943941e-03 -5.56391341e-05 9.99987250e-01 1.64088611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:326.30, Y:0.90, Z:1.64 [[ 9.99985813e-01 1.69613312e-03 -5.04936829e-03 3.26298798e+02] [-1.69584292e-03 9.99998560e-01 6.17552326e-05 8.96745901e-01] [ 5.04946577e-03 -5.31914210e-05 9.99987250e-01 1.64101705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:326.33, Y:0.89, Z:1.64 [[ 9.99982155e-01 3.19278365e-03 -5.04937441e-03 3.26326112e+02] [-3.19251506e-03 9.99994902e-01 6.12514789e-05 8.93723005e-01] [ 5.04954423e-03 -4.51301820e-05 9.99987250e-01 1.64142500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:326.35, Y:0.89, Z:1.64 [[ 9.99978158e-01 4.26464633e-03 -5.04938029e-03 3.26353664e+02] [-4.26439387e-03 9.99990906e-01 6.07621819e-05 8.92156380e-01] [ 5.04959350e-03 -3.92283084e-05 9.99987250e-01 1.64226543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:326.38, Y:0.89, Z:1.64 [[ 9.99978496e-01 4.18471859e-03 -5.04938750e-03 3.26382965e+02] [-4.18446818e-03 9.99991243e-01 6.01570613e-05 8.91883604e-01] [ 5.04959503e-03 -3.90267664e-05 9.99987250e-01 1.64241360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:326.41, Y:0.89, Z:1.64 [[ 9.99970685e-01 5.75616179e-03 -5.04939228e-03 3.26409956e+02] [-5.75593344e-03 9.99983433e-01 5.97534764e-05 8.90276936e-01] [ 5.04965257e-03 -3.06877588e-05 9.99987250e-01 1.64184209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:326.44, Y:0.89, Z:1.64 [[ 9.99945305e-01 9.15913572e-03 -5.04940046e-03 3.26438191e+02] [-9.15895429e-03 9.99958054e-01 5.90535222e-05 8.87277454e-01] [ 5.04972954e-03 -1.28030642e-05 9.99987250e-01 1.64120259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:326.47, Y:0.89, Z:1.64 [[ 9.99928479e-01 1.08415719e-02 -5.04940605e-03 3.26466135e+02] [-1.08414144e-02 9.99941228e-01 5.85717957e-05 8.85589934e-01] [ 5.04974430e-03 -3.82490324e-06 9.99987250e-01 1.64178552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:326.50, Y:0.88, Z:1.64 [[ 9.99911514e-01 1.23072022e-02 -5.04941291e-03 3.26495179e+02] [-1.23070664e-02 9.99924264e-01 5.79748699e-05 8.83838635e-01] [ 5.04974399e-03 4.17371989e-06 9.99987250e-01 1.64166719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:326.52, Y:0.88, Z:1.64 [[ 9.99883539e-01 1.44017873e-02 -5.04941746e-03 3.26524003e+02] [-1.44016802e-02 9.99896289e-01 5.75757809e-05 8.80071387e-01] [ 5.04972297e-03 1.51510198e-05 9.99987250e-01 1.64124835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:326.55, Y:0.88, Z:1.64 [[ 9.99874534e-01 1.50140045e-02 -5.04942199e-03 3.26552305e+02] [-1.50139072e-02 9.99887283e-01 5.71752958e-05 8.77938185e-01] [ 5.04971127e-03 1.86434309e-05 9.99987250e-01 1.64163401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:326.58, Y:0.88, Z:1.64 [[ 9.99872446e-01 1.51523663e-02 -5.04942881e-03 3.26579606e+02] [-1.51522738e-02 9.99885196e-01 5.65665230e-05 8.75929951e-01] [ 5.04970623e-03 1.99510203e-05 9.99987250e-01 1.64145302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:326.61, Y:0.87, Z:1.64 [[ 9.99872219e-01 1.51673927e-02 -5.04943864e-03 3.26606665e+02] [-1.51673049e-02 9.99884968e-01 5.56755093e-05 8.74078135e-01] [ 5.04970224e-03 2.09179805e-05 9.99987250e-01 1.64163375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:326.64, Y:0.87, Z:1.64 [[ 9.99879515e-01 1.46785349e-02 -5.04944816e-03 3.26635323e+02] [-1.46784453e-02 9.99892264e-01 5.47974229e-05 8.70123577e-01] [ 5.04970851e-03 1.93272281e-05 9.99987250e-01 1.64239940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434391418 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:326.66, Y:0.87, Z:1.64 [[ 9.99889791e-01 1.39609785e-02 -5.04945245e-03 3.26664120e+02] [-1.39608818e-02 9.99902541e-01 5.43997171e-05 8.67836978e-01] [ 5.04971981e-03 1.61010870e-05 9.99987250e-01 1.64269805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:326.69, Y:0.86, Z:1.64 [[ 9.99909771e-01 1.24480325e-02 -5.04945670e-03 3.26692451e+02] [-1.24479185e-02 9.99922520e-01 5.40026083e-05 8.64023406e-01] [ 5.04973769e-03 8.85748977e-06 9.99987250e-01 1.64351269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:326.72, Y:0.86, Z:1.64 [[ 9.99923284e-01 1.13105559e-02 -5.04946308e-03 3.26720437e+02] [-1.13104305e-02 9.99936034e-01 5.33987526e-05 8.62588678e-01] [ 5.04974406e-03 3.71694504e-06 9.99987250e-01 1.64265866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:326.75, Y:0.86, Z:1.64 [[ 9.99934785e-01 1.02434557e-02 -5.04946831e-03 3.26748043e+02] [-1.02433192e-02 9.99947534e-01 5.28998439e-05 8.61093037e-01] [ 5.04974526e-03 -1.17307848e-06 9.99987250e-01 1.64392399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.554391418 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:326.78, Y:0.86, Z:1.64 [[ 9.99961765e-01 7.13944665e-03 -5.04947450e-03 3.26777070e+02] [-7.13927357e-03 9.99974514e-01 5.23017325e-05 8.58293542e-01] [ 5.04971922e-03 -1.62501529e-05 9.99987250e-01 1.64453274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:326.80, Y:0.86, Z:1.64 [[ 9.99971497e-01 5.61315550e-03 -5.04947859e-03 3.26804342e+02] [-5.61296497e-03 9.99984246e-01 5.19042536e-05 8.56575140e-01] [ 5.04969039e-03 -2.35602277e-05 9.99987250e-01 1.64494333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.614391418 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:326.83, Y:0.86, Z:1.65 [[ 9.99985145e-01 2.05207903e-03 -5.04965452e-03 3.26834246e+02] [-2.05193130e-03 9.99997894e-01 3.44355504e-05 8.55002882e-01] [ 5.04971455e-03 -2.40734947e-05 9.99987250e-01 1.64504521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:326.86, Y:0.85, Z:1.65 [[ 9.99986533e-01 -1.19896981e-03 -5.04948465e-03 3.26863019e+02] [ 1.19924359e-03 9.99999280e-01 5.11913524e-05 8.53293673e-01] [ 5.04941964e-03 -5.72462251e-05 9.99987250e-01 1.64563551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.674391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:326.89, Y:0.85, Z:1.64 [[ 9.99947021e-01 -8.96986897e-03 -5.04948867e-03 3.26890409e+02] [ 8.97023978e-03 9.99959765e-01 5.07916097e-05 8.50076713e-01] [ 5.04882991e-03 -9.60840430e-05 9.99987250e-01 1.64497500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:326.92, Y:0.85, Z:1.64 [[ 9.99899238e-01 -1.32670994e-02 -5.04949361e-03 3.26921096e+02] [ 1.32675225e-02 9.99911981e-01 5.02961522e-05 8.48218074e-01] [ 5.04838187e-03 -1.17285354e-04 9.99987250e-01 1.64417816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:326.95, Y:0.85, Z:1.64 [[ 9.99833356e-01 -1.75431992e-02 -5.04949361e-03 3.26952011e+02] [ 1.75436767e-02 9.99846097e-01 5.02961522e-05 8.46078217e-01] [ 5.04783412e-03 -1.38874454e-04 9.99987250e-01 1.64432048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:326.98, Y:0.84, Z:1.64 [[ 9.99638446e-01 -2.64098375e-02 -5.04949164e-03 3.26983986e+02] [ 2.64104291e-02 9.99651183e-01 5.04931419e-05 8.41833002e-01] [ 5.04639677e-03 -1.83834127e-04 9.99987250e-01 1.64344097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:327.02, Y:0.84, Z:1.64 [[ 9.99509284e-01 -3.09143141e-02 -5.04947652e-03 3.27015891e+02] [ 3.09149704e-02 9.99522017e-01 5.19619336e-05 8.40013865e-01] [ 5.04545659e-03 -2.08040853e-04 9.99987250e-01 1.64368956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:327.05, Y:0.84, Z:1.64 [[ 9.99367444e-01 -3.52024862e-02 -5.04947249e-03 3.27047048e+02] [ 3.52031991e-02 9.99380174e-01 5.23513551e-05 8.38283274e-01] [ 5.04449979e-03 -2.30075825e-04 9.99987250e-01 1.64422043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854391418 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:327.08, Y:0.84, Z:1.64 [[ 9.99070479e-01 -4.28098215e-02 -5.04946946e-03 3.27079166e+02] [ 4.28106328e-02 9.99083203e-01 5.26413080e-05 8.35599006e-01] [ 5.04258656e-03 -2.68763360e-04 9.99987250e-01 1.64451351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:327.11, Y:0.83, Z:1.64 [[ 9.98942546e-01 -4.56978432e-02 -5.04946441e-03 3.27111728e+02] [ 4.56986937e-02 9.98955268e-01 5.31218970e-05 8.34293787e-01] [ 5.04176151e-03 -2.83819650e-04 9.99987250e-01 1.64464921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:327.14, Y:0.83, Z:1.65 [[ 9.98703339e-01 -5.06571137e-02 -5.04945835e-03 3.27144287e+02] [ 5.06580302e-02 9.98716056e-01 5.36912970e-05 8.33574622e-01] [ 5.04025529e-03 -3.09417291e-04 9.99987250e-01 1.64500273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:327.18, Y:0.83, Z:1.65 [[ 9.98636132e-01 -5.19651797e-02 -5.04945187e-03 3.27177406e+02] [ 5.19661159e-02 9.98648847e-01 5.42941910e-05 8.33050386e-01] [ 5.03980788e-03 -3.16620542e-04 9.99987250e-01 1.64555332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:327.21, Y:0.83, Z:1.64 [[ 9.98599651e-01 -5.26615565e-02 -5.04944513e-03 3.27209306e+02] [ 5.26625047e-02 9.98612366e-01 5.49142580e-05 8.32887778e-01] [ 5.03954648e-03 -3.20753786e-04 9.99987250e-01 1.64482997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:327.24, Y:0.83, Z:1.65 [[ 9.98603398e-01 -5.25904557e-02 -5.04943382e-03 3.27242673e+02] [ 5.25914081e-02 9.98616113e-01 5.59346797e-05 8.34261558e-01] [ 5.03950435e-03 -3.21413396e-04 9.99987250e-01 1.64643675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:327.28, Y:0.83, Z:1.65 [[ 9.98658171e-01 -5.15398914e-02 -5.04942718e-03 3.27275887e+02] [ 5.15408335e-02 9.98670886e-01 5.65284669e-05 8.34654199e-01] [ 5.03980244e-03 -3.16704301e-04 9.99987250e-01 1.64719979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:327.31, Y:0.84, Z:1.65 [[ 9.98712044e-01 -5.04852197e-02 -5.04942006e-03 3.27307956e+02] [ 5.04861515e-02 9.98724760e-01 5.71567735e-05 8.35387150e-01] [ 5.04009527e-03 -3.12008944e-04 9.99987250e-01 1.64714732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:327.34, Y:0.84, Z:1.65 [[ 9.98791536e-01 -4.88873364e-02 -5.04940814e-03 3.27340763e+02] [ 4.88882531e-02 9.98804253e-01 5.81915682e-05 8.36113065e-01] [ 5.04052549e-03 -3.04977989e-04 9.99987250e-01 1.64795038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:327.37, Y:0.84, Z:1.65 [[ 9.98965969e-01 -4.51829205e-02 -5.04940071e-03 3.27373067e+02] [ 4.51837932e-02 9.98978689e-01 5.88293610e-05 8.38457042e-01] [ 5.04158562e-03 -2.86919607e-04 9.99987250e-01 1.64820281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:327.40, Y:0.84, Z:1.65 [[ 9.99057004e-01 -4.31231606e-02 -5.04938828e-03 3.27404978e+02] [ 4.31240123e-02 9.99069725e-01 5.98772911e-05 8.39359866e-01] [ 5.04210886e-03 -2.77570710e-04 9.99987250e-01 1.64776777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:327.44, Y:0.84, Z:1.65 [[ 9.99144174e-01 -4.10539013e-02 -5.04938212e-03 3.27438154e+02] [ 4.10547293e-02 9.99156897e-01 6.03920783e-05 8.40436132e-01] [ 5.04264565e-03 -2.67641410e-04 9.99987250e-01 1.64829134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:327.47, Y:0.84, Z:1.65 [[ 9.99332770e-01 -3.61734501e-02 -5.04937456e-03 3.27470592e+02] [ 3.61742191e-02 9.99345497e-01 6.10183947e-05 8.44268056e-01] [ 5.04386248e-03 -2.43634863e-04 9.99987250e-01 1.64864356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:327.50, Y:0.85, Z:1.65 [[ 9.99420858e-01 -3.36519237e-02 -5.04936952e-03 3.27502466e+02] [ 3.36526627e-02 9.99433587e-01 6.14325860e-05 8.46282386e-01] [ 5.04444216e-03 -2.31321737e-04 9.99987250e-01 1.64903068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:327.53, Y:0.85, Z:1.65 [[ 9.99512418e-01 -3.08128356e-02 -5.04936449e-03 3.27534698e+02] [ 3.08135405e-02 9.99525148e-01 6.18433617e-05 8.47968490e-01] [ 5.04506122e-03 -2.17402005e-04 9.99987250e-01 1.64974788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.304391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:327.57, Y:0.85, Z:1.65 [[ 9.99667987e-01 -2.52669745e-02 -5.04935939e-03 3.27567313e+02] [ 2.52676108e-02 9.99680721e-01 6.22567061e-05 8.51555380e-01] [ 5.04617420e-03 -1.89821284e-04 9.99987250e-01 1.65051357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:327.60, Y:0.85, Z:1.65 [[ 9.99739616e-01 -2.22531894e-02 -5.04935424e-03 3.27599657e+02] [ 2.22537894e-02 9.99752352e-01 6.26715981e-05 8.53353621e-01] [ 5.04670913e-03 -1.75022545e-04 9.99987250e-01 1.65112566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.364391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:327.63, Y:0.86, Z:1.65 [[ 9.99872605e-01 -1.51419040e-02 -5.04934906e-03 3.27629379e+02] [ 1.51424155e-02 9.99885345e-01 6.30859867e-05 8.56692335e-01] [ 5.04781489e-03 -1.39537292e-04 9.99987250e-01 1.65166624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:327.66, Y:0.86, Z:1.65 [[ 9.99901820e-01 -1.30710256e-02 -5.04957733e-03 3.27662053e+02] [ 1.30714194e-02 9.99914564e-01 4.49857042e-05 8.58527085e-01] [ 5.04855790e-03 -1.10986431e-04 9.99987250e-01 1.65210018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.424391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:327.69, Y:0.86, Z:1.65 [[ 9.99952439e-01 -8.34407434e-03 -5.04932746e-03 3.27691158e+02] [ 8.34450655e-03 9.99965182e-01 6.45356455e-05 8.59868949e-01] [ 5.04861316e-03 -1.06666722e-04 9.99987250e-01 1.65254459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:327.72, Y:0.86, Z:1.65 [[ 9.99970026e-01 -5.86915887e-03 -5.04967260e-03 3.27721459e+02] [ 5.86942136e-03 9.99982774e-01 3.71637323e-05 8.61560590e-01] [ 5.04936750e-03 -6.68012746e-05 9.99987250e-01 1.65231542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:327.75, Y:0.86, Z:1.65 [[ 9.99986505e-01 1.22236283e-03 -5.04932309e-03 3.27751280e+02] [-1.22205263e-03 9.99999251e-01 6.45177088e-05 8.64516741e-01] [ 5.04939817e-03 -5.83462996e-05 9.99987250e-01 1.65280854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:327.78, Y:0.87, Z:1.65 [[ 9.99977308e-01 4.45957484e-03 -5.04932566e-03 3.27779252e+02] [-4.45930693e-03 9.99990055e-01 6.43155247e-05 8.65400247e-01] [ 5.04956227e-03 -4.17975724e-05 9.99987250e-01 1.65351510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:327.81, Y:0.87, Z:1.65 [[ 9.99962862e-01 6.98424717e-03 -5.04934635e-03 3.27806870e+02] [-6.98401987e-03 9.99975609e-01 6.26479150e-05 8.66470803e-01] [ 5.04966075e-03 -2.73808531e-05 9.99987250e-01 1.65413193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:327.83, Y:0.87, Z:1.66 [[ 9.99919871e-01 1.16084139e-02 -5.04936643e-03 3.27834996e+02] [-1.16082539e-02 9.99932620e-01 6.09855417e-05 8.67997599e-01] [ 5.04973415e-03 -2.36632738e-06 9.99987250e-01 1.65517011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:327.86, Y:0.87, Z:1.66 [[ 9.99905866e-01 1.27578886e-02 -5.04937257e-03 3.27863242e+02] [-1.27577459e-02 9.99918615e-01 6.04731970e-05 8.68232608e-01] [ 5.04973313e-03 3.95110790e-06 9.99987250e-01 1.65528407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:327.89, Y:0.87, Z:1.66 [[ 9.99896843e-01 1.34464455e-02 -5.04937855e-03 3.27892076e+02] [-1.34463141e-02 9.99909592e-01 5.99697367e-05 8.68117433e-01] [ 5.04972842e-03 7.93197971e-06 9.99987250e-01 1.65589255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:327.92, Y:0.87, Z:1.66 [[ 9.99906792e-01 1.26850830e-02 -5.04938330e-03 3.27921301e+02] [-1.26849439e-02 9.99919541e-01 5.95668131e-05 8.67365125e-01] [ 5.04973264e-03 4.48988281e-06 9.99987250e-01 1.65589417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:327.95, Y:0.87, Z:1.66 [[ 9.99920196e-01 1.15803492e-02 -5.04938804e-03 3.27949702e+02] [-1.15801981e-02 9.99932946e-01 5.91624206e-05 8.66271871e-01] [ 5.04973458e-03 -6.84785649e-07 9.99987250e-01 1.65610616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:327.98, Y:0.87, Z:1.66 [[ 9.99942207e-01 9.49136309e-03 -5.04939505e-03 3.27977286e+02] [-9.49118841e-03 9.99954956e-01 5.85580050e-05 8.65257766e-01] [ 5.04972340e-03 -1.06298610e-05 9.99987250e-01 1.65616738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:328.01, Y:0.86, Z:1.66 [[ 9.99978159e-01 4.26439284e-03 -5.04940167e-03 3.28005844e+02] [-4.26415443e-03 9.99990907e-01 5.79815310e-05 8.62814585e-01] [ 5.04960301e-03 -3.64488361e-05 9.99987250e-01 1.65637681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:328.03, Y:0.86, Z:1.66 [[ 9.99986593e-01 1.14739244e-03 -5.04940630e-03 3.28034489e+02] [-1.14711634e-03 9.99999340e-01 5.75750799e-05 8.60999684e-01] [ 5.04946903e-03 -5.17820516e-05 9.99987250e-01 1.65643792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:328.06, Y:0.86, Z:1.66 [[ 9.99984469e-01 -2.35920724e-03 -5.04941092e-03 3.28062100e+02] [ 2.35952598e-03 9.99997215e-01 5.71671808e-05 8.58799446e-01] [ 5.04926199e-03 -6.90805092e-05 9.99987250e-01 1.65632486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:328.09, Y:0.86, Z:1.66 [[ 9.99941464e-01 -9.56930268e-03 -5.04941704e-03 3.28091367e+02] [ 9.56971056e-03 9.99954208e-01 5.66212538e-05 8.55250655e-01] [ 5.04864399e-03 -1.04939399e-04 9.99987250e-01 1.65610198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:328.12, Y:0.85, Z:1.66 [[ 9.99905428e-01 -1.27920850e-02 -5.04942157e-03 3.28121554e+02] [ 1.27925319e-02 9.99918171e-01 5.62141294e-05 8.53255826e-01] [ 5.04828929e-03 -1.20803700e-04 9.99987250e-01 1.65544028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:328.15, Y:0.85, Z:1.66 [[ 9.99866004e-01 -1.55716913e-02 -5.04942045e-03 3.28153365e+02] [ 1.55721741e-02 9.99878745e-01 5.63152609e-05 8.51140379e-01] [ 5.04793125e-03 -1.34938169e-04 9.99987250e-01 1.65543617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:328.19, Y:0.85, Z:1.66 [[ 9.99786495e-01 -2.00366703e-02 -5.04941831e-03 3.28185140e+02] [ 2.00372110e-02 9.99799233e-01 5.65059946e-05 8.47445247e-01] [ 5.04727236e-03 -1.57670190e-04 9.99987250e-01 1.65516603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:328.22, Y:0.85, Z:1.66 [[ 9.99762359e-01 -2.12068291e-02 -5.04941379e-03 3.28217356e+02] [ 2.12073867e-02 9.99775096e-01 5.69076056e-05 8.45413732e-01] [ 5.04707132e-03 -1.63978953e-04 9.99987250e-01 1.65526973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:328.25, Y:0.84, Z:1.66 [[ 9.99741626e-01 -2.21627038e-02 -5.04940918e-03 3.28248521e+02] [ 2.21632756e-02 9.99754363e-01 5.73137738e-05 8.43857677e-01] [ 5.04689862e-03 -1.69210413e-04 9.99987250e-01 1.65540250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:328.28, Y:0.84, Z:1.66 [[ 9.99735836e-01 -2.24223597e-02 -5.04940572e-03 3.28280287e+02] [ 2.24229363e-02 9.99748573e-01 5.76162428e-05 8.41564005e-01] [ 5.04684427e-03 -1.70823526e-04 9.99987250e-01 1.65581449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.054391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:328.31, Y:0.84, Z:1.66 [[ 9.99747754e-01 -2.18845095e-02 -5.04940110e-03 3.28311364e+02] [ 2.18850814e-02 9.99760491e-01 5.80185126e-05 8.40856016e-01] [ 5.04692202e-03 -1.68510432e-04 9.99987250e-01 1.65619573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:328.34, Y:0.84, Z:1.66 [[ 9.99749479e-01 -2.18055828e-02 -5.04939764e-03 3.28344055e+02] [ 2.18061551e-02 9.99762216e-01 5.83182379e-05 8.40399558e-01] [ 5.04692531e-03 -1.68411576e-04 9.99987250e-01 1.65636074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.114391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:328.37, Y:0.84, Z:1.66 [[ 9.99771509e-01 -2.07709989e-02 -5.04939300e-03 3.28374918e+02] [ 2.07715601e-02 9.99784246e-01 5.87168678e-05 8.40042688e-01] [ 5.04708397e-03 -1.63587222e-04 9.99987250e-01 1.65616950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:328.41, Y:0.84, Z:1.66 [[ 9.99789616e-01 -1.98803086e-02 -5.04938518e-03 3.28407228e+02] [ 1.98808618e-02 9.99802354e-01 5.93825704e-05 8.39988748e-01] [ 5.04720664e-03 -1.59756206e-04 9.99987250e-01 1.65660375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.174391418 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:328.44, Y:0.84, Z:1.66 [[ 9.99808445e-01 -1.89097248e-02 -5.04938038e-03 3.28439245e+02] [ 1.89102677e-02 9.99821183e-01 5.97873019e-05 8.39537717e-01] [ 5.04734691e-03 -1.55260984e-04 9.99987250e-01 1.65603423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:328.47, Y:0.84, Z:1.65 [[ 9.99836019e-01 -1.73907635e-02 -5.04937555e-03 3.28470148e+02] [ 1.73912890e-02 9.99848758e-01 6.01928443e-05 8.38129185e-01] [ 5.04756507e-03 -1.47998124e-04 9.99987250e-01 1.65430430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:328.50, Y:0.84, Z:1.65 [[ 9.99848525e-01 -1.66562839e-02 -5.04937193e-03 3.28502673e+02] [ 1.66568016e-02 9.99861264e-01 6.04946723e-05 8.37228650e-01] [ 5.04766379e-03 -1.44591895e-04 9.99987250e-01 1.65443636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:328.53, Y:0.84, Z:1.65 [[ 9.99861584e-01 -1.58529609e-02 -5.04936690e-03 3.28534399e+02] [ 1.58534705e-02 9.99874324e-01 6.09116769e-05 8.36807207e-01] [ 5.04776669e-03 -1.40953235e-04 9.99987250e-01 1.65418477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:328.57, Y:0.84, Z:1.65 [[ 9.99866986e-01 -1.55084944e-02 -5.04936188e-03 3.28565676e+02] [ 1.55090017e-02 9.99879726e-01 6.13252714e-05 8.36905740e-01] [ 5.04780351e-03 -1.39627676e-04 9.99987250e-01 1.65350403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:328.60, Y:0.84, Z:1.65 [[ 9.99874375e-01 -1.50245981e-02 -5.04935812e-03 3.28597525e+02] [ 1.50251008e-02 9.99887115e-01 6.16332310e-05 8.37306112e-01] [ 5.04786211e-03 -1.37492603e-04 9.99987250e-01 1.65464907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:328.63, Y:0.84, Z:1.65 [[ 9.99894804e-01 -1.35972250e-02 -5.04935307e-03 3.28629859e+02] [ 1.35977116e-02 9.99907545e-01 6.20442527e-05 8.37873009e-01] [ 5.04804260e-03 -1.30697373e-04 9.99987250e-01 1.65492739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:328.66, Y:0.84, Z:1.65 [[ 9.99904188e-01 -1.28887025e-02 -5.04934800e-03 3.28661766e+02] [ 1.28891821e-02 9.99916929e-01 6.24543899e-05 8.37755306e-01] [ 5.04812359e-03 -1.27530372e-04 9.99987250e-01 1.65487063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:328.69, Y:0.84, Z:1.65 [[ 9.99911984e-01 -1.22689962e-02 -5.04934287e-03 3.28693336e+02] [ 1.22694700e-02 9.99924725e-01 6.28662475e-05 8.37646087e-01] [ 5.04819148e-03 -1.24813475e-04 9.99987250e-01 1.65470069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:328.72, Y:0.84, Z:1.66 [[ 9.99928699e-01 -1.08213108e-02 -5.04933903e-03 3.28724834e+02] [ 1.08217676e-02 9.99941441e-01 6.31727389e-05 8.38731566e-01] [ 5.04835974e-03 -1.17811008e-04 9.99987250e-01 1.65564879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:328.76, Y:0.84, Z:1.66 [[ 9.99938573e-01 -9.86684846e-03 -5.04933524e-03 3.28755678e+02] [ 9.86729472e-03 9.99951315e-01 6.34744241e-05 8.39096749e-01] [ 5.04846312e-03 -1.13293804e-04 9.99987250e-01 1.65671175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:328.79, Y:0.84, Z:1.66 [[ 9.99945502e-01 -9.13763534e-03 -5.04933397e-03 3.28785660e+02] [ 9.13807281e-03 9.99958245e-01 6.35751980e-05 8.39510052e-01] [ 5.04854221e-03 -1.09712915e-04 9.99987250e-01 1.65783750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:328.82, Y:0.84, Z:1.66 [[ 9.99960759e-01 -7.27904588e-03 -5.04933272e-03 3.28815999e+02] [ 7.27946017e-03 9.99973502e-01 6.36749076e-05 8.40196332e-01] [ 5.04873543e-03 -1.00428825e-04 9.99987250e-01 1.66048204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:328.85, Y:0.84, Z:1.66 [[ 9.99968745e-01 -6.08378438e-03 -5.04933272e-03 3.28845202e+02] [ 6.08418344e-03 9.99981489e-01 6.36749076e-05 8.40209575e-01] [ 5.04885186e-03 -9.43939839e-05 9.99987250e-01 1.66091918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:328.88, Y:0.84, Z:1.66 [[ 9.99975081e-01 -4.93379287e-03 -5.04933400e-03 3.28875171e+02] [ 4.93417676e-03 9.99987825e-01 6.35729290e-05 8.40374187e-01] [ 5.04895887e-03 -8.84856513e-05 9.99987250e-01 1.66153654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:328.90, Y:0.84, Z:1.66 [[ 9.99982004e-01 -3.23967615e-03 -5.04933648e-03 3.28904722e+02] [ 3.24003745e-03 9.99994749e-01 6.33750967e-05 8.40318747e-01] [ 5.04910465e-03 -7.97339955e-05 9.99987250e-01 1.66243378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:328.93, Y:0.84, Z:1.66 [[ 9.99987203e-01 -3.12138576e-04 -5.04933903e-03 3.28934669e+02] [ 3.12461533e-04 9.99999949e-01 6.31714507e-05 8.41541961e-01] [ 5.04931906e-03 -6.47483666e-05 9.99987250e-01 1.66313407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:328.96, Y:0.84, Z:1.66 [[ 9.99986715e-01 1.03673787e-03 -5.04934160e-03 3.28962234e+02] [-1.03643315e-03 9.99999461e-01 6.29657072e-05 8.41720304e-01] [ 5.04940415e-03 -5.77315656e-05 9.99987250e-01 1.66275511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714391418 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:328.99, Y:0.84, Z:1.66 [[ 9.99982737e-01 3.00508953e-03 -5.04934789e-03 3.28990138e+02] [-3.00481247e-03 9.99995484e-01 6.24568228e-05 8.41628406e-01] [ 5.04951277e-03 -4.72834011e-05 9.99987250e-01 1.66174555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:329.02, Y:0.84, Z:1.66 [[ 9.99981556e-01 3.37530666e-03 -5.04935406e-03 3.29019019e+02] [-3.37503686e-03 9.99994303e-01 6.19538380e-05 8.41184705e-01] [ 5.04953441e-03 -4.49109392e-05 9.99987250e-01 1.66264244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:329.05, Y:0.84, Z:1.66 [[ 9.99980870e-01 3.57264963e-03 -5.04935902e-03 3.29046919e+02] [-3.57238439e-03 9.99993617e-01 6.15469582e-05 8.40532188e-01] [ 5.04954668e-03 -4.35075295e-05 9.99987250e-01 1.66290067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.804391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:329.08, Y:0.84, Z:1.66 [[ 9.99982397e-01 3.11597943e-03 -5.04936511e-03 3.29075511e+02] [-3.11571092e-03 9.99995144e-01 6.10429684e-05 8.38464658e-01] [ 5.04953081e-03 -4.53095318e-05 9.99987250e-01 1.66338278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:329.10, Y:0.84, Z:1.66 [[ 9.99983882e-01 2.59613048e-03 -5.04937001e-03 3.29103407e+02] [-2.59585740e-03 9.99996629e-01 6.06357009e-05 8.37042278e-01] [ 5.04951040e-03 -4.75272791e-05 9.99987250e-01 1.66337977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.864391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:329.13, Y:0.84, Z:1.66 [[ 9.99985282e-01 1.98474497e-03 -5.04937602e-03 3.29132360e+02] [-1.98446665e-03 9.99998029e-01 6.01304638e-05 8.36150068e-01] [ 5.04948541e-03 -5.01092605e-05 9.99987250e-01 1.66399642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:329.16, Y:0.83, Z:1.66 [[ 9.99986932e-01 7.99718717e-04 -5.04938095e-03 3.29159977e+02] [-7.99427389e-04 9.99999679e-01 5.97137645e-05 8.34226631e-01] [ 5.04942708e-03 -5.56763707e-05 9.99987250e-01 1.66361146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.924391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:329.19, Y:0.83, Z:1.66 [[ 9.99987243e-01 1.32711536e-04 -5.04938699e-03 3.29188965e+02] [-1.32414307e-04 9.99999989e-01 5.91985288e-05 8.32676333e-01] [ 5.04939479e-03 -5.85291626e-05 9.99987250e-01 1.66361796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:329.22, Y:0.83, Z:1.66 [[ 9.99986804e-01 -9.45934525e-04 -5.04939177e-03 3.29217041e+02] [ 9.46243430e-04 9.99999551e-01 5.87880982e-05 8.30871680e-01] [ 5.04933389e-03 -6.35652763e-05 9.99987250e-01 1.66353918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:329.25, Y:0.83, Z:1.66 [[ 9.99984457e-01 -2.36423301e-03 -5.04939764e-03 3.29245733e+02] [ 2.36455743e-03 9.99997203e-01 5.82794506e-05 8.29036406e-01] [ 5.04924573e-03 -7.02181355e-05 9.99987250e-01 1.66348972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:329.27, Y:0.83, Z:1.66 [[ 9.99968019e-01 -6.20189893e-03 -5.04940231e-03 3.29274579e+02] [ 6.20227020e-03 9.99980764e-01 5.78723741e-05 8.25201904e-01] [ 5.04894626e-03 -8.91882807e-05 9.99987250e-01 1.66319474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:329.30, Y:0.82, Z:1.66 [[ 9.99947572e-01 -8.90829123e-03 -5.04940483e-03 3.29304233e+02] [ 8.90869588e-03 9.99960315e-01 5.76512869e-05 8.23093755e-01] [ 5.04869087e-03 -1.02631876e-04 9.99987250e-01 1.66318039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:329.33, Y:0.82, Z:1.66 [[ 9.99918337e-01 -1.17397784e-02 -5.04940712e-03 3.29334386e+02] [ 1.17402181e-02 9.99931080e-01 5.74503290e-05 8.21082374e-01] [ 5.04838465e-03 -1.16726779e-04 9.99987250e-01 1.66324574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:329.36, Y:0.82, Z:1.66 [[ 9.99821382e-01 -1.82128405e-02 -5.04940712e-03 3.29364345e+02] [ 1.82133627e-02 9.99834121e-01 5.74503290e-05 8.17065202e-01] [ 5.04752319e-03 -1.49406750e-04 9.99987250e-01 1.66311645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:329.40, Y:0.81, Z:1.66 [[ 9.99750212e-01 -2.17719169e-02 -5.04940598e-03 3.29396588e+02] [ 2.17724850e-02 9.99762950e-01 5.75495908e-05 8.14502900e-01] [ 5.04695606e-03 -1.67473332e-04 9.99987250e-01 1.66307872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:329.43, Y:0.81, Z:1.66 [[ 9.99666209e-01 -2.53372176e-02 -5.04940150e-03 3.29428800e+02] [ 2.53378331e-02 9.99678944e-01 5.79401573e-05 8.11747692e-01] [ 5.04631232e-03 -1.85861710e-04 9.99987250e-01 1.66315757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:329.46, Y:0.81, Z:1.66 [[ 9.99467485e-01 -3.22374055e-02 -5.04939701e-03 3.29460792e+02] [ 3.22381108e-02 9.99480215e-01 5.83293970e-05 8.07344575e-01] [ 5.04489202e-03 -2.21081356e-04 9.99987250e-01 1.66369109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:329.49, Y:0.80, Z:1.66 [[ 9.99379307e-01 -3.48640705e-02 -5.04939251e-03 3.29492740e+02] [ 3.48648112e-02 9.99392036e-01 5.87163124e-05 8.04784595e-01] [ 5.04427557e-03 -2.34725984e-04 9.99987250e-01 1.66161944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:329.53, Y:0.80, Z:1.66 [[ 9.99269089e-01 -3.78918483e-02 -5.04938798e-03 3.29525792e+02] [ 3.78926295e-02 9.99281815e-01 5.91027069e-05 8.03274591e-01] [ 5.04352208e-03 -2.50394096e-04 9.99987250e-01 1.66472540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:329.56, Y:0.80, Z:1.67 [[ 9.99171380e-01 -4.03863594e-02 -5.04938070e-03 3.29558741e+02] [ 4.03871755e-02 9.99184103e-01 5.97189123e-05 8.01541556e-01] [ 5.04284909e-03 -2.63599652e-04 9.99987250e-01 1.66513185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:329.59, Y:0.80, Z:1.66 [[ 9.99045629e-01 -4.33858936e-02 -5.04937331e-03 3.29591110e+02] [ 4.33867510e-02 9.99058350e-01 6.03374142e-05 7.99011897e-01] [ 5.04200077e-03 -2.79355732e-04 9.99987250e-01 1.66382953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:329.62, Y:0.80, Z:1.66 [[ 9.99012914e-01 -4.41327672e-02 -5.04936714e-03 3.29623815e+02] [ 4.41336367e-02 9.99025635e-01 6.08494943e-05 7.97759927e-01] [ 5.04176175e-03 -2.83636365e-04 9.99987250e-01 1.66353739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:329.66, Y:0.80, Z:1.66 [[ 9.98990873e-01 -4.46289136e-02 -5.04935978e-03 3.29656377e+02] [ 4.46297924e-02 9.99003593e-01 6.14534969e-05 7.96174015e-01] [ 5.04158596e-03 -2.86743361e-04 9.99987250e-01 1.66214791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:329.69, Y:0.80, Z:1.66 [[ 9.98998282e-01 -4.44627509e-02 -5.04935490e-03 3.29688432e+02] [ 4.44636296e-02 9.99011002e-01 6.18524929e-05 7.95377339e-01] [ 5.04161096e-03 -2.86303180e-04 9.99987250e-01 1.66221880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:329.72, Y:0.79, Z:1.66 [[ 9.99014732e-01 -4.40916000e-02 -5.04934875e-03 3.29721006e+02] [ 4.40924765e-02 9.99027452e-01 6.23499273e-05 7.94901574e-01] [ 5.04168891e-03 -2.84926787e-04 9.99987250e-01 1.66225715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:329.75, Y:0.79, Z:1.66 [[ 9.99073974e-01 -4.27281865e-02 -5.04934141e-03 3.29753482e+02] [ 4.27290487e-02 9.99086695e-01 6.29392924e-05 7.94820395e-01] [ 5.04204054e-03 -2.78634564e-04 9.99987250e-01 1.66154952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:329.79, Y:0.79, Z:1.66 [[ 9.99122678e-01 -4.15737769e-02 -5.04933642e-03 3.29786093e+02] [ 4.15746264e-02 9.99135399e-01 6.33368549e-05 7.94339803e-01] [ 5.04233761e-03 -2.73205563e-04 9.99987250e-01 1.66056138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:329.82, Y:0.79, Z:1.66 [[ 9.99178698e-01 -4.02048857e-02 -5.04933145e-03 3.29818362e+02] [ 4.02057197e-02 9.99191421e-01 6.37310892e-05 7.93914869e-01] [ 5.04268636e-03 -2.66690752e-04 9.99987250e-01 1.66072442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.554391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:329.85, Y:0.79, Z:1.66 [[ 9.99306308e-01 -3.68972479e-02 -5.04932613e-03 3.29849653e+02] [ 3.68980419e-02 9.99319033e-01 6.41492073e-05 7.94493620e-01] [ 5.04352078e-03 -2.50414955e-04 9.99987250e-01 1.65916703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:329.88, Y:0.80, Z:1.66 [[ 9.99378225e-01 -3.48950944e-02 -5.04932217e-03 3.29881388e+02] [ 3.48958645e-02 9.99390952e-01 6.44600215e-05 7.95113560e-01] [ 5.04399755e-03 -2.40620404e-04 9.99987250e-01 1.65989649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.614391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:329.91, Y:0.80, Z:1.66 [[ 9.99459698e-01 -3.24779300e-02 -5.04931688e-03 3.29912629e+02] [ 3.24786714e-02 9.99472427e-01 6.48714326e-05 7.95765809e-01] [ 5.04454610e-03 -2.28831486e-04 9.99987250e-01 1.66005656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644391418 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:329.94, Y:0.80, Z:1.66 [[ 9.99535982e-01 -3.00387298e-02 -5.04931293e-03 3.29944869e+02] [ 3.00394416e-02 9.99548712e-01 6.51774493e-05 7.96444299e-01] [ 5.04507639e-03 -2.16825747e-04 9.99987250e-01 1.66059582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.674391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:329.98, Y:0.80, Z:1.66 [[ 9.99688802e-01 -2.44295472e-02 -5.04930765e-03 3.29977081e+02] [ 2.44301896e-02 9.99701536e-01 6.55836094e-05 7.98485810e-01] [ 5.04619844e-03 -1.88918743e-04 9.99987250e-01 1.66187703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:330.01, Y:0.80, Z:1.66 [[ 9.99762939e-01 -2.11794598e-02 -5.04930231e-03 3.30008479e+02] [ 2.11800629e-02 9.99775675e-01 6.59928624e-05 7.99273093e-01] [ 5.04677193e-03 -1.72921759e-04 9.99987250e-01 1.66234511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:330.04, Y:0.80, Z:1.66 [[ 9.99826270e-01 -1.79425303e-02 -5.04929831e-03 3.30039544e+02] [ 1.79430937e-02 9.99839008e-01 6.62970007e-05 8.00415687e-01] [ 5.04729588e-03 -1.56885516e-04 9.99987250e-01 1.66264947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:330.07, Y:0.80, Z:1.66 [[ 9.99882427e-01 -1.44788391e-02 -5.04929434e-03 3.30071326e+02] [ 1.44793598e-02 9.99895166e-01 6.65979080e-05 8.01543531e-01] [ 5.04780075e-03 -1.39700628e-04 9.99987250e-01 1.66330084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:330.10, Y:0.80, Z:1.66 [[ 9.99955675e-01 -7.94692565e-03 -5.04928893e-03 3.30102250e+02] [ 7.94736526e-03 9.99968417e-01 6.70059471e-05 8.03975675e-01] [ 5.04859696e-03 -1.07131521e-04 9.99987250e-01 1.66378802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:330.13, Y:0.81, Z:1.66 [[ 9.99975425e-01 -4.86345795e-03 -5.04928615e-03 3.30132097e+02] [ 4.86385932e-03 9.99988169e-01 6.72143225e-05 8.05231334e-01] [ 5.04889952e-03 -9.17716883e-05 9.99987250e-01 1.66396804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:330.16, Y:0.81, Z:1.67 [[ 9.99986772e-01 9.80288625e-04 -5.04928753e-03 3.30161565e+02] [-9.79962252e-04 9.99999518e-01 6.71110703e-05 8.08018304e-01] [ 5.04935088e-03 -6.21620714e-05 9.99987250e-01 1.66506894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:330.19, Y:0.81, Z:1.67 [[ 9.99982141e-01 3.19709807e-03 -5.04929020e-03 3.30189330e+02] [-3.19680097e-03 9.99994888e-01 6.69096939e-05 8.09133708e-01] [ 5.04947830e-03 -5.07669231e-05 9.99987250e-01 1.66536962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:330.22, Y:0.81, Z:1.67 [[ 9.99974542e-01 5.04174175e-03 -5.04931117e-03 3.30216914e+02] [-5.04147636e-03 9.99987290e-01 6.52872130e-05 8.10000358e-01] [ 5.04957616e-03 -3.98295680e-05 9.99987250e-01 1.66568982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:330.25, Y:0.81, Z:1.67 [[ 9.99974945e-01 4.96115610e-03 -5.04933175e-03 3.30246217e+02] [-4.96089792e-03 9.99987693e-01 6.36551681e-05 8.09707127e-01] [ 5.04958541e-03 -3.86043538e-05 9.99987250e-01 1.66583828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:330.27, Y:0.81, Z:1.67 [[ 9.99964861e-01 6.69183967e-03 -5.04933684e-03 3.30273024e+02] [-6.69160561e-03 9.99977609e-01 6.32482901e-05 8.10533106e-01] [ 5.04964703e-03 -2.94578969e-05 9.99987250e-01 1.66581067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:330.30, Y:0.81, Z:1.67 [[ 9.99945427e-01 9.14587016e-03 -5.04934558e-03 3.30300669e+02] [-9.14567094e-03 9.99958176e-01 6.25426763e-05 8.12279621e-01] [ 5.04970641e-03 -1.63596099e-05 9.99987250e-01 1.66639000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:330.33, Y:0.81, Z:1.67 [[ 9.99941658e-01 9.54908075e-03 -5.04935329e-03 3.30328262e+02] [-9.54888985e-03 9.99954406e-01 6.19139413e-05 8.12663195e-01] [ 5.04971430e-03 -1.36946107e-05 9.99987250e-01 1.66625153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:330.36, Y:0.81, Z:1.67 [[ 9.99941626e-01 9.55239668e-03 -5.04935960e-03 3.30356412e+02] [-9.55220844e-03 9.99954375e-01 6.13952239e-05 8.12766884e-01] [ 5.04971569e-03 -1.31591047e-05 9.99987250e-01 1.66675970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:330.38, Y:0.81, Z:1.67 [[ 9.99948167e-01 8.84117420e-03 -5.04936576e-03 3.30384131e+02] [-8.84097947e-03 9.99960916e-01 6.08845223e-05 8.12485109e-01] [ 5.04970670e-03 -1.62400274e-05 9.99987250e-01 1.66717199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:330.41, Y:0.81, Z:1.67 [[ 9.99958211e-01 7.62098486e-03 -5.04937163e-03 3.30412708e+02] [-7.62077706e-03 9.99970960e-01 6.03934938e-05 8.12113308e-01] [ 5.04968525e-03 -2.19108345e-05 9.99987250e-01 1.66782444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:330.44, Y:0.81, Z:1.67 [[ 9.99966538e-01 6.43629735e-03 -5.04937653e-03 3.30441517e+02] [-6.43607653e-03 9.99979286e-01 5.99813422e-05 8.11598732e-01] [ 5.04965800e-03 -2.74811614e-05 9.99987250e-01 1.66814225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:330.47, Y:0.81, Z:1.67 [[ 9.99983837e-01 2.61321356e-03 -5.04938139e-03 3.30469396e+02] [-2.61294608e-03 9.99996584e-01 5.95695866e-05 8.10717053e-01] [ 5.04951981e-03 -4.63748625e-05 9.99987250e-01 1.66807974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:330.50, Y:0.81, Z:1.67 [[ 9.99987242e-01 1.43146449e-04 -5.04938745e-03 3.30498463e+02] [-1.42850097e-04 9.99999988e-01 5.90512175e-05 8.09931502e-01] [ 5.04939584e-03 -5.83291586e-05 9.99987250e-01 1.66798772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:330.53, Y:0.81, Z:1.67 [[ 9.99983414e-01 -2.77048574e-03 -5.04939224e-03 3.30527094e+02] [ 2.77081715e-03 9.99996160e-01 5.86386199e-05 8.08786161e-01] [ 5.04921039e-03 -7.26285900e-05 9.99987250e-01 1.66738955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:330.56, Y:0.81, Z:1.67 [[ 9.99944540e-01 -9.24237667e-03 -5.04939696e-03 3.30555423e+02] [ 9.24278849e-03 9.99957283e-01 5.82290210e-05 8.06502411e-01] [ 5.04864309e-03 -1.04896300e-04 9.99987250e-01 1.66625472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.304391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:330.59, Y:0.81, Z:1.67 [[ 9.99905375e-01 -1.27962719e-02 -5.04939925e-03 3.30585628e+02] [ 1.27967280e-02 9.99918117e-01 5.80304216e-05 8.05232576e-01] [ 5.04824321e-03 -1.22640719e-04 9.99987250e-01 1.66586833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:330.62, Y:0.80, Z:1.67 [[ 9.99852796e-01 -1.63978687e-02 -5.04939539e-03 3.30616869e+02] [ 1.63983724e-02 9.99865536e-01 5.83643257e-05 8.03818418e-01] [ 5.04775937e-03 -1.41157600e-04 9.99987250e-01 1.66552948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.364391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:330.65, Y:0.80, Z:1.67 [[ 9.99791812e-01 -1.97695621e-02 -5.04939307e-03 3.30648712e+02] [ 1.97701098e-02 9.99804551e-01 5.85636883e-05 8.02431167e-01] [ 5.04724839e-03 -1.58378552e-04 9.99987250e-01 1.66597608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:330.68, Y:0.80, Z:1.67 [[ 9.99647389e-01 -2.60691804e-02 -5.04938843e-03 3.30679518e+02] [ 2.60698104e-02 9.99660123e-01 5.89616699e-05 8.01215221e-01] [ 5.04613517e-03 -1.90577478e-04 9.99987250e-01 1.66566997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.424391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:330.71, Y:0.80, Z:1.67 [[ 9.99579902e-01 -2.85398467e-02 -5.04938495e-03 3.30711443e+02] [ 2.85405096e-02 9.99592635e-01 5.92581205e-05 8.00446131e-01] [ 5.04563679e-03 -2.03345246e-04 9.99987250e-01 1.66597245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:330.74, Y:0.80, Z:1.67 [[ 9.99515084e-01 -3.07262264e-02 -5.04938033e-03 3.30743417e+02] [ 3.07269191e-02 9.99527815e-01 5.96486854e-05 7.99775257e-01] [ 5.04516331e-03 -2.14771662e-04 9.99987250e-01 1.66605582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:330.78, Y:0.80, Z:1.67 [[ 9.99386599e-01 -3.46544211e-02 -5.04937568e-03 3.30775462e+02] [ 3.46551658e-02 9.99399328e-01 6.00404073e-05 7.99372868e-01] [ 5.04426199e-03 -2.34990530e-04 9.99987250e-01 1.66652995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:330.81, Y:0.80, Z:1.67 [[ 9.99329277e-01 -3.62698204e-02 -5.04936982e-03 3.30807947e+02] [ 3.62705881e-02 9.99342004e-01 6.05285798e-05 7.99205502e-01] [ 5.04385200e-03 -2.43631595e-04 9.99987250e-01 1.66670017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:330.84, Y:0.80, Z:1.67 [[ 9.99290975e-01 -3.73101958e-02 -5.04936517e-03 3.30840253e+02] [ 3.73109787e-02 9.99303701e-01 6.09139740e-05 7.98811360e-01] [ 5.04357660e-03 -2.49267541e-04 9.99987250e-01 1.66686129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:330.87, Y:0.80, Z:1.67 [[ 9.99195543e-01 -3.97840590e-02 -5.04935347e-03 3.30871943e+02] [ 3.97848783e-02 9.99208266e-01 6.18694720e-05 7.99990373e-01] [ 5.04289431e-03 -2.62707614e-04 9.99987250e-01 1.66788981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:330.90, Y:0.80, Z:1.67 [[ 9.99150925e-01 -4.08892903e-02 -5.04934172e-03 3.30903889e+02] [ 4.08901284e-02 9.99163647e-01 6.28140434e-05 8.00450949e-01] [ 5.04255026e-03 -2.69228941e-04 9.99987250e-01 1.66801024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:330.94, Y:0.80, Z:1.67 [[ 9.99111216e-01 -4.18483191e-02 -5.04933583e-03 3.30935631e+02] [ 4.18491717e-02 9.99123938e-01 6.32836933e-05 8.00843163e-01] [ 5.04226398e-03 -2.74537970e-04 9.99987250e-01 1.66816066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:330.97, Y:0.80, Z:1.67 [[ 9.99030516e-01 -4.37325028e-02 -5.04932996e-03 3.30967560e+02] [ 4.37333818e-02 9.99043236e-01 6.37483188e-05 8.02152450e-01] [ 5.04171107e-03 -2.84510791e-04 9.99987250e-01 1.66789988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:331.00, Y:0.80, Z:1.67 [[ 9.98993257e-01 -4.45755260e-02 -5.04932411e-03 3.31000530e+02] [ 4.45764181e-02 9.99005975e-01 6.42086110e-05 8.02653467e-01] [ 5.04144283e-03 -2.89224752e-04 9.99987250e-01 1.66761990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:331.03, Y:0.80, Z:1.67 [[ 9.98962341e-01 -4.52630615e-02 -5.04931710e-03 3.31033817e+02] [ 4.52639650e-02 9.98975059e-01 6.47549418e-05 8.02845204e-01] [ 5.04121085e-03 -2.93239861e-04 9.99987250e-01 1.66722368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:331.07, Y:0.80, Z:1.67 [[ 9.98899674e-01 -4.66255932e-02 -5.04931008e-03 3.31066352e+02] [ 4.66265168e-02 9.98912390e-01 6.52980507e-05 8.04678570e-01] [ 5.04077384e-03 -3.00657943e-04 9.99987250e-01 1.66781999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:331.10, Y:0.81, Z:1.67 [[ 9.98886866e-01 -4.68991838e-02 -5.04930472e-03 3.31097353e+02] [ 4.69001129e-02 9.98899582e-01 6.57096572e-05 8.05913125e-01] [ 5.04066665e-03 -3.02449475e-04 9.99987250e-01 1.66578462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:331.13, Y:0.81, Z:1.67 [[ 9.98943460e-01 -4.56778826e-02 -5.04930072e-03 3.31129651e+02] [ 4.56787978e-02 9.98956177e-01 6.60158566e-05 8.07263162e-01] [ 5.04101468e-03 -2.96592095e-04 9.99987250e-01 1.66801304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:331.16, Y:0.81, Z:1.67 [[ 9.98979348e-01 -4.48861564e-02 -5.04933298e-03 3.31160963e+02] [ 4.48870492e-02 9.98992066e-01 6.35782088e-05 8.08407331e-01] [ 5.04138981e-03 -2.90162976e-04 9.99987250e-01 1.66753642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874391418 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:331.19, Y:0.81, Z:1.67 [[ 9.99165628e-01 -4.05284290e-02 -5.04927581e-03 3.31193312e+02] [ 4.05292878e-02 9.99178349e-01 6.78341754e-05 8.12052373e-01] [ 5.04237785e-03 -2.72421129e-04 9.99987250e-01 1.66895293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:331.23, Y:0.81, Z:1.67 [[ 9.99284664e-01 -3.74788572e-02 -5.04927054e-03 3.31226639e+02] [ 3.74796791e-02 9.99297388e-01 6.82235813e-05 8.14398287e-01] [ 5.04316592e-03 -2.57419818e-04 9.99987250e-01 1.67068707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934391418 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:331.26, Y:0.82, Z:1.67 [[ 9.99544401e-01 -2.97572724e-02 -5.04926209e-03 3.31258023e+02] [ 2.97579991e-02 9.99557130e-01 6.88437091e-05 8.20130718e-01] [ 5.04497732e-03 -2.19068281e-04 9.99987250e-01 1.67343298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964391418 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:331.29, Y:0.82, Z:1.67 [[ 9.99652235e-01 -2.58826873e-02 -5.04925193e-03 3.31290205e+02] [ 2.58833684e-02 9.99664967e-01 6.95808921e-05 8.22806177e-01] [ 5.04575932e-03 -2.00248342e-04 9.99987250e-01 1.67436977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:331.32, Y:0.82, Z:1.68 [[ 9.99754636e-01 -2.15678705e-02 -5.04924634e-03 3.31322309e+02] [ 2.15684986e-02 9.99767370e-01 6.99839511e-05 8.24872984e-01] [ 5.04656234e-03 -1.78871442e-04 9.99987250e-01 1.67539531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:331.35, Y:0.83, Z:1.68 [[ 9.99825587e-01 -1.79805535e-02 -5.04924077e-03 3.31354721e+02] [ 1.79811380e-02 9.99838324e-01 7.03839602e-05 8.27216615e-01] [ 5.04715888e-03 -1.61162779e-04 9.99987250e-01 1.67577745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.054391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:331.39, Y:0.83, Z:1.68 [[ 9.99928001e-01 -1.08856469e-02 -5.04923517e-03 3.31387258e+02] [ 1.08861430e-02 9.99940742e-01 7.07833164e-05 8.31355964e-01] [ 5.04816544e-03 -1.25744916e-04 9.99987250e-01 1.67608295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:331.42, Y:0.83, Z:1.68 [[ 9.99956890e-01 -7.79252246e-03 -5.04922943e-03 3.31418638e+02] [ 7.79298122e-03 9.99969632e-01 7.11900951e-05 8.33070402e-01] [ 5.04852135e-03 -1.10535576e-04 9.99987250e-01 1.67568756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.114391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:331.45, Y:0.83, Z:1.68 [[ 9.99975024e-01 -4.94529559e-03 -5.04922515e-03 3.31449229e+02] [ 4.94571960e-03 9.99987767e-01 7.14928360e-05 8.34687366e-01] [ 5.04880983e-03 -9.64631022e-05 9.99987250e-01 1.67596107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:331.48, Y:0.84, Z:1.68 [[ 9.99984286e-01 -2.43598194e-03 -5.04922515e-03 3.31479229e+02] [ 2.43637397e-03 9.99997029e-01 7.14928360e-05 8.36205680e-01] [ 5.04903599e-03 -8.37935132e-05 9.99987250e-01 1.67618071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.174391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:331.51, Y:0.84, Z:1.68 [[ 9.99985562e-01 1.83864217e-03 -5.04922785e-03 3.31508278e+02] [-1.83830558e-03 9.99998308e-01 7.13013791e-05 8.39605084e-01] [ 5.04935040e-03 -6.20183259e-05 9.99987250e-01 1.67675508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:331.54, Y:0.84, Z:1.68 [[ 9.99979142e-01 4.02756006e-03 -5.04924784e-03 3.31536129e+02] [-4.02725867e-03 9.99991888e-01 6.98564896e-05 8.40741129e-01] [ 5.04948823e-03 -4.95204054e-05 9.99987250e-01 1.67665182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:331.56, Y:0.84, Z:1.68 [[ 9.99970486e-01 5.79076165e-03 -5.04927020e-03 3.31563226e+02] [-5.79049109e-03 9.99983233e-01 6.82010018e-05 8.41613267e-01] [ 5.04958048e-03 -3.89612347e-05 9.99987250e-01 1.67567952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:331.59, Y:0.84, Z:1.68 [[ 9.99940464e-01 9.67334864e-03 -5.04927977e-03 3.31590883e+02] [-9.67313119e-03 9.99953212e-01 6.74848933e-05 8.43046508e-01] [ 5.04969633e-03 -1.86385298e-05 9.99987250e-01 1.67526418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:331.62, Y:0.84, Z:1.67 [[ 9.99925350e-01 1.11264905e-02 -5.04930111e-03 3.31618849e+02] [-1.11262999e-02 9.99938099e-01 6.58487332e-05 8.43860457e-01] [ 5.04972122e-03 -9.66377925e-06 9.99987250e-01 1.67493569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:331.65, Y:0.85, Z:1.67 [[ 9.99888196e-01 1.40747650e-02 -5.04930903e-03 3.31646969e+02] [-1.40746150e-02 9.99900946e-01 6.52355588e-05 8.45151241e-01] [ 5.04972705e-03 5.83881536e-06 9.99987250e-01 1.67455439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:331.68, Y:0.85, Z:1.67 [[ 9.99875914e-01 1.49218592e-02 -5.04931681e-03 3.31675113e+02] [-1.49217231e-02 9.99888663e-01 6.46277327e-05 8.45613132e-01] [ 5.04971900e-03 1.07247941e-05 9.99987250e-01 1.67485714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:331.70, Y:0.85, Z:1.68 [[ 9.99867502e-01 1.54752489e-02 -5.04932457e-03 3.31701555e+02] [-1.54751230e-02 9.99880251e-01 6.40155032e-05 8.46069341e-01] [ 5.04971058e-03 1.41318976e-05 9.99987250e-01 1.67525713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:331.73, Y:0.85, Z:1.68 [[ 9.99877593e-01 1.48088723e-02 -5.04933470e-03 3.31730835e+02] [-1.48087419e-02 9.99890343e-01 6.32065732e-05 8.46851015e-01] [ 5.04971702e-03 1.15754581e-05 9.99987250e-01 1.67631221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:331.76, Y:0.85, Z:1.68 [[ 9.99893329e-01 1.37052483e-02 -5.04933982e-03 3.31759175e+02] [-1.37051059e-02 9.99906079e-01 6.27948210e-05 8.46625397e-01] [ 5.04972620e-03 6.41361443e-06 9.99987250e-01 1.67686603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:331.79, Y:0.85, Z:1.68 [[ 9.99914254e-01 1.20825736e-02 -5.04934749e-03 3.31786203e+02] [-1.20824137e-02 9.99927003e-01 6.21723134e-05 8.46205572e-01] [ 5.04973010e-03 -1.15867707e-06 9.99987250e-01 1.67702413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:331.81, Y:0.85, Z:1.68 [[ 9.99939469e-01 9.77561160e-03 -5.04935625e-03 3.31814268e+02] [-9.77542593e-03 9.99952218e-01 6.14520787e-05 8.45596204e-01] [ 5.04971571e-03 -1.20887509e-05 9.99987250e-01 1.67719110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:331.84, Y:0.84, Z:1.68 [[ 9.99981736e-01 3.32147236e-03 -5.04936363e-03 3.31842429e+02] [-3.32120749e-03 9.99994483e-01 6.08394826e-05 8.43726829e-01] [ 5.04953785e-03 -4.40683871e-05 9.99987250e-01 1.67614933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:331.87, Y:0.84, Z:1.68 [[ 9.99987161e-01 -4.25428263e-04 -5.04936968e-03 3.31870960e+02] [ 4.25738336e-04 9.99999908e-01 6.03334151e-05 8.42084075e-01] [ 5.04934355e-03 -6.24823507e-05 9.99987250e-01 1.67584324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:331.90, Y:0.84, Z:1.68 [[ 9.99976963e-01 -4.53628525e-03 -5.04937446e-03 3.31898466e+02] [ 4.53664569e-03 9.99989708e-01 5.99304923e-05 8.40408751e-01] [ 5.04905063e-03 -8.28363345e-05 9.99987250e-01 1.67560781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:331.93, Y:0.84, Z:1.68 [[ 9.99947618e-01 -8.90305378e-03 -5.04938034e-03 3.31928267e+02] [ 8.90346735e-03 9.99960362e-01 5.94313038e-05 8.38716821e-01] [ 5.04865107e-03 -1.04385184e-04 9.99987250e-01 1.67544975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:331.96, Y:0.84, Z:1.68 [[ 9.99842496e-01 -1.70142975e-02 -5.04938264e-03 3.31959086e+02] [ 1.70148135e-02 9.99855236e-01 5.92348274e-05 8.35014821e-01] [ 5.04764383e-03 -1.45139801e-04 9.99987250e-01 1.67543094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:331.99, Y:0.83, Z:1.68 [[ 9.99778163e-01 -2.04482068e-02 -5.04938033e-03 3.31991589e+02] [ 2.04487675e-02 9.99790900e-01 5.94310474e-05 8.33049075e-01] [ 5.04710925e-03 -1.62671468e-04 9.99987250e-01 1.67561467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:332.02, Y:0.83, Z:1.68 [[ 9.99702652e-01 -2.38560764e-02 -5.04937568e-03 3.32024207e+02] [ 2.38566824e-02 9.99715387e-01 5.98235293e-05 8.31330068e-01] [ 5.04651141e-03 -1.80267093e-04 9.99987250e-01 1.67600386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:332.06, Y:0.83, Z:1.68 [[ 9.99552753e-01 -2.94753698e-02 -5.04937095e-03 3.32056557e+02] [ 2.94760495e-02 9.99565485e-01 6.02203623e-05 8.28191047e-01] [ 5.04540191e-03 -2.09028937e-04 9.99987250e-01 1.67542329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774391418 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:332.09, Y:0.83, Z:1.67 [[ 9.99474518e-01 -3.20186282e-02 -5.04935927e-03 3.32089228e+02] [ 3.20193451e-02 9.99487247e-01 6.11839979e-05 8.26239629e-01] [ 5.04481117e-03 -2.22829024e-04 9.99987250e-01 1.67498397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.804391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:332.12, Y:0.82, Z:1.67 [[ 9.99400952e-01 -3.42379966e-02 -5.04935215e-03 3.32122607e+02] [ 3.42387447e-02 9.99413680e-01 6.17661789e-05 8.24427396e-01] [ 5.04427687e-03 -2.34612657e-04 9.99987250e-01 1.67444523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:332.16, Y:0.82, Z:1.67 [[ 9.99261749e-01 -3.80849155e-02 -5.04934500e-03 3.32155701e+02] [ 3.80857155e-02 9.99274474e-01 6.23455481e-05 8.22326942e-01] [ 5.04330714e-03 -2.54607438e-04 9.99987250e-01 1.67465793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.864391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:332.19, Y:0.82, Z:1.67 [[ 9.99211090e-01 -3.93916565e-02 -5.04933720e-03 3.32187644e+02] [ 3.93924764e-02 9.99223813e-01 6.29711728e-05 8.21231733e-01] [ 5.04293743e-03 -2.61827390e-04 9.99987250e-01 1.67413371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:332.22, Y:0.82, Z:1.67 [[ 9.99215736e-01 -3.92736228e-02 -5.04933068e-03 3.32221185e+02] [ 3.92744437e-02 9.99228459e-01 6.34891822e-05 8.20689819e-01] [ 5.04294147e-03 -2.61749044e-04 9.99987250e-01 1.67430294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.924391418 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:332.25, Y:0.82, Z:1.67 [[ 9.99179814e-01 -4.01771489e-02 -5.04932311e-03 3.32254588e+02] [ 4.01779843e-02 9.99192537e-01 6.40856364e-05 8.19657226e-01] [ 5.04267119e-03 -2.66904699e-04 9.99987250e-01 1.67441667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954391418 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:332.29, Y:0.82, Z:1.67 [[ 9.99149473e-01 -4.09247587e-02 -5.04931542e-03 3.32287997e+02] [ 4.09256067e-02 9.99162194e-01 6.46859764e-05 8.18919450e-01] [ 5.04243782e-03 -2.71277256e-04 9.99987250e-01 1.67441372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:332.32, Y:0.82, Z:1.67 [[ 9.99113967e-01 -4.17825873e-02 -5.04930748e-03 3.32320466e+02] [ 4.17834493e-02 9.99126688e-01 6.53003456e-05 8.17664054e-01] [ 5.04216944e-03 -2.76219970e-04 9.99987250e-01 1.67249476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:332.35, Y:0.82, Z:1.67 [[ 9.99096346e-01 -4.22018523e-02 -5.04930085e-03 3.32353205e+02] [ 4.22027222e-02 9.99109066e-01 6.58085512e-05 8.16767635e-01] [ 5.04202502e-03 -2.78843324e-04 9.99987250e-01 1.67282080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:332.39, Y:0.82, Z:1.67 [[ 9.99083420e-01 -4.25067694e-02 -5.04929332e-03 3.32386342e+02] [ 4.25076461e-02 9.99096139e-01 6.63811511e-05 8.16127169e-01] [ 5.04190782e-03 -2.80953881e-04 9.99987250e-01 1.67327763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:332.42, Y:0.82, Z:1.67 [[ 9.99077498e-01 -4.26457119e-02 -5.04928539e-03 3.32419587e+02] [ 4.26465934e-02 9.99090218e-01 6.69791254e-05 8.15700653e-01] [ 5.04183527e-03 -2.82252158e-04 9.99987250e-01 1.67365807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:332.45, Y:0.82, Z:1.67 [[ 9.99088674e-01 -4.23830825e-02 -5.04927716e-03 3.32451749e+02] [ 4.23839637e-02 9.99101394e-01 6.75943622e-05 8.15082487e-01] [ 5.04187499e-03 -2.81541142e-04 9.99987250e-01 1.67362391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:332.48, Y:0.81, Z:1.67 [[ 9.99103906e-01 -4.20224991e-02 -5.04926340e-03 3.32484397e+02] [ 4.20233808e-02 9.99116625e-01 6.86069330e-05 8.14514866e-01] [ 5.04191997e-03 -2.80732573e-04 9.99987250e-01 1.67323400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:332.52, Y:0.82, Z:1.67 [[ 9.99130239e-01 -4.13916761e-02 -5.04925511e-03 3.32517654e+02] [ 4.13925528e-02 9.99142959e-01 6.92116421e-05 8.15070969e-01] [ 5.04206290e-03 -2.78153003e-04 9.99987250e-01 1.67320840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:332.55, Y:0.82, Z:1.67 [[ 9.99157096e-01 -4.07382290e-02 -5.04924659e-03 3.32549722e+02] [ 4.07391005e-02 9.99169816e-01 6.98279133e-05 8.15376311e-01] [ 5.04221012e-03 -2.75470819e-04 9.99987250e-01 1.67374283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:332.58, Y:0.82, Z:1.67 [[ 9.99185766e-01 -4.00288600e-02 -5.04923949e-03 3.32581800e+02] [ 4.00297251e-02 9.99198487e-01 7.03371339e-05 8.15745791e-01] [ 5.04237695e-03 -2.72399532e-04 9.99987250e-01 1.67405901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:332.62, Y:0.82, Z:1.68 [[ 9.99242132e-01 -3.85962047e-02 -5.04922532e-03 3.32615246e+02] [ 3.85970566e-02 9.99254853e-01 7.13404741e-05 8.16625621e-01] [ 5.04270943e-03 -2.66171643e-04 9.99987250e-01 1.67508849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:332.65, Y:0.82, Z:1.68 [[ 9.99259224e-01 -3.81511378e-02 -5.04921677e-03 3.32647208e+02] [ 3.81519870e-02 9.99271945e-01 7.19402489e-05 8.16817549e-01] [ 5.04279606e-03 -2.64524610e-04 9.99987250e-01 1.67536268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:332.68, Y:0.82, Z:1.68 [[ 9.99277766e-01 -3.76623529e-02 -5.04920965e-03 3.32680252e+02] [ 3.76631984e-02 9.99290487e-01 7.24366952e-05 8.17853821e-01] [ 5.04289904e-03 -2.62553764e-04 9.99987250e-01 1.67614687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:332.71, Y:0.82, Z:1.68 [[ 9.99283147e-01 -3.75192861e-02 -5.04920109e-03 3.32713503e+02] [ 3.75201328e-02 9.99295869e-01 7.30284139e-05 8.17809119e-01] [ 5.04290582e-03 -2.62422759e-04 9.99987250e-01 1.67620894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:332.75, Y:0.82, Z:1.68 [[ 9.99283403e-01 -3.75124912e-02 -5.04919242e-03 3.32745557e+02] [ 3.75133408e-02 9.99296124e-01 7.36230639e-05 8.17652325e-01] [ 5.04287663e-03 -2.62982382e-04 9.99987250e-01 1.67625545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:332.78, Y:0.82, Z:1.68 [[ 9.99286437e-01 -3.74315637e-02 -5.04918520e-03 3.32778899e+02] [ 3.74324147e-02 9.99299159e-01 7.41148507e-05 8.17416069e-01] [ 5.04287229e-03 -2.63065159e-04 9.99987250e-01 1.67669260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:332.81, Y:0.82, Z:1.68 [[ 9.99312012e-01 -3.67424592e-02 -5.04917627e-03 3.32810664e+02] [ 3.67433045e-02 9.99324734e-01 7.47186297e-05 8.18602440e-01] [ 5.04302138e-03 -2.60190645e-04 9.99987250e-01 1.67661890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:332.84, Y:0.82, Z:1.68 [[ 9.99347121e-01 -3.57748079e-02 -5.04916882e-03 3.32842267e+02] [ 3.57756434e-02 9.99359844e-01 7.52188289e-05 8.19410197e-01] [ 5.04324562e-03 -2.55806983e-04 9.99987250e-01 1.67709251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:332.88, Y:0.82, Z:1.68 [[ 9.99384783e-01 -3.47068033e-02 -5.04916174e-03 3.32875486e+02] [ 3.47076275e-02 9.99397506e-01 7.56909420e-05 8.20151529e-01] [ 5.04349266e-03 -2.50888801e-04 9.99987250e-01 1.67749032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:332.91, Y:0.82, Z:1.68 [[ 9.99422657e-01 -3.35984987e-02 -5.04915271e-03 3.32908226e+02] [ 3.35993119e-02 9.99435381e-01 7.62883512e-05 8.20544780e-01] [ 5.04373869e-03 -2.45892363e-04 9.99987250e-01 1.67818943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.554391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:332.94, Y:0.82, Z:1.68 [[ 9.99501120e-01 -3.11771841e-02 -5.04914319e-03 3.32939833e+02] [ 3.11779696e-02 9.99513846e-01 7.69133510e-05 8.21976413e-01] [ 5.04429059e-03 -2.34297013e-04 9.99987250e-01 1.67759775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:332.97, Y:0.82, Z:1.68 [[ 9.99538323e-01 -2.99607468e-02 -5.04912889e-03 3.32971447e+02] [ 2.99615215e-02 9.99551050e-01 7.78410215e-05 8.22182932e-01] [ 5.04452991e-03 -2.29084668e-04 9.99987250e-01 1.67654576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.614391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:333.00, Y:0.82, Z:1.68 [[ 9.99579100e-01 -2.85679668e-02 -5.04911315e-03 3.33004437e+02] [ 2.85687288e-02 9.99591827e-01 7.88489203e-05 8.23454496e-01] [ 5.04479969e-03 -2.23062477e-04 9.99987250e-01 1.67667600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:333.04, Y:0.82, Z:1.68 [[ 9.99598173e-01 -2.78926410e-02 -5.04910411e-03 3.33037796e+02] [ 2.78933973e-02 9.99610900e-01 7.94234815e-05 8.23797641e-01] [ 5.04492418e-03 -2.20228234e-04 9.99987250e-01 1.67727822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.674391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:333.07, Y:0.82, Z:1.68 [[ 9.99621501e-01 -2.70437087e-02 -5.04909475e-03 3.33069736e+02] [ 2.70444572e-02 9.99634229e-01 8.00143062e-05 8.23764036e-01] [ 5.04508405e-03 -2.16534048e-04 9.99987250e-01 1.67702462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:333.10, Y:0.82, Z:1.68 [[ 9.99655063e-01 -2.57732736e-02 -5.04908696e-03 3.33100878e+02] [ 2.57740084e-02 9.99667792e-01 8.05029536e-05 8.24934074e-01] [ 5.04533479e-03 -2.10610395e-04 9.99987250e-01 1.67698429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:333.13, Y:0.83, Z:1.68 [[ 9.99676983e-01 -2.49085512e-02 -5.04908246e-03 3.33132568e+02] [ 2.49092764e-02 9.99689713e-01 8.07838478e-05 8.25247468e-01] [ 5.04550359e-03 -2.06526744e-04 9.99987250e-01 1.67700012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:333.16, Y:0.83, Z:1.68 [[ 9.99684808e-01 -2.45925092e-02 -5.04906746e-03 3.33164970e+02] [ 2.45932351e-02 9.99697537e-01 8.17111399e-05 8.25774050e-01] [ 5.04553082e-03 -2.05858288e-04 9.99987250e-01 1.67759120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:333.20, Y:0.83, Z:1.68 [[ 9.99689983e-01 -2.43812305e-02 -5.04906104e-03 3.33197209e+02] [ 2.43819557e-02 9.99702713e-01 8.21059417e-05 8.26356127e-01] [ 5.04555817e-03 -2.05186470e-04 9.99987250e-01 1.67795082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:333.23, Y:0.83, Z:1.68 [[ 9.99683229e-01 -2.46566018e-02 -5.04905447e-03 3.33229651e+02] [ 2.46573325e-02 9.99695958e-01 8.25079476e-05 8.25904453e-01] [ 5.04548498e-03 -2.06978026e-04 9.99987250e-01 1.67828683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:333.26, Y:0.83, Z:1.68 [[ 9.99670635e-01 -2.51620314e-02 -5.04904624e-03 3.33262118e+02] [ 2.51627710e-02 9.99683364e-01 8.30086620e-05 8.25528244e-01] [ 5.04535886e-03 -2.10029316e-04 9.99987250e-01 1.67849734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:333.29, Y:0.83, Z:1.68 [[ 9.99645538e-01 -2.61400992e-02 -5.04903949e-03 3.33294200e+02] [ 2.61408534e-02 9.99658266e-01 8.34170677e-05 8.25300698e-01] [ 5.04513353e-03 -2.15373701e-04 9.99987250e-01 1.67847721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:333.33, Y:0.83, Z:1.68 [[ 9.99584322e-01 -2.83846871e-02 -5.04903276e-03 3.33327042e+02] [ 2.83854718e-02 9.99597048e-01 8.38221518e-05 8.25326152e-01] [ 5.04461898e-03 -2.27106486e-04 9.99987250e-01 1.67779873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:333.36, Y:0.83, Z:1.68 [[ 9.99545713e-01 -2.97132232e-02 -5.04902260e-03 3.33359611e+02] [ 2.97140279e-02 9.99558437e-01 8.44298958e-05 8.25288212e-01] [ 5.04428446e-03 -2.34418339e-04 9.99987250e-01 1.67740614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:333.39, Y:0.83, Z:1.68 [[ 9.99514543e-01 -3.07438633e-02 -5.04901209e-03 3.33391235e+02] [ 3.07446843e-02 9.99527267e-01 8.50535126e-05 8.25122539e-01] [ 5.04401039e-03 -2.40242506e-04 9.99987250e-01 1.67723593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:333.42, Y:0.82, Z:1.68 [[ 9.99456211e-01 -3.25851146e-02 -5.04900334e-03 3.33424109e+02] [ 3.25859616e-02 9.99468933e-01 8.55698698e-05 8.24770865e-01] [ 5.04353368e-03 -2.50049967e-04 9.99987250e-01 1.67672589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:333.46, Y:0.82, Z:1.68 [[ 9.99434574e-01 -3.32421542e-02 -5.04899291e-03 3.33457259e+02] [ 3.32430127e-02 9.99447295e-01 8.61812780e-05 8.24347721e-01] [ 5.04333745e-03 -2.53976284e-04 9.99987250e-01 1.67592888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:333.49, Y:0.82, Z:1.68 [[ 9.99423677e-01 -3.35681624e-02 -5.04898248e-03 3.33490073e+02] [ 3.35690281e-02 9.99436398e-01 8.67880872e-05 8.24125000e-01] [ 5.04322354e-03 -2.56227504e-04 9.99987250e-01 1.67551324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:333.52, Y:0.83, Z:1.68 [[ 9.99418419e-01 -3.37243415e-02 -5.04897204e-03 3.33522977e+02] [ 3.37252123e-02 9.99431139e-01 8.73908456e-05 8.25550172e-01] [ 5.04315268e-03 -2.57617675e-04 9.99987250e-01 1.67513789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:333.56, Y:0.83, Z:1.68 [[ 9.99434761e-01 -3.32365332e-02 -5.04896159e-03 3.33556036e+02] [ 3.32374007e-02 9.99447481e-01 8.79908668e-05 8.25839917e-01] [ 5.04324743e-03 -2.55755491e-04 9.99987250e-01 1.67544770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:333.59, Y:0.83, Z:1.68 [[ 9.99452620e-01 -3.26950869e-02 -5.04895113e-03 3.33589049e+02] [ 3.26959505e-02 9.99465341e-01 8.85870037e-05 8.25977705e-01] [ 5.04335530e-03 -2.53618769e-04 9.99987250e-01 1.67565310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:333.62, Y:0.83, Z:1.68 [[ 9.99488991e-01 -3.15636589e-02 -5.04894062e-03 3.33620919e+02] [ 3.15645111e-02 9.99501713e-01 8.91817000e-05 8.26446228e-01] [ 5.04360990e-03 -2.48503470e-04 9.99987250e-01 1.67541501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:333.65, Y:0.83, Z:1.68 [[ 9.99503000e-01 -3.11169133e-02 -5.04892313e-03 3.33653907e+02] [ 3.11177648e-02 9.99515721e-01 9.01611889e-05 8.26271221e-01] [ 5.04367251e-03 -2.47227581e-04 9.99987250e-01 1.67524557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:333.69, Y:0.83, Z:1.68 [[ 9.99514754e-01 -3.07370382e-02 -5.04891266e-03 3.33685920e+02] [ 3.07378878e-02 9.99527475e-01 9.07436526e-05 8.26045009e-01] [ 5.04373774e-03 -2.45892530e-04 9.99987250e-01 1.67503779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:333.72, Y:0.83, Z:1.68 [[ 9.99540239e-01 -2.98968035e-02 -5.04890395e-03 3.33718673e+02] [ 2.98976448e-02 9.99552961e-01 9.12260794e-05 8.26568429e-01] [ 5.04391952e-03 -2.42134474e-04 9.99987250e-01 1.67521459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.304391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:333.75, Y:0.83, Z:1.68 [[ 9.99549135e-01 -2.95978790e-02 -5.04889346e-03 3.33751025e+02] [ 2.95987194e-02 9.99561858e-01 9.18027975e-05 8.26589678e-01] [ 5.04396416e-03 -2.41202188e-04 9.99987250e-01 1.67561548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:333.78, Y:0.83, Z:1.68 [[ 9.99560878e-01 -2.91986174e-02 -5.04888474e-03 3.33783839e+02] [ 2.91994552e-02 9.99573601e-01 9.22801325e-05 8.26492964e-01] [ 5.04403744e-03 -2.39664294e-04 9.99987250e-01 1.67623991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.364391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:333.82, Y:0.83, Z:1.68 [[ 9.99592113e-01 -2.81090261e-02 -5.04887367e-03 3.33815729e+02] [ 2.81098530e-02 9.99604836e-01 9.28816861e-05 8.27325207e-01] [ 5.04426772e-03 -2.34766897e-04 9.99987250e-01 1.67621771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:333.85, Y:0.83, Z:1.68 [[ 9.99603642e-01 -2.76959761e-02 -5.04886446e-03 3.33848635e+02] [ 2.76968003e-02 9.99616366e-01 9.33795944e-05 8.27580635e-01] [ 5.04434130e-03 -2.33179973e-04 9.99987250e-01 1.67665882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.424391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:333.88, Y:0.83, Z:1.68 [[ 9.99607212e-01 -2.75668402e-02 -5.04885320e-03 3.33881578e+02] [ 2.75676658e-02 9.99619935e-01 9.39844576e-05 8.27863336e-01] [ 5.04434346e-03 -2.33132639e-04 9.99987250e-01 1.67662447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:333.91, Y:0.83, Z:1.68 [[ 9.99618106e-01 -2.71689451e-02 -5.04884197e-03 3.33914433e+02] [ 2.71697686e-02 9.99630829e-01 9.45838340e-05 8.27803989e-01] [ 5.04440834e-03 -2.31723581e-04 9.99987250e-01 1.67710616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:333.95, Y:0.83, Z:1.68 [[ 9.99659183e-01 -2.56130399e-02 -5.04883047e-03 3.33946270e+02] [ 2.56138467e-02 9.99671907e-01 9.51937091e-05 8.27443939e-01] [ 5.04473579e-03 -2.24481235e-04 9.99987250e-01 1.67683453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:333.98, Y:0.83, Z:1.68 [[ 9.99678834e-01 -2.48342232e-02 -5.04882090e-03 3.33979439e+02] [ 2.48350227e-02 9.99691559e-01 9.56987599e-05 8.26813944e-01] [ 5.04488703e-03 -2.21055606e-04 9.99987250e-01 1.67755832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:334.01, Y:0.83, Z:1.68 [[ 9.99700936e-01 -2.39279778e-02 -5.04880919e-03 3.34011932e+02] [ 2.39287687e-02 9.99713661e-01 9.63124076e-05 8.26359536e-01] [ 5.04505896e-03 -2.17095392e-04 9.99987250e-01 1.67740201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:334.04, Y:0.83, Z:1.68 [[ 9.99734722e-01 -2.24720939e-02 -5.04879946e-03 3.34043854e+02] [ 2.24728689e-02 9.99747449e-01 9.68197825e-05 8.26114032e-01] [ 5.04534864e-03 -2.10255107e-04 9.99987250e-01 1.67848137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:334.08, Y:0.83, Z:1.68 [[ 9.99742260e-01 -2.21342173e-02 -5.04879167e-03 3.34075786e+02] [ 2.21349900e-02 9.99754986e-01 9.72246074e-05 8.26097011e-01] [ 5.04540266e-03 -2.08954502e-04 9.99987250e-01 1.67926181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:334.11, Y:0.83, Z:1.68 [[ 9.99754682e-01 -2.15658440e-02 -5.04878380e-03 3.34106920e+02] [ 2.15666115e-02 9.99767409e-01 9.76313502e-05 8.25681836e-01] [ 5.04550400e-03 -2.06492558e-04 9.99987250e-01 1.67931901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:334.14, Y:0.82, Z:1.68 [[ 9.99752432e-01 -2.16699168e-02 -5.04877793e-03 3.34138542e+02] [ 2.16706873e-02 9.99765158e-01 9.79341021e-05 8.24634151e-01] [ 5.04547004e-03 -2.07320344e-04 9.99987250e-01 1.67824192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:334.17, Y:0.82, Z:1.68 [[ 9.99740991e-01 -2.21914385e-02 -5.04877213e-03 3.34171018e+02] [ 2.21922170e-02 9.99753718e-01 9.82322633e-05 8.23551440e-01] [ 5.04534879e-03 -2.10250267e-04 9.99987250e-01 1.67799987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:334.20, Y:0.82, Z:1.68 [[ 9.99725199e-01 -2.28918351e-02 -5.04876445e-03 3.34203429e+02] [ 2.28926246e-02 9.99737925e-01 9.86256399e-05 8.21934598e-01] [ 5.04518357e-03 -2.14178007e-04 9.99987250e-01 1.67816669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:334.24, Y:0.82, Z:1.68 [[ 9.99710798e-01 -2.35123382e-02 -5.04875673e-03 3.34235903e+02] [ 2.35131375e-02 9.99723523e-01 9.90190627e-05 8.20988597e-01] [ 5.04503269e-03 -2.17702537e-04 9.99987250e-01 1.67845192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:334.27, Y:0.82, Z:1.68 [[ 9.99712635e-01 -2.34341215e-02 -5.04874896e-03 3.34268594e+02] [ 2.34349218e-02 9.99725360e-01 9.94138401e-05 8.20265072e-01] [ 5.04503269e-03 -2.17702309e-04 9.99987250e-01 1.67861690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:334.30, Y:0.82, Z:1.68 [[ 9.99711056e-01 -2.35013689e-02 -5.04874115e-03 3.34300755e+02] [ 2.35021721e-02 9.99723781e-01 9.98088449e-05 8.19071614e-01] [ 5.04500094e-03 -2.18436389e-04 9.99987250e-01 1.67904509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:334.33, Y:0.82, Z:1.68 [[ 9.99712989e-01 -2.34189945e-02 -5.04872165e-03 3.34332716e+02] [ 2.34198016e-02 9.99725714e-01 1.00785419e-04 8.17979565e-01] [ 5.04497656e-03 -2.18996552e-04 9.99987250e-01 1.67926137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:334.37, Y:0.82, Z:1.68 [[ 9.99694993e-01 -2.41750308e-02 -5.04871194e-03 3.34365243e+02] [ 2.41758499e-02 9.99707716e-01 1.01269455e-04 8.16683960e-01] [ 5.04478809e-03 -2.23295470e-04 9.99987250e-01 1.68072498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:334.40, Y:0.82, Z:1.68 [[ 9.99684271e-01 -2.46144166e-02 -5.04870409e-03 3.34396783e+02] [ 2.46152433e-02 9.99696994e-01 1.01659569e-04 8.15438963e-01] [ 5.04467201e-03 -2.25902551e-04 9.99987250e-01 1.68092218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:334.43, Y:0.81, Z:1.68 [[ 9.99675187e-01 -2.49806071e-02 -5.04869425e-03 3.34429239e+02] [ 2.49814409e-02 9.99687910e-01 1.02145958e-04 8.13856570e-01] [ 5.04456693e-03 -2.28236436e-04 9.99987250e-01 1.68118580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:334.46, Y:0.81, Z:1.68 [[ 9.99658227e-01 -2.56503484e-02 -5.04868659e-03 3.34461849e+02] [ 2.56511926e-02 9.99670949e-01 1.02523262e-04 8.11447305e-01] [ 5.04439555e-03 -2.31993054e-04 9.99987250e-01 1.68243946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:334.49, Y:0.81, Z:1.68 [[ 9.99641219e-01 -2.63048322e-02 -5.04867406e-03 3.34493575e+02] [ 2.63056879e-02 9.99653940e-01 1.03136234e-04 8.09868246e-01] [ 5.04421394e-03 -2.35908075e-04 9.99987250e-01 1.68290929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:334.53, Y:0.81, Z:1.68 [[ 9.99585363e-01 -2.83480669e-02 -5.04865324e-03 3.34526234e+02] [ 2.83489536e-02 9.99598082e-01 1.04145590e-04 8.07460716e-01] [ 5.04367177e-03 -2.47226444e-04 9.99987250e-01 1.68285796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.054391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:334.56, Y:0.81, Z:1.68 [[ 9.99564974e-01 -2.90581138e-02 -5.04864075e-03 3.34557869e+02] [ 2.90590126e-02 9.99577692e-01 1.04747672e-04 8.05707827e-01] [ 5.04346490e-03 -2.51410620e-04 9.99987250e-01 1.68255897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:334.59, Y:0.80, Z:1.68 [[ 9.99541988e-01 -2.98383200e-02 -5.04863036e-03 3.34590579e+02] [ 2.98392312e-02 9.99554705e-01 1.05245852e-04 8.04032111e-01] [ 5.04324188e-03 -2.55844896e-04 9.99987250e-01 1.68240945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.62, Y:0.80, Z:1.68 [[ 9.99539167e-01 -2.99326735e-02 -5.04861759e-03 3.34623015e+02] [ 2.99335890e-02 9.99551884e-01 1.05855050e-04 8.01726698e-01] [ 5.04318670e-03 -2.56929512e-04 9.99987250e-01 1.68267226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:334.66, Y:0.80, Z:1.68 [[ 9.99543360e-01 -2.97923282e-02 -5.04859636e-03 3.34655813e+02] [ 2.97932470e-02 9.99556077e-01 1.06858265e-04 8.00091416e-01] [ 5.04317161e-03 -2.57223547e-04 9.99987250e-01 1.68311029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.174391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:334.69, Y:0.80, Z:1.68 [[ 9.99554243e-01 -2.94249473e-02 -5.04858321e-03 3.34688070e+02] [ 2.94258645e-02 9.99566960e-01 1.07475707e-04 7.98700518e-01] [ 5.04323451e-03 -2.55986724e-04 9.99987250e-01 1.68302484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:334.72, Y:0.80, Z:1.68 [[ 9.99574641e-01 -2.87236772e-02 -5.04857228e-03 3.34719644e+02] [ 2.87245880e-02 9.99587358e-01 1.07986674e-04 7.97464510e-01] [ 5.04338726e-03 -2.52958900e-04 9.99987250e-01 1.68306488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:334.75, Y:0.80, Z:1.68 [[ 9.99622345e-01 -2.70125900e-02 -5.04856169e-03 3.34752392e+02] [ 2.70134816e-02 9.99635063e-01 1.08479644e-04 7.96231121e-01] [ 5.04378897e-03 -2.44817904e-04 9.99987250e-01 1.68386657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:334.78, Y:0.80, Z:1.68 [[ 9.99652479e-01 -2.58734057e-02 -5.04854843e-03 3.34784251e+02] [ 2.58742859e-02 9.99665199e-01 1.09093260e-04 7.95325818e-01] [ 5.04403556e-03 -2.39682933e-04 9.99987250e-01 1.68414394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:334.82, Y:0.79, Z:1.68 [[ 9.99688617e-01 -2.44372773e-02 -5.04853742e-03 3.34817275e+02] [ 2.44381417e-02 9.99701338e-01 1.09600609e-04 7.94261588e-01] [ 5.04435127e-03 -2.32943354e-04 9.99987250e-01 1.68446888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:334.85, Y:0.79, Z:1.68 [[ 9.99764338e-01 -2.11135395e-02 -5.04852427e-03 3.34849047e+02] [ 2.11143647e-02 9.99777061e-01 1.10202756e-04 7.92475889e-01] [ 5.04507199e-03 -2.16773168e-04 9.99987250e-01 1.68476490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:334.88, Y:0.79, Z:1.69 [[ 9.99807169e-01 -1.89772952e-02 -5.04851335e-03 3.34881536e+02] [ 1.89780957e-02 9.99819894e-01 1.10700923e-04 7.91132797e-01] [ 5.04550328e-03 -2.06490746e-04 9.99987250e-01 1.68519538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:334.91, Y:0.79, Z:1.69 [[ 9.99847315e-01 -1.67289847e-02 -5.04850469e-03 3.34914030e+02] [ 1.67297586e-02 9.99860042e-01 1.11094506e-04 7.89969471e-01] [ 5.04593961e-03 -1.95537808e-04 9.99987250e-01 1.68577308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:334.95, Y:0.79, Z:1.69 [[ 9.99918149e-01 -1.17562227e-02 -5.04849599e-03 3.34946255e+02] [ 1.17569352e-02 9.99930879e-01 1.11488448e-04 7.89399123e-01] [ 5.04683635e-03 -1.70834163e-04 9.99987250e-01 1.68629281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:334.98, Y:0.79, Z:1.69 [[ 9.99946908e-01 -8.98299061e-03 -5.04848692e-03 3.34978775e+02] [ 8.98366993e-03 9.99959640e-01 1.11897635e-04 7.88720879e-01] [ 5.04727799e-03 -1.57245634e-04 9.99987250e-01 1.68654781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:335.01, Y:0.79, Z:1.69 [[ 9.99967937e-01 -6.21586848e-03 -5.04847790e-03 3.35009612e+02] [ 6.21651460e-03 9.99980671e-01 1.12302915e-04 7.88248254e-01] [ 5.04768226e-03 -1.43683251e-04 9.99987250e-01 1.68595248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:335.04, Y:0.79, Z:1.69 [[ 9.99986011e-01 -1.57832512e-03 -5.04847066e-03 3.35039697e+02] [ 1.57891383e-03 9.99998747e-01 1.12627678e-04 7.87423315e-01] [ 5.04828657e-03 -1.20597203e-04 9.99987250e-01 1.68543681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:335.07, Y:0.79, Z:1.69 [[ 9.99987164e-01 4.30837504e-04 -5.04847066e-03 3.35068205e+02] [-4.30274387e-04 9.99999901e-01 1.12627678e-04 7.86801529e-01] [ 5.04851868e-03 -1.10454005e-04 9.99987250e-01 1.68590352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:335.10, Y:0.79, Z:1.69 [[ 9.99985118e-01 2.06797241e-03 -5.04850150e-03 3.35095936e+02] [-2.06743721e-03 9.99997857e-01 1.11227808e-04 7.86621868e-01] [ 5.04872070e-03 -1.00788693e-04 9.99987250e-01 1.68600453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:335.12, Y:0.79, Z:1.69 [[ 9.99973682e-01 5.21038308e-03 -5.04851235e-03 3.35123622e+02] [-5.20989042e-03 9.99986422e-01 1.10732960e-04 7.86180919e-01] [ 5.04902077e-03 -8.44278497e-05 9.99987250e-01 1.68751978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:335.15, Y:0.79, Z:1.69 [[ 9.99965358e-01 6.61782696e-03 -5.04854770e-03 3.35151960e+02] [-6.61736049e-03 9.99978099e-01 1.09097508e-04 7.85739636e-01] [ 5.04915912e-03 -7.56856683e-05 9.99987250e-01 1.68835097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:335.18, Y:0.79, Z:1.69 [[ 9.99956640e-01 7.82496147e-03 -5.04856080e-03 3.35180201e+02] [-7.82451345e-03 9.99969382e-01 1.08487614e-04 7.85621154e-01] [ 5.04925514e-03 -6.89803785e-05 9.99987250e-01 1.68947481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:335.21, Y:0.79, Z:1.69 [[ 9.99947972e-01 8.86374771e-03 -5.04857379e-03 3.35208445e+02] [-8.86331600e-03 9.99960714e-01 1.07879590e-04 7.85821196e-01] [ 5.04933168e-03 -6.31268725e-05 9.99987250e-01 1.69101730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:335.24, Y:0.79, Z:1.69 [[ 9.99930437e-01 1.06598639e-02 -5.04858675e-03 3.35236089e+02] [-1.06594582e-02 9.99943181e-01 1.07269624e-04 7.86053337e-01] [ 5.04944338e-03 -5.34469629e-05 9.99987250e-01 1.69274830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:335.26, Y:0.79, Z:1.69 [[ 9.99926964e-01 1.09808492e-02 -5.04859740e-03 3.35263589e+02] [-1.09804501e-02 9.99939707e-01 1.06766242e-04 7.85333932e-01] [ 5.04946539e-03 -5.13225721e-05 9.99987250e-01 1.69386954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:335.30, Y:0.78, Z:1.69 [[ 9.99898676e-01 1.33097424e-02 -5.04861034e-03 3.35295511e+02] [-1.33093760e-02 9.99911421e-01 1.06150885e-04 7.80368050e-01] [ 5.04957598e-03 -3.89462762e-05 9.99987250e-01 1.69213270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.804391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:335.32, Y:0.78, Z:1.70 [[ 9.99947649e-01 8.90081677e-03 -5.04732954e-03 3.35319753e+02] [-8.90008911e-03 9.99960380e-01 1.66609023e-04 7.83159175e-01] [ 5.04861252e-03 -1.21678618e-04 9.99987248e-01 1.69525749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:335.35, Y:0.78, Z:1.70 [[ 9.99959493e-01 7.45138383e-03 -5.04861198e-03 3.35347772e+02] [-7.45094931e-03 9.99972236e-01 1.04871527e-04 7.81967664e-01] [ 5.04925325e-03 -6.72503275e-05 9.99987250e-01 1.69566852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.864391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:335.38, Y:0.78, Z:1.70 [[ 9.99972648e-01 5.40496688e-03 -5.04862464e-03 3.35375621e+02] [-5.40450937e-03 9.99985390e-01 1.04258799e-04 7.80827886e-01] [ 5.04911439e-03 -7.69706081e-05 9.99987250e-01 1.69539598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:335.40, Y:0.78, Z:1.69 [[ 9.99987046e-01 6.47939594e-04 -5.04863503e-03 3.35404072e+02] [-6.47424031e-04 9.99999785e-01 1.03752863e-04 7.78367005e-01] [ 5.04870117e-03 -1.00482911e-04 9.99987250e-01 1.69406000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.924391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:335.43, Y:0.78, Z:1.69 [[ 9.99985075e-01 -2.08816685e-03 -5.04864311e-03 3.35431769e+02] [ 2.08871528e-03 9.99997813e-01 1.03358596e-04 7.76722277e-01] [ 5.04841624e-03 -1.13902231e-04 9.99987250e-01 1.69291194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:335.46, Y:0.77, Z:1.69 [[ 9.99967610e-01 -6.26810978e-03 -5.04865307e-03 3.35460227e+02] [ 6.26870898e-03 9.99980346e-01 1.02869593e-04 7.73402305e-01] [ 5.04790905e-03 -1.34514798e-04 9.99987250e-01 1.69074823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:335.49, Y:0.77, Z:1.69 [[ 9.99956503e-01 -7.84237918e-03 -5.04866141e-03 3.35489232e+02] [ 7.84299635e-03 9.99969238e-01 1.02458536e-04 7.71391940e-01] [ 5.04770259e-03 -1.42050713e-04 9.99987250e-01 1.68896661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:335.52, Y:0.77, Z:1.69 [[ 9.99950367e-01 -8.58918388e-03 -5.04866348e-03 3.35519545e+02] [ 8.58981005e-03 9.99963102e-01 1.02356571e-04 7.69457645e-01] [ 5.04759803e-03 -1.45718551e-04 9.99987250e-01 1.68739538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:335.55, Y:0.77, Z:1.69 [[ 9.99949559e-01 -8.68279928e-03 -5.04866348e-03 3.35551307e+02] [ 8.68342664e-03 9.99962293e-01 1.02356571e-04 7.67437331e-01] [ 5.04758437e-03 -1.46191107e-04 9.99987250e-01 1.68648172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:335.58, Y:0.77, Z:1.69 [[ 9.99953875e-01 -8.17060295e-03 -5.04865929e-03 3.35581153e+02] [ 8.17122483e-03 9.99966610e-01 1.02562945e-04 7.67036667e-01] [ 5.04765271e-03 -1.43811944e-04 9.99987250e-01 1.68592229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:335.61, Y:0.77, Z:1.69 [[ 9.99963703e-01 -6.86317075e-03 -5.04865721e-03 3.35611504e+02] [ 6.86377650e-03 9.99976439e-01 1.02665156e-04 7.66458867e-01] [ 5.04783365e-03 -1.37314284e-04 9.99987250e-01 1.68570880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:335.64, Y:0.77, Z:1.69 [[ 9.99972317e-01 -5.46594078e-03 -5.04865516e-03 3.35640945e+02] [ 5.46652924e-03 9.99985053e-01 1.02765562e-04 7.65855202e-01] [ 5.04801799e-03 -1.30361339e-04 9.99987250e-01 1.68547501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:335.67, Y:0.76, Z:1.69 [[ 9.99982971e-01 -2.92725445e-03 -5.04865476e-03 3.35671029e+02] [ 2.92781067e-03 9.99995709e-01 1.02785511e-04 7.64797891e-01] [ 5.04833221e-03 -1.17565266e-04 9.99987250e-01 1.68501053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:335.70, Y:0.76, Z:1.69 [[ 9.99985830e-01 -1.68820374e-03 -5.04865879e-03 3.35700700e+02] [ 1.68874318e-03 9.99998569e-01 1.02587295e-04 7.63923271e-01] [ 5.04847837e-03 -1.11111729e-04 9.99987250e-01 1.68525789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:335.73, Y:0.76, Z:1.69 [[ 9.99987235e-01 -2.01530522e-04 -5.04866280e-03 3.35729383e+02] [ 2.02050026e-04 9.99999974e-01 1.02389489e-04 7.63560878e-01] [ 5.04864203e-03 -1.03408264e-04 9.99987250e-01 1.68597775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:335.76, Y:0.76, Z:1.69 [[ 9.99987242e-01 1.62891699e-04 -5.04869120e-03 3.35758114e+02] [-1.62384004e-04 9.99999982e-01 1.00969517e-04 7.63307348e-01] [ 5.04870755e-03 -1.00148402e-04 9.99987250e-01 1.68639409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:335.79, Y:0.76, Z:1.69 [[ 9.99987177e-01 3.95860885e-04 -5.04871897e-03 3.35786434e+02] [-3.95363266e-04 9.99999917e-01 9.95610624e-05 7.63094503e-01] [ 5.04875796e-03 -9.75637077e-05 9.99987250e-01 1.68717896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:335.81, Y:0.76, Z:1.69 [[ 9.99987124e-01 5.12061152e-04 -5.04874652e-03 3.35814197e+02] [-5.11572165e-04 9.99999864e-01 9.81439706e-05 7.63243054e-01] [ 5.04879609e-03 -9.55599087e-05 9.99987250e-01 1.68846762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:335.84, Y:0.76, Z:1.69 [[ 9.99987238e-01 1.81910243e-04 -5.04875620e-03 3.35842727e+02] [-1.81419578e-04 9.99999979e-01 9.76430970e-05 7.63082305e-01] [ 5.04877386e-03 -9.67259077e-05 9.99987250e-01 1.68896699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:335.87, Y:0.76, Z:1.69 [[ 9.99987173e-01 4.05602581e-04 -5.04876388e-03 3.35870702e+02] [-4.05116777e-04 9.99999913e-01 9.72446611e-05 7.62549867e-01] [ 5.04880288e-03 -9.51980747e-05 9.99987250e-01 1.69111447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:335.90, Y:0.76, Z:1.69 [[ 9.99987202e-01 3.18633306e-04 -5.04917373e-03 3.35898507e+02] [-3.18255589e-04 9.99999947e-01 7.56110196e-05 7.62067858e-01] [ 5.04919755e-03 -7.40031242e-05 9.99987250e-01 1.69180617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:335.93, Y:0.76, Z:1.69 [[ 9.99983416e-01 -2.76992940e-03 -5.04924384e-03 3.35927682e+02] [ 2.77032781e-03 9.99996160e-01 7.19120323e-05 7.62490715e-01] [ 5.04902526e-03 -8.58989004e-05 9.99987250e-01 1.69166503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:335.96, Y:0.76, Z:1.69 [[ 9.99980605e-01 -3.64679895e-03 -5.04879201e-03 3.35957126e+02] [ 3.64732878e-03 9.99993344e-01 9.57390907e-05 7.62340556e-01] [ 5.04840927e-03 -1.14151838e-04 9.99987250e-01 1.69252604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:335.99, Y:0.76, Z:1.69 [[ 9.99975617e-01 -4.82433223e-03 -5.04879581e-03 3.35987086e+02] [ 4.82487605e-03 9.99988356e-01 9.55385787e-05 7.62331452e-01] [ 5.04827611e-03 -1.19896063e-04 9.99987250e-01 1.69291124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:336.02, Y:0.76, Z:1.69 [[ 9.99968918e-01 -6.05572299e-03 -5.04879968e-03 3.36016235e+02] [ 6.05628147e-03 9.99981656e-01 9.53335938e-05 7.62205320e-01] [ 5.04812975e-03 -1.25907583e-04 9.99987250e-01 1.69295289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.554391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:336.05, Y:0.76, Z:1.69 [[ 9.99947811e-01 -8.88171243e-03 -5.04880159e-03 3.36046360e+02] [ 8.88230639e-03 9.99960547e-01 9.52320958e-05 7.61919958e-01] [ 5.04775658e-03 -1.40072128e-04 9.99987250e-01 1.69258582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:336.08, Y:0.76, Z:1.69 [[ 9.99938315e-01 -9.89325419e-03 -5.04880159e-03 3.36077684e+02] [ 9.89386103e-03 9.99951050e-01 9.52320958e-05 7.61281969e-01] [ 5.04761230e-03 -1.45178363e-04 9.99987250e-01 1.69252533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.614391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:336.11, Y:0.76, Z:1.69 [[ 9.99925624e-01 -1.11021221e-02 -5.04879770e-03 3.36108460e+02] [ 1.11027454e-02 9.99938358e-01 9.54382762e-05 7.61055631e-01] [ 5.04742691e-03 -1.51486693e-04 9.99987250e-01 1.69189236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:336.14, Y:0.76, Z:1.69 [[ 9.99910014e-01 -1.24287266e-02 -5.04879185e-03 3.36139935e+02] [ 1.24293684e-02 9.99922748e-01 9.57463477e-05 7.61724466e-01] [ 5.04721182e-03 -1.58491026e-04 9.99987250e-01 1.69113084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.674391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:336.17, Y:0.76, Z:1.69 [[ 9.99900024e-01 -1.32079860e-02 -5.04883803e-03 3.36171407e+02] [ 1.32086254e-02 9.99912758e-01 9.33134950e-05 7.61912333e-01] [ 5.04716508e-03 -1.59992376e-04 9.99987250e-01 1.69059165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:336.20, Y:0.76, Z:1.69 [[ 9.99901074e-01 -1.31282847e-02 -5.04877800e-03 3.36204096e+02] [ 1.31289389e-02 9.99913807e-01 9.64556964e-05 7.61208642e-01] [ 5.04707654e-03 -1.62731252e-04 9.99987250e-01 1.69075566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:336.23, Y:0.76, Z:1.69 [[ 9.99894754e-01 -1.36011240e-02 -5.04877028e-03 3.36234944e+02] [ 1.36017862e-02 9.99907487e-01 9.68580549e-05 7.61646016e-01] [ 5.04698583e-03 -1.65520155e-04 9.99987250e-01 1.69010291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:336.27, Y:0.76, Z:1.69 [[ 9.99889200e-01 -1.40034920e-02 -5.04876452e-03 3.36266872e+02] [ 1.40041609e-02 9.99901932e-01 9.71575669e-05 7.63012515e-01] [ 5.04690885e-03 -1.67850512e-04 9.99987250e-01 1.69034934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:336.30, Y:0.76, Z:1.69 [[ 9.99891781e-01 -1.38180031e-02 -5.04875689e-03 3.36299236e+02] [ 1.38186717e-02 9.99904513e-01 9.75525730e-05 7.62841155e-01] [ 5.04692682e-03 -1.67309130e-04 9.99987250e-01 1.69083391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:336.33, Y:0.76, Z:1.69 [[ 9.99887283e-01 -1.41397082e-02 -5.04874901e-03 3.36331660e+02] [ 1.41403829e-02 9.99900015e-01 9.79584967e-05 7.63540998e-01] [ 5.04685911e-03 -1.69338699e-04 9.99987250e-01 1.69083967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:336.36, Y:0.76, Z:1.69 [[ 9.99889149e-01 -1.40071633e-02 -5.04874103e-03 3.36363756e+02] [ 1.40078384e-02 9.99901881e-01 9.83679494e-05 7.63496575e-01] [ 5.04686780e-03 -1.69078994e-04 9.99987250e-01 1.69117360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:336.40, Y:0.76, Z:1.69 [[ 9.99886188e-01 -1.42169094e-02 -5.04873307e-03 3.36395328e+02] [ 1.42175892e-02 9.99898920e-01 9.87748802e-05 7.63801212e-01] [ 5.04681847e-03 -1.70544451e-04 9.99987250e-01 1.69156847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.43, Y:0.76, Z:1.69 [[ 9.99889153e-01 -1.40068300e-02 -5.04872712e-03 3.36427228e+02] [ 1.40075086e-02 9.99901885e-01 9.90780540e-05 7.63994224e-01] [ 5.04684400e-03 -1.69787160e-04 9.99987250e-01 1.69224948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:336.46, Y:0.77, Z:1.69 [[ 9.99905441e-01 -1.27914215e-02 -5.04871916e-03 3.36459177e+02] [ 1.27920867e-02 9.99918173e-01 9.94822541e-05 7.65330605e-01] [ 5.04703352e-03 -1.64056500e-04 9.99987250e-01 1.69354680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:336.49, Y:0.77, Z:1.69 [[ 9.99919215e-01 -1.16650639e-02 -5.04871108e-03 3.36490399e+02] [ 1.16657168e-02 9.99931948e-01 9.98908267e-05 7.66119174e-01] [ 5.04720227e-03 -1.58779591e-04 9.99987250e-01 1.69422839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:336.52, Y:0.77, Z:1.70 [[ 9.99935226e-01 -1.02007345e-02 -5.04869771e-03 3.36522434e+02] [ 1.02013722e-02 9.99947960e-01 1.00561965e-04 7.66949718e-01] [ 5.04740917e-03 -1.52059096e-04 9.99987250e-01 1.69518658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:336.55, Y:0.77, Z:1.70 [[ 9.99944197e-01 -9.27972995e-03 -5.04868988e-03 3.36550340e+02] [ 9.28035783e-03 9.99956931e-01 1.00953232e-04 7.70529228e-01] [ 5.04753563e-03 -1.47801247e-04 9.99987250e-01 1.69619037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:336.58, Y:0.77, Z:1.70 [[ 9.99977793e-01 -4.34863121e-03 -5.05001233e-03 3.36582541e+02] [ 4.34885607e-03 9.99990543e-01 3.35446386e-05 7.69781732e-01] [ 5.04981870e-03 -5.55056704e-05 9.99987248e-01 1.69709212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:336.61, Y:0.77, Z:1.70 [[ 9.99985274e-01 -1.99072045e-03 -5.04866543e-03 3.36612347e+02] [ 1.99125534e-03 9.99998012e-01 1.00923445e-04 7.70165470e-01] [ 5.04845449e-03 -1.10975141e-04 9.99987250e-01 1.69768512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:336.64, Y:0.77, Z:1.70 [[ 9.99985008e-01 2.12001061e-03 -5.04866948e-03 3.36641467e+02] [-2.11952910e-03 9.99997749e-01 1.00720763e-04 7.71555549e-01] [ 5.04887164e-03 -9.00184507e-05 9.99987250e-01 1.69741301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:336.67, Y:0.77, Z:1.70 [[ 9.99980527e-01 3.66836632e-03 -5.04869761e-03 3.36668839e+02] [-3.66791176e-03 9.99993268e-01 9.92901743e-05 7.72083058e-01] [ 5.04902786e-03 -8.07700634e-05 9.99987250e-01 1.69661853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:336.70, Y:0.77, Z:1.70 [[ 9.99973710e-01 5.20479666e-03 -5.04871142e-03 3.36697104e+02] [-5.20436525e-03 9.99986452e-01 9.85829046e-05 7.72438442e-01] [ 5.04915613e-03 -7.23049746e-05 9.99987250e-01 1.69590544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:336.73, Y:0.77, Z:1.69 [[ 9.99961041e-01 7.24066577e-03 -5.04872105e-03 3.36725856e+02] [-7.24026281e-03 9.99973784e-01 9.80870640e-05 7.72956204e-01] [ 5.04929891e-03 -6.15291753e-05 9.99987250e-01 1.69398946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.75, Y:0.77, Z:1.69 [[ 9.99956328e-01 7.86464899e-03 -5.04872889e-03 3.36753590e+02] [-7.86425602e-03 9.99969072e-01 9.76821048e-05 7.72559485e-01] [ 5.04934097e-03 -5.79733422e-05 9.99987250e-01 1.69322269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:336.78, Y:0.77, Z:1.69 [[ 9.99955139e-01 8.01443151e-03 -5.04874070e-03 3.36781297e+02] [-8.01404355e-03 9.99967882e-01 9.70676860e-05 7.72098914e-01] [ 5.04935649e-03 -5.66025035e-05 9.99987250e-01 1.69196787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.81, Y:0.77, Z:1.69 [[ 9.99957260e-01 7.74523277e-03 -5.04875162e-03 3.36810389e+02] [-7.74484427e-03 9.99970004e-01 9.64965622e-05 7.71333254e-01] [ 5.04934756e-03 -5.73906428e-05 9.99987250e-01 1.69095651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.84, Y:0.77, Z:1.69 [[ 9.99961011e-01 7.24480049e-03 -5.04875921e-03 3.36839043e+02] [-7.24440762e-03 9.99973754e-01 9.60979412e-05 7.70715098e-01] [ 5.04932291e-03 -5.95189247e-05 9.99987250e-01 1.69132402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.364391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:336.87, Y:0.77, Z:1.69 [[ 9.99962160e-01 7.08441937e-03 -5.04876687e-03 3.36866715e+02] [-7.08402651e-03 9.99974903e-01 9.56934075e-05 7.70235589e-01] [ 5.04931810e-03 -5.99241881e-05 9.99987250e-01 1.69163563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:336.89, Y:0.77, Z:1.69 [[ 9.99957878e-01 7.66504766e-03 -5.04877633e-03 3.36894765e+02] [-7.66466472e-03 9.99970622e-01 9.51917715e-05 7.69851289e-01] [ 5.04935765e-03 -5.64905840e-05 9.99987250e-01 1.69251992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.424391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:336.92, Y:0.77, Z:1.69 [[ 9.99955717e-01 7.94188580e-03 -5.04878710e-03 3.36923764e+02] [-7.94150930e-03 9.99968461e-01 9.46170393e-05 7.69443895e-01] [ 5.04937931e-03 -5.45178597e-05 9.99987250e-01 1.69288341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:336.95, Y:0.77, Z:1.69 [[ 9.99955017e-01 8.02958418e-03 -5.04879446e-03 3.36952146e+02] [-8.02921079e-03 9.99967761e-01 9.42225795e-05 7.68579998e-01] [ 5.04938826e-03 -5.36805061e-05 9.99987250e-01 1.69314006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:336.98, Y:0.77, Z:1.69 [[ 9.99961410e-01 7.18939183e-03 -5.04880175e-03 3.36981177e+02] [-7.18900971e-03 9.99974154e-01 9.38304597e-05 7.67272514e-01] [ 5.04934584e-03 -5.75309540e-05 9.99987250e-01 1.69380081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:337.01, Y:0.77, Z:1.69 [[ 9.99965307e-01 6.62533734e-03 -5.04880921e-03 3.37008864e+02] [-6.62495007e-03 9.99978050e-01 9.34271570e-05 7.66399434e-01] [ 5.04931738e-03 -5.99758067e-05 9.99987250e-01 1.69353172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:337.04, Y:0.77, Z:1.69 [[ 9.99970774e-01 5.74116627e-03 -5.04881841e-03 3.37037334e+02] [-5.74077025e-03 9.99983517e-01 9.29273250e-05 7.65216040e-01] [ 5.04926871e-03 -6.39405025e-05 9.99987250e-01 1.69495549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:337.07, Y:0.76, Z:1.70 [[ 9.99969243e-01 6.00194720e-03 -5.04882585e-03 3.37065520e+02] [-6.00155655e-03 9.99981986e-01 9.25214985e-05 7.64450360e-01] [ 5.04929021e-03 -6.22178389e-05 9.99987250e-01 1.69523082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:337.09, Y:0.76, Z:1.70 [[ 9.99965713e-01 6.56366922e-03 -5.04883502e-03 3.37093924e+02] [-6.56328826e-03 9.99978457e-01 9.20185653e-05 7.64117112e-01] [ 5.04933023e-03 -5.88784507e-05 9.99987250e-01 1.69588177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:337.12, Y:0.76, Z:1.70 [[ 9.99959244e-01 7.48465812e-03 -5.04884602e-03 3.37122202e+02] [-7.48429197e-03 9.99971988e-01 9.14107959e-05 7.63894451e-01] [ 5.04938877e-03 -5.36200326e-05 9.99987250e-01 1.69649548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:337.15, Y:0.77, Z:1.70 [[ 9.99937032e-01 1.00220154e-02 -5.04885505e-03 3.37148266e+02] [-1.00216841e-02 9.99949778e-01 9.09091521e-05 7.66214522e-01] [ 5.04951258e-03 -4.03053973e-05 9.99987250e-01 1.69533363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:337.18, Y:0.77, Z:1.70 [[ 9.99915197e-01 1.20041304e-02 -5.04970931e-03 3.37176273e+02] [-1.20040608e-02 9.99927948e-01 4.40886278e-05 7.65843092e-01] [ 5.04987471e-03 1.65321285e-05 9.99987249e-01 1.69754994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:337.20, Y:0.77, Z:1.70 [[ 9.99898410e-01 1.33292342e-02 -5.04988108e-03 3.37203996e+02] [-1.33292285e-02 9.99911161e-01 3.47800633e-05 7.65476103e-01] [ 5.04989605e-03 3.25344889e-05 9.99987249e-01 1.69657009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:337.24, Y:0.76, Z:1.70 [[ 9.99849834e-01 1.65773238e-02 -5.04984978e-03 3.37235821e+02] [-1.65773508e-02 9.99862586e-01 3.65165556e-05 7.61780693e-01] [ 5.04976121e-03 4.72020593e-05 9.99987249e-01 1.69875187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:337.26, Y:0.76, Z:1.70 [[ 9.99837128e-01 1.73270214e-02 -5.04885081e-03 3.37263552e+02] [-1.73267799e-02 9.99849876e-01 9.15866381e-05 7.60539464e-01] [ 5.04967978e-03 -4.09139455e-06 9.99987250e-01 1.69784465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:337.29, Y:0.76, Z:1.70 [[ 9.99831897e-01 1.76263079e-02 -5.04886328e-03 3.37292768e+02] [-1.76260737e-02 9.99844645e-01 9.08938205e-05 7.59561379e-01] [ 5.04968104e-03 -1.88690482e-06 9.99987250e-01 1.69713338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:337.32, Y:0.76, Z:1.70 [[ 9.99828540e-01 1.78156838e-02 -5.04887028e-03 3.37321837e+02] [-1.78154539e-02 9.99841288e-01 9.05035679e-05 7.57964932e-01] [ 5.04968135e-03 -5.40134389e-07 9.99987250e-01 1.69555687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:337.35, Y:0.76, Z:1.70 [[ 9.99838539e-01 1.72454174e-02 -5.04887730e-03 3.37349511e+02] [-1.72451823e-02 9.99851287e-01 9.01100513e-05 7.57371562e-01] [ 5.04968045e-03 -3.02669261e-06 9.99987250e-01 1.69535815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:337.38, Y:0.76, Z:1.70 [[ 9.99844346e-01 1.69054262e-02 -5.04888774e-03 3.37378216e+02] [-1.69051897e-02 9.99857093e-01 8.95214999e-05 7.56532176e-01] [ 5.04967962e-03 -4.15516047e-06 9.99987250e-01 1.69536365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:337.41, Y:0.76, Z:1.70 [[ 9.99858955e-01 1.60180738e-02 -5.04889467e-03 3.37405194e+02] [-1.60178280e-02 9.99871702e-01 8.91289272e-05 7.56104300e-01] [ 5.04967458e-03 -8.24402980e-06 9.99987250e-01 1.69571001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:337.43, Y:0.76, Z:1.70 [[ 9.99872504e-01 1.51487054e-02 -5.04891056e-03 3.37432885e+02] [-1.51484530e-02 9.99885252e-01 8.82194250e-05 7.55304924e-01] [ 5.04966762e-03 -1.17249930e-05 9.99987250e-01 1.69699318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:337.46, Y:0.75, Z:1.70 [[ 9.99887784e-01 1.41042013e-02 -5.04892110e-03 3.37460156e+02] [-1.41039387e-02 9.99900531e-01 8.76122899e-05 7.54480641e-01] [ 5.04965458e-03 -1.63927849e-05 9.99987250e-01 1.69658277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:337.49, Y:0.75, Z:1.70 [[ 9.99904346e-01 1.28766063e-02 -5.04893319e-03 3.37487993e+02] [-1.28763316e-02 9.99917093e-01 8.69099473e-05 7.53591164e-01] [ 5.04963370e-03 -2.18898960e-05 9.99987250e-01 1.69824447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.054391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:337.52, Y:0.75, Z:1.70 [[ 9.99930875e-01 1.06185163e-02 -5.04894350e-03 3.37515415e+02] [-1.06182159e-02 9.99943621e-01 8.63067209e-05 7.52469832e-01] [ 5.04957529e-03 -3.26899828e-05 9.99987250e-01 1.69894222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:337.54, Y:0.75, Z:1.70 [[ 9.99941708e-01 9.54401201e-03 -5.04895533e-03 3.37544361e+02] [-9.54370141e-03 9.99954454e-01 8.56089399e-05 7.51884842e-01] [ 5.04954242e-03 -3.74182275e-05 9.99987250e-01 1.69999000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.114391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:337.57, Y:0.75, Z:1.70 [[ 9.99952091e-01 8.38598116e-03 -5.04896211e-03 3.37571928e+02] [-8.38565782e-03 9.99964836e-01 8.52070405e-05 7.51357499e-01] [ 5.04949911e-03 -4.28640897e-05 9.99987250e-01 1.70128988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:337.60, Y:0.75, Z:1.70 [[ 9.99955530e-01 7.96524167e-03 -5.04897046e-03 3.37599463e+02] [-7.96491548e-03 9.99968276e-01 8.47093960e-05 7.50698582e-01] [ 5.04948502e-03 -4.44910060e-05 9.99987250e-01 1.70141112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.174391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:337.63, Y:0.75, Z:1.70 [[ 9.99956616e-01 7.82776161e-03 -5.04897869e-03 3.37627998e+02] [-7.82743616e-03 9.99969362e-01 8.42162619e-05 7.49941013e-01] [ 5.04948322e-03 -4.46920499e-05 9.99987250e-01 1.70150751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:337.66, Y:0.75, Z:1.70 [[ 9.99952879e-01 8.29140325e-03 -5.04898516e-03 3.37656697e+02] [-8.29108567e-03 9.99965625e-01 8.38260429e-05 7.49192908e-01] [ 5.04950664e-03 -4.19605244e-05 9.99987250e-01 1.70309328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:337.68, Y:0.75, Z:1.70 [[ 9.99942539e-01 9.45651982e-03 -5.04899180e-03 3.37684333e+02] [-9.45621913e-03 9.99955285e-01 8.34243750e-05 7.48571472e-01] [ 5.04955494e-03 -3.56752086e-05 9.99987250e-01 1.70403186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:337.71, Y:0.75, Z:1.71 [[ 9.99890094e-01 1.39394065e-02 -5.04899997e-03 3.37712320e+02] [-1.39391654e-02 9.99902842e-01 8.29267276e-05 7.47916260e-01] [ 5.04966537e-03 -1.25387675e-05 9.99987250e-01 1.70594625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:337.74, Y:0.75, Z:1.71 [[ 9.99851338e-01 1.64866474e-02 -5.04900801e-03 3.37741354e+02] [-1.64864413e-02 9.99864086e-01 8.24343254e-05 7.47849948e-01] [ 5.04968085e-03 8.18103710e-07 9.99987250e-01 1.70806575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:337.77, Y:0.75, Z:1.71 [[ 9.99806849e-01 1.89939793e-02 -5.04901447e-03 3.37768423e+02] [-1.89938072e-02 9.99819598e-01 8.20372515e-05 7.47877836e-01] [ 5.04966183e-03 1.38786014e-05 9.99987250e-01 1.70929398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:337.80, Y:0.75, Z:1.71 [[ 9.99723382e-01 2.29710060e-02 -5.04902554e-03 3.37795998e+02] [-2.29708880e-02 9.99736131e-01 8.13498295e-05 7.47528012e-01] [ 5.04956195e-03 3.46532737e-05 9.99987250e-01 1.71085449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:337.82, Y:0.75, Z:1.71 [[ 9.99702479e-01 2.38633769e-02 -5.04903329e-03 3.37824094e+02] [-2.38632728e-02 9.99715228e-01 8.08658040e-05 7.46294774e-01] [ 5.04952520e-03 3.96447143e-05 9.99987250e-01 1.71153369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:337.85, Y:0.74, Z:1.71 [[ 9.99716085e-01 2.32863865e-02 -5.04904304e-03 3.37851931e+02] [-2.32862781e-02 9.99728835e-01 8.02523692e-05 7.42034949e-01] [ 5.04954271e-03 3.73438362e-05 9.99987250e-01 1.70957666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:337.88, Y:0.74, Z:1.71 [[ 9.99750343e-01 2.17659886e-02 -5.04905465e-03 3.37880551e+02] [-2.17658646e-02 9.99763092e-01 7.95153896e-05 7.39495948e-01] [ 5.04958922e-03 3.04015018e-05 9.99987250e-01 1.70894752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:337.91, Y:0.74, Z:1.71 [[ 9.99794164e-01 1.96503698e-02 -5.04906101e-03 3.37908108e+02] [-1.96502209e-02 9.99806913e-01 7.91093517e-05 7.36976939e-01] [ 5.04964063e-03 2.01220960e-05 9.99987250e-01 1.70757895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:337.94, Y:0.73, Z:1.71 [[ 9.99878478e-01 1.47490779e-02 -5.04906885e-03 3.37937050e+02] [-1.47488690e-02 9.99891226e-01 7.86061588e-05 7.33312425e-01] [ 5.04967901e-03 -4.12855166e-06 9.99987250e-01 1.70805651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:337.96, Y:0.73, Z:1.71 [[ 9.99912415e-01 1.22338978e-02 -5.04907512e-03 3.37964683e+02] [-1.22336588e-02 9.99925163e-01 7.82007886e-05 7.31942470e-01] [ 5.04965397e-03 -1.64252769e-05 9.99987250e-01 1.70761981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:337.99, Y:0.73, Z:1.71 [[ 9.99940240e-01 9.69655434e-03 -5.04908285e-03 3.37993532e+02] [-9.69628562e-03 9.99952987e-01 7.76988870e-05 7.30584727e-01] [ 5.04959889e-03 -2.87368944e-05 9.99987250e-01 1.70766639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:338.02, Y:0.73, Z:1.71 [[ 9.99941356e-01 9.58079632e-03 -5.04908881e-03 3.38021981e+02] [-9.58052809e-03 9.99954103e-01 7.73092353e-05 7.30266583e-01] [ 5.04959776e-03 -2.89317644e-05 9.99987250e-01 1.70781020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:338.05, Y:0.73, Z:1.71 [[ 9.99970652e-01 5.76207740e-03 -5.04909770e-03 3.38051137e+02] [-5.76176345e-03 9.99983398e-01 7.67247296e-05 7.27002718e-01] [ 5.04945596e-03 -4.76307714e-05 9.99987250e-01 1.70920878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:338.08, Y:0.73, Z:1.71 [[ 9.99978987e-01 4.06588464e-03 -5.04910383e-03 3.38079251e+02] [-4.06555111e-03 9.99991733e-01 7.63187345e-05 7.25097899e-01] [ 5.04937239e-03 -5.57897412e-05 9.99987250e-01 1.70890868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:338.11, Y:0.72, Z:1.71 [[ 9.99985233e-01 2.00987828e-03 -5.04911139e-03 3.38108127e+02] [-2.00952109e-03 9.99997978e-01 7.58155374e-05 7.23503298e-01] [ 5.04925356e-03 -6.56681220e-05 9.99987250e-01 1.70938636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:338.14, Y:0.72, Z:1.71 [[ 9.99986711e-01 -1.04115359e-03 -5.04911735e-03 3.38136572e+02] [ 1.04154765e-03 9.99999455e-01 7.54162414e-05 7.20157400e-01] [ 5.04903608e-03 -8.06741355e-05 9.99987250e-01 1.71250786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:338.16, Y:0.72, Z:1.71 [[ 9.99984421e-01 -2.37987664e-03 -5.04912348e-03 3.38164691e+02] [ 2.38028567e-03 9.99997164e-01 7.50034670e-05 7.18624695e-01] [ 5.04893067e-03 -8.70206548e-05 9.99987250e-01 1.71265577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:338.19, Y:0.72, Z:1.71 [[ 9.99980377e-01 -3.70833180e-03 -5.04912954e-03 3.38193831e+02] [ 3.70875570e-03 9.99993120e-01 7.45938508e-05 7.16282502e-01] [ 5.04881818e-03 -9.33183750e-05 9.99987250e-01 1.71445269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.804391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:338.22, Y:0.71, Z:1.72 [[ 9.99979745e-01 -3.87513473e-03 -5.04913547e-03 3.38223137e+02] [ 3.87555872e-03 9.99992487e-01 7.41897152e-05 7.14819844e-01] [ 5.04881005e-03 -9.37564335e-05 9.99987250e-01 1.71542532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:338.25, Y:0.71, Z:1.72 [[ 9.99979329e-01 -3.98091962e-03 -5.04913849e-03 3.38251725e+02] [ 3.98134391e-03 9.99992072e-01 7.39836354e-05 7.13473763e-01] [ 5.04880394e-03 -9.40844629e-05 9.99987250e-01 1.71509816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.864391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:338.28, Y:0.71, Z:1.72 [[ 9.99978439e-01 -4.19845283e-03 -5.04914296e-03 3.38281498e+02] [ 4.19887834e-03 9.99991182e-01 7.36772396e-05 7.12042543e-01] [ 5.04878911e-03 -9.48763881e-05 9.99987250e-01 1.71542327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:338.31, Y:0.71, Z:1.71 [[ 9.99975196e-01 -4.91059851e-03 -5.04914593e-03 3.38310621e+02] [ 4.91103208e-03 9.99987938e-01 7.34735045e-05 7.09491261e-01] [ 5.04872423e-03 -9.82681997e-05 9.99987250e-01 1.71477579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.924391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:338.34, Y:0.71, Z:1.72 [[ 9.99962489e-01 -7.03751825e-03 -5.04914740e-03 3.38340421e+02] [ 7.03797840e-03 9.99975230e-01 7.33726194e-05 7.06401107e-01] [ 5.04850597e-03 -1.08905657e-04 9.99987250e-01 1.71554326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:338.37, Y:0.70, Z:1.72 [[ 9.99951882e-01 -8.41066622e-03 -5.04915033e-03 3.38370240e+02] [ 8.41114284e-03 9.99964623e-01 7.31702513e-05 7.04653712e-01] [ 5.04835629e-03 -1.15635855e-04 9.99987250e-01 1.71582758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:338.40, Y:0.70, Z:1.72 [[ 9.99938521e-01 -9.87223563e-03 -5.04915178e-03 3.38401035e+02] [ 9.87273038e-03 9.99951261e-01 7.30699783e-05 7.03183654e-01] [ 5.04818432e-03 -1.22914400e-04 9.99987250e-01 1.71607072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:338.43, Y:0.70, Z:1.72 [[ 9.99923144e-01 -1.13230887e-02 -5.04915178e-03 3.38431882e+02] [ 1.13236020e-02 9.99935883e-01 7.30699783e-05 7.01791594e-01] [ 5.04800067e-03 -1.30238947e-04 9.99987250e-01 1.71610672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:338.46, Y:0.70, Z:1.72 [[ 9.99885362e-01 -1.42747390e-02 -5.04914891e-03 3.38463207e+02] [ 1.42752908e-02 9.99898100e-01 7.32679307e-05 6.99532537e-01] [ 5.04758852e-03 -1.45337600e-04 9.99987250e-01 1.71515317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:338.50, Y:0.70, Z:1.72 [[ 9.99865591e-01 -1.55982801e-02 -5.04914604e-03 3.38495207e+02] [ 1.55988498e-02 9.99878328e-01 7.34651100e-05 6.97919242e-01] [ 5.04738577e-03 -1.52216106e-04 9.99987250e-01 1.71562314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:338.53, Y:0.70, Z:1.72 [[ 9.99843979e-01 -1.69269906e-02 -5.04914002e-03 3.38527357e+02] [ 1.69275793e-02 9.99856716e-01 7.38765068e-05 6.96676909e-01] [ 5.04716605e-03 -1.59334699e-04 9.99987250e-01 1.71521473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:338.56, Y:0.70, Z:1.71 [[ 9.99805172e-01 -1.90820378e-02 -5.04913398e-03 3.38559942e+02] [ 1.90826560e-02 9.99817907e-01 7.42870171e-05 6.95452661e-01] [ 5.04679702e-03 -1.70623431e-04 9.99987250e-01 1.71422317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:338.59, Y:0.69, Z:1.71 [[ 9.99786566e-01 -2.00332106e-02 -5.04912795e-03 3.38590885e+02] [ 2.00338430e-02 9.99799300e-01 7.46942219e-05 6.94683890e-01] [ 5.04661823e-03 -1.75831716e-04 9.99987250e-01 1.71333092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:338.62, Y:0.69, Z:1.71 [[ 9.99781536e-01 -2.02826809e-02 -5.04912345e-03 3.38622608e+02] [ 2.02833180e-02 9.99794270e-01 7.49977417e-05 6.94430789e-01] [ 5.04656353e-03 -1.77394334e-04 9.99987250e-01 1.71407140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:338.65, Y:0.69, Z:1.71 [[ 9.99778095e-01 -2.04515732e-02 -5.04911735e-03 3.38654159e+02] [ 2.04522145e-02 9.99790829e-01 7.54057670e-05 6.94368376e-01] [ 5.04651906e-03 -1.78654665e-04 9.99987250e-01 1.71373143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:338.69, Y:0.69, Z:1.71 [[ 9.99774632e-01 -2.06201690e-02 -5.04911279e-03 3.38686707e+02] [ 2.06208140e-02 9.99787366e-01 7.57097515e-05 6.94271824e-01] [ 5.04647803e-03 -1.79809505e-04 9.99987250e-01 1.71418260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:338.72, Y:0.69, Z:1.72 [[ 9.99756793e-01 -2.14676801e-02 -5.04910675e-03 3.38718887e+02] [ 2.14683379e-02 9.99769526e-01 7.61109156e-05 6.93865650e-01] [ 5.04630913e-03 -1.84488335e-04 9.99987250e-01 1.71533400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:338.75, Y:0.69, Z:1.72 [[ 9.99741953e-01 -2.21480215e-02 -5.04910068e-03 3.38750053e+02] [ 2.21486900e-02 9.99754685e-01 7.65113337e-05 6.93642067e-01] [ 5.04616748e-03 -1.88322556e-04 9.99987250e-01 1.71552183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:338.78, Y:0.69, Z:1.72 [[ 9.99725422e-01 -2.28820351e-02 -5.04909112e-03 3.38782228e+02] [ 2.28827161e-02 9.99738153e-01 7.71372866e-05 6.93382261e-01] [ 5.04600397e-03 -1.92653025e-04 9.99987250e-01 1.71676092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:338.81, Y:0.69, Z:1.72 [[ 9.99710958e-01 -2.35054661e-02 -5.04908513e-03 3.38814197e+02] [ 2.35061570e-02 9.99723689e-01 7.75270304e-05 6.93123425e-01] [ 5.04586771e-03 -1.96189210e-04 9.99987250e-01 1.71836698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:338.85, Y:0.69, Z:1.72 [[ 9.99688760e-01 -2.44313112e-02 -5.04907907e-03 3.38845592e+02] [ 2.44320158e-02 9.99701491e-01 7.79198935e-05 6.93450860e-01] [ 5.04566819e-03 -2.01254821e-04 9.99987250e-01 1.71978499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:338.88, Y:0.69, Z:1.72 [[ 9.99687316e-01 -2.44903497e-02 -5.04907453e-03 3.38876529e+02] [ 2.44910566e-02 9.99700046e-01 7.82126546e-05 6.93839174e-01] [ 5.04564459e-03 -2.01845369e-04 9.99987250e-01 1.72013832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:338.91, Y:0.70, Z:1.72 [[ 9.99704710e-01 -2.37697350e-02 -5.04907005e-03 3.38908896e+02] [ 2.37704342e-02 9.99717440e-01 7.85010270e-05 6.96310745e-01] [ 5.04577744e-03 -1.98496434e-04 9.99987250e-01 1.72064564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:338.94, Y:0.70, Z:1.72 [[ 9.99721116e-01 -2.30693822e-02 -5.04906409e-03 3.38941452e+02] [ 2.30700743e-02 9.99733847e-01 7.88823804e-05 6.97276136e-01] [ 5.04590050e-03 -1.95342665e-04 9.99987250e-01 1.72219023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:338.97, Y:0.70, Z:1.72 [[ 9.99735081e-01 -2.24560513e-02 -5.04905787e-03 3.38972266e+02] [ 2.24567377e-02 9.99747813e-01 7.92787290e-05 6.98004981e-01] [ 5.04600427e-03 -1.92643095e-04 9.99987250e-01 1.72034983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.554391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:339.00, Y:0.70, Z:1.72 [[ 9.99757779e-01 -2.14217478e-02 -5.04905322e-03 3.39004575e+02] [ 2.14224225e-02 9.99770510e-01 7.95738005e-05 7.00113831e-01] [ 5.04618990e-03 -1.87717477e-04 9.99987250e-01 1.72117260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:339.04, Y:0.70, Z:1.72 [[ 9.99760962e-01 -2.12726380e-02 -5.04904705e-03 3.39036453e+02] [ 2.12733128e-02 9.99773694e-01 7.99635871e-05 7.00961382e-01] [ 5.04620338e-03 -1.87354430e-04 9.99987250e-01 1.72139861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.614391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:339.07, Y:0.70, Z:1.72 [[ 9.99770508e-01 -2.08191982e-02 -5.04904087e-03 3.39068181e+02] [ 2.08198692e-02 9.99783240e-01 8.03516113e-05 7.02856005e-01] [ 5.04627358e-03 -1.85453542e-04 9.99987250e-01 1.71914289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:339.10, Y:0.70, Z:1.72 [[ 9.99781817e-01 -2.02688416e-02 -5.04903472e-03 3.39100486e+02] [ 2.02695074e-02 9.99794549e-01 8.07364640e-05 7.03406979e-01] [ 5.04636095e-03 -1.83060295e-04 9.99987250e-01 1.72076504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.674391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:339.13, Y:0.70, Z:1.72 [[ 9.99801840e-01 -1.92558480e-02 -5.04902856e-03 3.39133126e+02] [ 1.92565029e-02 9.99814573e-01 8.11194282e-05 7.03936415e-01] [ 5.04653032e-03 -1.78329987e-04 9.99987250e-01 1.72044580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:339.16, Y:0.70, Z:1.72 [[ 9.99820907e-01 -1.82390145e-02 -5.04902242e-03 3.39164918e+02] [ 1.82396584e-02 9.99833640e-01 8.14998493e-05 7.04706770e-01] [ 5.04669599e-03 -1.73577697e-04 9.99987250e-01 1.72048785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:339.20, Y:0.71, Z:1.72 [[ 9.99866015e-01 -1.55711325e-02 -5.04901627e-03 3.39197096e+02] [ 1.55717443e-02 9.99878750e-01 8.18791782e-05 7.06972278e-01] [ 5.04712913e-03 -1.60490198e-04 9.99987250e-01 1.72201916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:339.23, Y:0.71, Z:1.72 [[ 9.99893011e-01 -1.37286169e-02 -5.04900981e-03 3.39228653e+02] [ 1.37292072e-02 9.99905747e-01 8.22757528e-05 7.07816918e-01] [ 5.04740439e-03 -1.51585852e-04 9.99987250e-01 1.72064087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:339.26, Y:0.71, Z:1.72 [[ 9.99936701e-01 -1.00549257e-02 -5.04900498e-03 3.39260093e+02] [ 1.00554707e-02 9.99949439e-01 8.25708575e-05 7.10377243e-01] [ 5.04791946e-03 -1.33335753e-04 9.99987250e-01 1.72197501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:339.29, Y:0.71, Z:1.72 [[ 9.99949228e-01 -8.72059091e-03 -5.04899519e-03 3.39291000e+02] [ 8.72112193e-03 9.99961967e-01 8.31652372e-05 7.11137888e-01] [ 5.04807791e-03 -1.27193917e-04 9.99987250e-01 1.72282599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:339.32, Y:0.71, Z:1.72 [[ 9.99957720e-01 -7.68544237e-03 -5.04899219e-03 3.39322322e+02] [ 7.68596111e-03 9.99970459e-01 8.33469402e-05 7.11706034e-01] [ 5.04820248e-03 -1.22149774e-04 9.99987250e-01 1.72317907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:339.35, Y:0.71, Z:1.73 [[ 9.99965253e-01 -6.63322083e-03 -5.04898921e-03 3.39352886e+02] [ 6.63372709e-03 9.99977993e-01 8.35275731e-05 7.12601881e-01] [ 5.04832404e-03 -1.17018287e-04 9.99987250e-01 1.72701380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:339.38, Y:0.71, Z:1.72 [[ 9.99965649e-01 -6.57330450e-03 -5.04898921e-03 3.39383582e+02] [ 6.57380998e-03 9.99978389e-01 8.35275731e-05 7.12725409e-01] [ 5.04833104e-03 -1.16715799e-04 9.99987250e-01 1.72332170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:339.41, Y:0.71, Z:1.73 [[ 9.99967388e-01 -6.30324089e-03 -5.04898753e-03 3.39414441e+02] [ 6.30374344e-03 9.99980128e-01 8.36284464e-05 7.13664161e-01] [ 5.04836007e-03 -1.15453241e-04 9.99987250e-01 1.72588240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:339.44, Y:0.71, Z:1.73 [[ 9.99972594e-01 -5.41477241e-03 -5.04898753e-03 3.39444285e+02] [ 5.41526364e-03 9.99985334e-01 8.36284464e-05 7.13848279e-01] [ 5.04846066e-03 -1.10967753e-04 9.99987250e-01 1.72528446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:339.47, Y:0.71, Z:1.73 [[ 9.99978349e-01 -4.22012435e-03 -5.04898917e-03 3.39474535e+02] [ 4.22059987e-03 9.99991090e-01 8.35295730e-05 7.14206933e-01] [ 5.04859168e-03 -1.04837528e-04 9.99987250e-01 1.72545750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:339.50, Y:0.71, Z:1.73 [[ 9.99983587e-01 -2.70815245e-03 -5.04898917e-03 3.39503755e+02] [ 2.70860871e-03 9.99996328e-01 8.35295730e-05 7.14737843e-01] [ 5.04874442e-03 -9.72039381e-05 9.99987250e-01 1.72550205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:339.53, Y:0.72, Z:1.73 [[ 9.99986881e-01 8.62889168e-04 -5.04899242e-03 3.39532944e+02] [-8.62479413e-04 9.99999625e-01 8.33326384e-05 7.16494883e-01] [ 5.04906243e-03 -7.89768932e-05 9.99987250e-01 1.72618304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:339.56, Y:0.72, Z:1.73 [[ 9.99984771e-01 2.22843467e-03 -5.04899570e-03 3.39560547e+02] [-2.22804332e-03 9.99997514e-01 8.31335133e-05 7.17259736e-01] [ 5.04916841e-03 -7.18828661e-05 9.99987250e-01 1.72591821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:339.59, Y:0.72, Z:1.73 [[ 9.99976759e-01 4.58145293e-03 -5.04902133e-03 3.39588382e+02] [-4.58109958e-03 9.99989503e-01 8.15465521e-05 7.18331172e-01] [ 5.04934193e-03 -5.84145873e-05 9.99987250e-01 1.72616474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:339.62, Y:0.72, Z:1.73 [[ 9.99971878e-01 5.54536586e-03 -5.04904656e-03 3.39617269e+02] [-5.54503284e-03 9.99984623e-01 7.99534870e-05 7.18551132e-01] [ 5.04941229e-03 -5.19541096e-05 9.99987250e-01 1.72652140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:339.65, Y:0.72, Z:1.73 [[ 9.99958514e-01 7.58144322e-03 -5.04905283e-03 3.39645160e+02] [-7.58113816e-03 9.99971260e-01 7.95552136e-05 7.19290025e-01] [ 5.04951086e-03 -4.12743460e-05 9.99987250e-01 1.72655316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:339.67, Y:0.72, Z:1.73 [[ 9.99951146e-01 8.49781089e-03 -5.04906056e-03 3.39672748e+02] [-8.49752000e-03 9.99963892e-01 7.90617895e-05 7.19794275e-01] [ 5.04955010e-03 -3.61534339e-05 9.99987250e-01 1.72641242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:339.70, Y:0.72, Z:1.73 [[ 9.99944094e-01 9.29064515e-03 -5.04906806e-03 3.39700715e+02] [-9.29036680e-03 9.99956841e-01 7.85798784e-05 7.20237610e-01] [ 5.04958020e-03 -3.16677910e-05 9.99987250e-01 1.72809780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:339.73, Y:0.72, Z:1.73 [[ 9.99940338e-01 9.68642106e-03 -5.04907751e-03 3.39728394e+02] [-9.68615085e-03 9.99953085e-01 7.79680404e-05 7.20193230e-01] [ 5.04959586e-03 -2.90572623e-05 9.99987250e-01 1.72776890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.304391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:339.76, Y:0.72, Z:1.73 [[ 9.99936598e-01 1.00651684e-02 -5.04908685e-03 3.39756782e+02] [-1.00649061e-02 9.99949345e-01 7.73580835e-05 7.20095666e-01] [ 5.04960971e-03 -2.65345937e-05 9.99987250e-01 1.72674526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:339.79, Y:0.72, Z:1.73 [[ 9.99939078e-01 9.81562547e-03 -5.04909303e-03 3.39786066e+02] [-9.81536203e-03 9.99951825e-01 7.69529036e-05 7.19886576e-01] [ 5.04960513e-03 -2.73895395e-05 9.99987250e-01 1.72643116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.364391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:339.81, Y:0.72, Z:1.73 [[ 9.99941711e-01 9.54363197e-03 -5.04909915e-03 3.39814415e+02] [-9.54336711e-03 9.99954458e-01 7.65489158e-05 7.19577789e-01] [ 5.04959976e-03 -2.83590471e-05 9.99987250e-01 1.72585860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:339.84, Y:0.72, Z:1.72 [[ 9.99946489e-01 9.02918998e-03 -5.04910520e-03 3.39842466e+02] [-9.02892058e-03 9.99959236e-01 7.61482234e-05 7.19130379e-01] [ 5.04958693e-03 -3.05561789e-05 9.99987250e-01 1.72442802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.424391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:339.87, Y:0.72, Z:1.73 [[ 9.99950253e-01 8.60222905e-03 -5.04911264e-03 3.39870329e+02] [-8.60195671e-03 9.99963000e-01 7.56513687e-05 7.19291988e-01] [ 5.04957659e-03 -3.22153569e-05 9.99987250e-01 1.72502399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:339.90, Y:0.72, Z:1.72 [[ 9.99952386e-01 8.35055857e-03 -5.04912165e-03 3.39898222e+02] [-8.35028608e-03 9.99965133e-01 7.50450691e-05 7.19472289e-01] [ 5.04957227e-03 -3.28798857e-05 9.99987250e-01 1.72447727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:339.93, Y:0.72, Z:1.72 [[ 9.99953036e-01 8.27235052e-03 -5.04912907e-03 3.39927516e+02] [-8.27207958e-03 9.99965783e-01 7.45423511e-05 7.19117196e-01] [ 5.04957295e-03 -3.27720528e-05 9.99987250e-01 1.72462540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:339.96, Y:0.72, Z:1.72 [[ 9.99959614e-01 7.43483895e-03 -5.04913487e-03 3.39955015e+02] [-7.43455933e-03 9.99972361e-01 7.41474572e-05 7.19665969e-01] [ 5.04954659e-03 -3.66063699e-05 9.99987250e-01 1.72436752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:339.98, Y:0.72, Z:1.73 [[ 9.99959738e-01 7.41809063e-03 -5.04914201e-03 3.39983821e+02] [-7.41781326e-03 9.99972485e-01 7.36581833e-05 7.19291736e-01] [ 5.04954949e-03 -3.62016251e-05 9.99987250e-01 1.72606545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:340.01, Y:0.72, Z:1.73 [[ 9.99948254e-01 8.83150450e-03 -5.04914789e-03 3.40011643e+02] [-8.83124720e-03 9.99961001e-01 7.32525691e-05 7.19602932e-01] [ 5.04959791e-03 -2.86585053e-05 9.99987250e-01 1.72677243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:340.04, Y:0.72, Z:1.73 [[ 9.99924852e-01 1.11712287e-02 -5.04915513e-03 3.40038148e+02] [-1.11710038e-02 9.99937600e-01 7.27501327e-05 7.19881597e-01] [ 5.04965277e-03 -1.63405346e-05 9.99987250e-01 1.72832239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:340.07, Y:0.72, Z:1.73 [[ 9.99917583e-01 1.18038355e-02 -5.04947141e-03 3.40066879e+02] [-1.18037307e-02 9.99930332e-01 5.05659843e-05 7.20473149e-01] [ 5.04971650e-03 9.04078372e-06 9.99987250e-01 1.72969349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:340.10, Y:0.72, Z:1.73 [[ 9.99870635e-01 1.52715163e-02 -5.04916380e-03 3.40095305e+02] [-1.52713469e-02 9.99883384e-01 7.21059492e-05 7.21188275e-01] [ 5.04967616e-03 5.01091089e-06 9.99987250e-01 1.73260220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:340.12, Y:0.72, Z:1.73 [[ 9.99855290e-01 1.62451461e-02 -5.04916950e-03 3.40123690e+02] [-1.62449912e-02 9.99868039e-01 7.17046435e-05 7.20969850e-01] [ 5.04966806e-03 1.03294469e-05 9.99987250e-01 1.73361725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:340.15, Y:0.72, Z:1.73 [[ 9.99844728e-01 1.68826871e-02 -5.04917516e-03 3.40152344e+02] [-1.68825423e-02 9.99857477e-01 7.13041330e-05 7.20352580e-01] [ 5.04965934e-03 1.39498515e-05 9.99987250e-01 1.73462045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:340.18, Y:0.72, Z:1.74 [[ 9.99841455e-01 1.70754269e-02 -5.04918074e-03 3.40181256e+02] [-1.70752865e-02 9.99854204e-01 7.09064486e-05 7.19694166e-01] [ 5.04965535e-03 1.53210012e-05 9.99987250e-01 1.73521626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:340.21, Y:0.72, Z:1.73 [[ 9.99862032e-01 1.58247443e-02 -5.04918630e-03 3.40209390e+02] [-1.58245900e-02 9.99874781e-01 7.05083942e-05 7.17872296e-01] [ 5.04966982e-03 9.40263660e-06 9.99987250e-01 1.73393729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:340.24, Y:0.72, Z:1.73 [[ 9.99882420e-01 1.44793385e-02 -5.04919576e-03 3.40238135e+02] [-1.44791705e-02 9.99895169e-01 6.98242227e-05 7.16493542e-01] [ 5.04967746e-03 3.29215362e-06 9.99987250e-01 1.73277133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:340.27, Y:0.71, Z:1.73 [[ 9.99909177e-01 1.24957673e-02 -5.04920111e-03 3.40267336e+02] [-1.24955759e-02 9.99921925e-01 6.94357076e-05 7.14993816e-01] [ 5.04967454e-03 -6.33672535e-06 9.99987250e-01 1.73270628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:340.30, Y:0.71, Z:1.73 [[ 9.99953050e-01 8.27060990e-03 -5.04920668e-03 3.40295111e+02] [-8.27036678e-03 9.99965798e-01 6.90277783e-05 7.11729156e-01] [ 5.04960489e-03 -2.72657463e-05 9.99987250e-01 1.73006705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:340.32, Y:0.71, Z:1.73 [[ 9.99969501e-01 5.95834697e-03 -5.04921355e-03 3.40324331e+02] [-5.95807693e-03 9.99982248e-01 6.85217839e-05 7.09722090e-01] [ 5.04953219e-03 -3.84360913e-05 9.99987250e-01 1.73002727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:340.35, Y:0.71, Z:1.73 [[ 9.99985380e-01 1.93530219e-03 -5.04921905e-03 3.40353084e+02] [-1.93498293e-03 9.99998126e-01 6.81140943e-05 7.06519397e-01] [ 5.04934141e-03 -5.83429458e-05 9.99987250e-01 1.72873915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:340.38, Y:0.71, Z:1.73 [[ 9.99987091e-01 5.69290775e-04 -5.04922447e-03 3.40381440e+02] [-5.68956144e-04 9.99999836e-01 6.77099058e-05 7.05130147e-01] [ 5.04926219e-03 -6.48362444e-05 9.99987250e-01 1.72873468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:340.41, Y:0.70, Z:1.73 [[ 9.99987008e-01 -6.99650314e-04 -5.04922983e-03 3.40409788e+02] [ 6.99999088e-04 9.99999753e-01 6.73077965e-05 7.04119078e-01] [ 5.04918149e-03 -7.08413783e-05 9.99987250e-01 1.72895643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:340.44, Y:0.70, Z:1.73 [[ 9.99985841e-01 -1.68003235e-03 -5.04923513e-03 3.40438326e+02] [ 1.68039160e-03 9.99998586e-01 6.69079319e-05 7.03283725e-01] [ 5.04911558e-03 -7.53916769e-05 9.99987250e-01 1.72953411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.054391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:340.47, Y:0.70, Z:1.73 [[ 9.99982969e-01 -2.92698302e-03 -5.04924042e-03 3.40466783e+02] [ 2.92735613e-03 9.99995713e-01 6.65058218e-05 7.01994828e-01] [ 5.04902412e-03 -8.12856140e-05 9.99987250e-01 1.73074958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:340.50, Y:0.70, Z:1.73 [[ 9.99981762e-01 -3.31374491e-03 -5.04924564e-03 3.40496252e+02] [ 3.31412094e-03 9.99994506e-01 6.61075331e-05 7.00789282e-01] [ 5.04899884e-03 -8.28401381e-05 9.99987250e-01 1.73160325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.114391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:340.53, Y:0.70, Z:1.73 [[ 9.99981276e-01 -3.45721674e-03 -5.04924822e-03 3.40525779e+02] [ 3.45759360e-03 9.99994020e-01 6.59094993e-05 6.98738589e-01] [ 5.04899017e-03 -8.33665136e-05 9.99987250e-01 1.73374179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:340.55, Y:0.70, Z:1.73 [[ 9.99981744e-01 -3.31915749e-03 -5.04925079e-03 3.40554869e+02] [ 3.31953160e-03 9.99994488e-01 6.57123298e-05 6.97693460e-01] [ 5.04900485e-03 -8.24722777e-05 9.99987250e-01 1.73410435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.174391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:340.58, Y:0.70, Z:1.73 [[ 9.99982623e-01 -3.04297013e-03 -5.04925460e-03 3.40584592e+02] [ 3.04333923e-03 9.99995367e-01 6.54184687e-05 6.96832300e-01] [ 5.04903214e-03 -8.07839265e-05 9.99987250e-01 1.73456262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:340.61, Y:0.70, Z:1.73 [[ 9.99982688e-01 -3.02133509e-03 -5.04925710e-03 3.40613032e+02] [ 3.02170294e-03 9.99995433e-01 6.52246785e-05 6.96229371e-01] [ 5.04903697e-03 -8.04809044e-05 9.99987250e-01 1.73497096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:340.64, Y:0.70, Z:1.74 [[ 9.99981869e-01 -3.28118285e-03 -5.04926081e-03 3.40642629e+02] [ 3.28155255e-03 9.99994614e-01 6.49362426e-05 6.95708932e-01] [ 5.04902054e-03 -8.15044800e-05 9.99987250e-01 1.73607157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:340.67, Y:0.69, Z:1.74 [[ 9.99974798e-01 -4.99075909e-03 -5.04926337e-03 3.40672102e+02] [ 4.99114958e-03 9.99987542e-01 6.47369216e-05 6.93784761e-01] [ 5.04887738e-03 -8.99369188e-05 9.99987250e-01 1.73607416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:340.70, Y:0.69, Z:1.74 [[ 9.99969560e-01 -5.94836919e-03 -5.04926593e-03 3.40701076e+02] [ 5.94877086e-03 9.99982304e-01 6.45360636e-05 6.91763821e-01] [ 5.04879270e-03 -9.45710253e-05 9.99987250e-01 1.73539757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:340.73, Y:0.69, Z:1.73 [[ 9.99959199e-01 -7.49036636e-03 -5.04926720e-03 3.40730683e+02] [ 7.49078718e-03 9.99971942e-01 6.44364859e-05 6.89848636e-01] [ 5.04864288e-03 -1.02256843e-04 9.99987250e-01 1.73413676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:340.76, Y:0.69, Z:1.74 [[ 9.99945749e-01 -9.11068389e-03 -5.04926845e-03 3.40761317e+02] [ 9.11112486e-03 9.99958491e-01 6.43382855e-05 6.87854415e-01] [ 5.04847270e-03 -1.10339310e-04 9.99987250e-01 1.73531662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:340.79, Y:0.68, Z:1.74 [[ 9.99911890e-01 -1.22766516e-02 -5.04926845e-03 3.40793065e+02] [ 1.22771329e-02 9.99924631e-01 6.43382855e-05 6.84972772e-01] [ 5.04809804e-03 -1.26323157e-04 9.99987250e-01 1.73551213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:340.82, Y:0.68, Z:1.74 [[ 9.99889118e-01 -1.40091517e-02 -5.04926595e-03 3.40824946e+02] [ 1.40096561e-02 9.99901858e-01 6.45345694e-05 6.83273734e-01] [ 5.04786633e-03 -1.35265893e-04 9.99987250e-01 1.73654169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:340.86, Y:0.68, Z:1.74 [[ 9.99851145e-01 -1.64982747e-02 -5.04926066e-03 3.40856210e+02] [ 1.64988129e-02 9.99863883e-01 6.49457797e-05 6.80430738e-01] [ 5.04750187e-03 -1.48242919e-04 9.99987250e-01 1.73507972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:340.89, Y:0.68, Z:1.73 [[ 9.99842567e-01 -1.70101942e-02 -5.04925670e-03 3.40888119e+02] [ 1.70107405e-02 9.99855305e-01 6.52522660e-05 6.78766173e-01] [ 5.04741614e-03 -1.51133588e-04 9.99987250e-01 1.73470003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:340.92, Y:0.68, Z:1.74 [[ 9.99841391e-01 -1.70791860e-02 -5.04925165e-03 3.40920733e+02] [ 1.70797351e-02 9.99854129e-01 6.56405266e-05 6.76995892e-01] [ 5.04739402e-03 -1.51869996e-04 9.99987250e-01 1.73516064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:340.95, Y:0.67, Z:1.73 [[ 9.99847072e-01 -1.67432791e-02 -5.04924633e-03 3.40951984e+02] [ 1.67438259e-02 9.99859810e-01 6.60472566e-05 6.74757084e-01] [ 5.04743263e-03 -1.50580858e-04 9.99987250e-01 1.73437299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:340.98, Y:0.67, Z:1.74 [[ 9.99853990e-01 -1.63249665e-02 -5.04923745e-03 3.40983896e+02] [ 1.63255114e-02 9.99866728e-01 6.67190671e-05 6.73764022e-01] [ 5.04747534e-03 -1.49140709e-04 9.99987250e-01 1.73586325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:341.02, Y:0.67, Z:1.74 [[ 9.99863388e-01 -1.57388331e-02 -5.04923193e-03 3.41015894e+02] [ 1.57393726e-02 9.99876126e-01 6.71340967e-05 6.72778840e-01] [ 5.04754985e-03 -1.46596668e-04 9.99987250e-01 1.73624077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:341.05, Y:0.67, Z:1.74 [[ 9.99869372e-01 -1.53539809e-02 -5.04922639e-03 3.41046679e+02] [ 1.53545176e-02 9.99882110e-01 6.75487266e-05 6.71820632e-01] [ 5.04759399e-03 -1.45068338e-04 9.99987250e-01 1.73625545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:341.08, Y:0.67, Z:1.74 [[ 9.99885509e-01 -1.42644192e-02 -5.04922223e-03 3.41078919e+02] [ 1.42649436e-02 9.99898248e-01 6.78576376e-05 6.69984009e-01] [ 5.04774052e-03 -1.39876739e-04 9.99987250e-01 1.73740681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:341.11, Y:0.67, Z:1.74 [[ 9.99895498e-01 -1.35461849e-02 -5.04921677e-03 3.41111115e+02] [ 1.35467022e-02 9.99908237e-01 6.82621167e-05 6.68356850e-01] [ 5.04782874e-03 -1.36655219e-04 9.99987250e-01 1.73756268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:341.14, Y:0.67, Z:1.74 [[ 9.99920936e-01 -1.15164040e-02 -5.04921126e-03 3.41142147e+02] [ 1.15168975e-02 9.99933676e-01 6.86670248e-05 6.66741021e-01] [ 5.04808558e-03 -1.26812844e-04 9.99987250e-01 1.73814300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:341.17, Y:0.67, Z:1.74 [[ 9.99937402e-01 -9.98482952e-03 -5.04920714e-03 3.41173241e+02] [ 9.98530500e-03 9.99950143e-01 6.89684217e-05 6.66067131e-01] [ 5.04826677e-03 -1.19381978e-04 9.99987250e-01 1.73933724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:341.20, Y:0.67, Z:1.74 [[ 9.99954176e-01 -8.13340972e-03 -5.04920436e-03 3.41204309e+02] [ 8.13386263e-03 9.99966917e-01 6.91713321e-05 6.65615987e-01] [ 5.04847472e-03 -1.10237697e-04 9.99987250e-01 1.74021066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.804391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:341.23, Y:0.66, Z:1.74 [[ 9.99977542e-01 -4.40691446e-03 -5.04920157e-03 3.41234529e+02] [ 4.40732091e-03 9.99990285e-01 6.93746740e-05 6.64230893e-01] [ 5.04884679e-03 -9.16265677e-05 9.99987250e-01 1.74139430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:341.26, Y:0.66, Z:1.74 [[ 9.99983574e-01 -2.71231176e-03 -5.04920157e-03 3.41264277e+02] [ 2.71269661e-03 9.99996318e-01 6.93746740e-05 6.62677440e-01] [ 5.04899481e-03 -8.30704865e-05 9.99987250e-01 1.74109649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.864391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:341.29, Y:0.66, Z:1.74 [[ 9.99985977e-01 -1.59754179e-03 -5.04920296e-03 3.41293809e+02] [ 1.59791193e-03 9.99998721e-01 6.92734673e-05 6.61144390e-01] [ 5.04908583e-03 -7.73406775e-05 9.99987250e-01 1.74153827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:341.32, Y:0.66, Z:1.74 [[ 9.99987250e-01 7.41896340e-05 -5.04920580e-03 3.41322300e+02] [-7.38418494e-05 9.99999995e-01 6.90654630e-05 6.58929245e-01] [ 5.04921090e-03 -6.86917397e-05 9.99987250e-01 1.74080554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:341.35, Y:0.66, Z:1.74 [[ 9.99987252e-01 3.26798079e-05 -5.04921001e-03 3.41351362e+02] [-3.23330533e-05 9.99999997e-01 6.87566414e-05 6.58046669e-01] [ 5.04921224e-03 -6.85925086e-05 9.99987250e-01 1.74055652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:341.38, Y:0.66, Z:1.74 [[ 9.99987231e-01 -2.07015529e-04 -5.04921541e-03 3.41380512e+02] [ 2.07363322e-04 9.99999976e-01 6.83573377e-05 6.56589482e-01] [ 5.04920114e-03 -6.94034869e-05 9.99987250e-01 1.74064655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:341.41, Y:0.65, Z:1.74 [[ 9.99986577e-01 -1.16254905e-03 -5.04922096e-03 3.41409423e+02] [ 1.16290694e-03 9.99999322e-01 6.79450005e-05 6.53383746e-01] [ 5.04913855e-03 -7.38158626e-05 9.99987250e-01 1.73959838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:341.44, Y:0.65, Z:1.74 [[ 9.99985312e-01 -1.96993996e-03 -5.04922643e-03 3.41437904e+02] [ 1.97030607e-03 9.99998057e-01 6.75360490e-05 6.51465126e-01] [ 5.04908358e-03 -7.74835785e-05 9.99987250e-01 1.73839662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:341.47, Y:0.65, Z:1.74 [[ 9.99983232e-01 -2.83555723e-03 -5.04922928e-03 3.41466658e+02] [ 2.83593330e-03 9.99995976e-01 6.73228611e-05 6.49472398e-01] [ 5.04901806e-03 -8.16410098e-05 9.99987250e-01 1.73861087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:341.50, Y:0.65, Z:1.74 [[ 9.99980307e-01 -3.72711643e-03 -5.04923466e-03 3.41496514e+02] [ 3.72750181e-03 9.99993051e-01 6.69163777e-05 6.46749295e-01] [ 5.04895017e-03 -8.57360912e-05 9.99987250e-01 1.73885710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:341.53, Y:0.65, Z:1.74 [[ 9.99979528e-01 -3.93059745e-03 -5.04923735e-03 3.41526325e+02] [ 3.93098440e-03 9.99992271e-01 6.67132651e-05 6.45763026e-01] [ 5.04893610e-03 -8.65603725e-05 9.99987250e-01 1.73906292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:341.55, Y:0.64, Z:1.74 [[ 9.99976398e-01 -4.65934261e-03 -5.04924000e-03 3.41554653e+02] [ 4.65973783e-03 9.99989141e-01 6.65119133e-05 6.44295027e-01] [ 5.04887527e-03 -9.00384781e-05 9.99987250e-01 1.73991099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:341.58, Y:0.64, Z:1.74 [[ 9.99974676e-01 -5.01525406e-03 -5.04924392e-03 3.41583940e+02] [ 5.01565231e-03 9.99987419e-01 6.62125925e-05 6.43189939e-01] [ 5.04884833e-03 -9.15361676e-05 9.99987250e-01 1.74005090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:341.61, Y:0.64, Z:1.74 [[ 9.99972850e-01 -5.36690306e-03 -5.04924651e-03 3.41613820e+02] [ 5.36730479e-03 9.99985594e-01 6.60146503e-05 6.42024219e-01] [ 5.04881948e-03 -9.31137030e-05 9.99987250e-01 1.74067341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:341.64, Y:0.64, Z:1.74 [[ 9.99971710e-01 -5.57530058e-03 -5.04924913e-03 3.41642835e+02] [ 5.57570395e-03 9.99984453e-01 6.58134873e-05 6.40932268e-01] [ 5.04880371e-03 -9.39647438e-05 9.99987250e-01 1.74042003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:341.67, Y:0.64, Z:1.74 [[ 9.99965014e-01 -6.66908774e-03 -5.04924522e-03 3.41672391e+02] [ 6.66950656e-03 9.99977756e-01 6.61123871e-05 6.39372951e-01] [ 5.04869200e-03 -9.97860482e-05 9.99987250e-01 1.74246420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:341.70, Y:0.64, Z:1.74 [[ 9.99959589e-01 -7.43813002e-03 -5.04924784e-03 3.41701817e+02] [ 7.43855762e-03 9.99972331e-01 6.59116240e-05 6.38361091e-01] [ 5.04861788e-03 -1.03468081e-04 9.99987250e-01 1.74263462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314391418 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:341.73, Y:0.64, Z:1.74 [[ 9.99951207e-01 -8.49045175e-03 -5.04924914e-03 3.41732060e+02] [ 8.49089226e-03 9.99963950e-01 6.58120467e-05 6.37444527e-01] [ 5.04850834e-03 -1.08681466e-04 9.99987250e-01 1.74258617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:341.76, Y:0.64, Z:1.74 [[ 9.99927483e-01 -1.09331614e-02 -5.04924914e-03 3.41762795e+02] [ 1.09336330e-02 9.99940224e-01 6.58120467e-05 6.35585316e-01] [ 5.04822778e-03 -1.21013911e-04 9.99987250e-01 1.74149589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:341.79, Y:0.63, Z:1.74 [[ 9.99911350e-01 -1.23206103e-02 -5.04924507e-03 3.41794003e+02] [ 1.23211012e-02 9.99924090e-01 6.61225501e-05 6.34387080e-01] [ 5.04804711e-03 -1.28328948e-04 9.99987250e-01 1.74096878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:341.83, Y:0.63, Z:1.74 [[ 9.99911821e-01 -1.22823596e-02 -5.04924124e-03 3.41825845e+02] [ 1.22828514e-02 9.99924561e-01 6.64141608e-05 6.33928109e-01] [ 5.04804460e-03 -1.28427384e-04 9.99987250e-01 1.74112950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:341.86, Y:0.63, Z:1.74 [[ 9.99864794e-01 -1.56492548e-02 -5.04923869e-03 3.41856940e+02] [ 1.56497906e-02 9.99877532e-01 6.66073099e-05 6.32078212e-01] [ 5.04757797e-03 -1.45617832e-04 9.99987250e-01 1.74018278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:341.89, Y:0.63, Z:1.74 [[ 9.99839711e-01 -1.71772325e-02 -5.04923616e-03 3.41889421e+02] [ 1.71777887e-02 9.99852449e-01 6.67987802e-05 6.30989825e-01] [ 5.04734372e-03 -1.53522785e-04 9.99987250e-01 1.74012087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:341.92, Y:0.63, Z:1.74 [[ 9.99812183e-01 -1.87110683e-02 -5.04923106e-03 3.41921387e+02] [ 1.87116459e-02 9.99824920e-01 6.71819742e-05 6.29929066e-01] [ 5.04708999e-03 -1.61648780e-04 9.99987250e-01 1.74014231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:341.95, Y:0.63, Z:1.74 [[ 9.99780114e-01 -2.03525974e-02 -5.04922592e-03 3.41953139e+02] [ 2.03531979e-02 9.99792850e-01 6.75655533e-05 6.28713557e-01] [ 5.04680484e-03 -1.70318591e-04 9.99987250e-01 1.73967770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.554391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:341.99, Y:0.63, Z:1.74 [[ 9.99706291e-01 -2.37031024e-02 -5.04922080e-03 3.41985717e+02] [ 2.37037475e-02 9.99719024e-01 6.79463691e-05 6.26728557e-01] [ 5.04619155e-03 -1.87611867e-04 9.99987250e-01 1.74060376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:342.02, Y:0.63, Z:1.74 [[ 9.99668792e-01 -2.52351097e-02 -5.04921517e-03 3.42018101e+02] [ 2.52357764e-02 9.99681525e-01 6.83625036e-05 6.25719470e-01] [ 5.04588198e-03 -1.95760726e-04 9.99987250e-01 1.74060086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.614391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:342.05, Y:0.62, Z:1.74 [[ 9.99622898e-01 -2.69920037e-02 -5.04920953e-03 3.42049279e+02] [ 2.69926949e-02 9.99635628e-01 6.87762842e-05 6.24312658e-01] [ 5.04551333e-03 -2.05042121e-04 9.99987250e-01 1.74094471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:342.08, Y:0.62, Z:1.74 [[ 9.99619249e-01 -2.71268016e-02 -5.04920074e-03 3.42081227e+02] [ 2.71274977e-02 9.99631979e-01 6.94154394e-05 6.23276895e-01] [ 5.04545951e-03 -2.06361191e-04 9.99987250e-01 1.74136712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67439141799997 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:342.11, Y:0.62, Z:1.74 [[ 9.99621757e-01 -2.70342121e-02 -5.04919505e-03 3.42113210e+02] [ 2.70349091e-02 9.99634488e-01 6.98270371e-05 6.22522802e-01] [ 5.04546179e-03 -2.06305155e-04 9.99987250e-01 1.74125337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:342.15, Y:0.62, Z:1.74 [[ 9.99645879e-01 -2.61270375e-02 -5.04918936e-03 3.42145139e+02] [ 2.61277251e-02 9.99658610e-01 7.02358928e-05 6.22280936e-01] [ 5.04563057e-03 -2.02134852e-04 9.99987250e-01 1.74126365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:342.18, Y:0.62, Z:1.74 [[ 9.99670744e-01 -2.51576866e-02 -5.04918359e-03 3.42177255e+02] [ 2.51583638e-02 9.99683476e-01 7.06487751e-05 6.21992633e-01] [ 5.04580804e-03 -1.97654711e-04 9.99987250e-01 1.74125216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:342.21, Y:0.62, Z:1.74 [[ 9.99703141e-01 -2.38356131e-02 -5.04917782e-03 3.42208200e+02] [ 2.38362756e-02 9.99715873e-01 7.10586525e-05 6.21896269e-01] [ 5.04604948e-03 -1.91391152e-04 9.99987250e-01 1.74196566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:342.24, Y:0.62, Z:1.74 [[ 9.99723766e-01 -2.29542488e-02 -5.04917351e-03 3.42240760e+02] [ 2.29549016e-02 9.99736499e-01 7.13634323e-05 6.21360704e-01] [ 5.04620495e-03 -1.87247000e-04 9.99987250e-01 1.74314665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:342.27, Y:0.62, Z:1.74 [[ 9.99743203e-01 -2.20915007e-02 -5.04916773e-03 3.42272015e+02] [ 2.20921445e-02 9.99755936e-01 7.17700141e-05 6.20791780e-01] [ 5.04634990e-03 -1.83298527e-04 9.99987250e-01 1.74411221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:342.30, Y:0.62, Z:1.75 [[ 9.99777353e-01 -2.04878165e-02 -5.04916340e-03 3.42303550e+02] [ 2.04884415e-02 9.99790087e-01 7.20730723e-05 6.20016904e-01] [ 5.04662690e-03 -1.75506514e-04 9.99987250e-01 1.74571533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:342.34, Y:0.62, Z:1.75 [[ 9.99787014e-01 -2.00108074e-02 -5.04915911e-03 3.42335556e+02] [ 2.00114278e-02 9.99799749e-01 7.23724694e-05 6.19662463e-01] [ 5.04669978e-03 -1.73397938e-04 9.99987250e-01 1.74619659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:342.37, Y:0.62, Z:1.75 [[ 9.99815673e-01 -1.85236665e-02 -5.04915344e-03 3.42367695e+02] [ 1.85242699e-02 9.99828408e-01 7.27659231e-05 6.18707056e-01] [ 5.04693916e-03 -1.66284392e-04 9.99987250e-01 1.74612460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:342.40, Y:0.62, Z:1.75 [[ 9.99823839e-01 -1.80775494e-02 -5.04914772e-03 3.42399432e+02] [ 1.80781491e-02 9.99836574e-01 7.31609127e-05 6.17812441e-01] [ 5.04699999e-03 -1.64427270e-04 9.99987250e-01 1.74684481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:342.43, Y:0.62, Z:1.75 [[ 9.99828952e-01 -1.77925126e-02 -5.04914168e-03 3.42430232e+02] [ 1.77931108e-02 9.99841687e-01 7.35752843e-05 6.16876478e-01] [ 5.04703325e-03 -1.63402637e-04 9.99987250e-01 1.74636243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:342.46, Y:0.62, Z:1.75 [[ 9.99826763e-01 -1.79150929e-02 -5.04913177e-03 3.42461116e+02] [ 1.79156960e-02 9.99839498e-01 7.42491774e-05 6.15991581e-01] [ 5.04699120e-03 -1.64695025e-04 9.99987250e-01 1.74604648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:342.49, Y:0.61, Z:1.74 [[ 9.99801882e-01 -1.92536710e-02 -5.04912240e-03 3.42493165e+02] [ 1.92542943e-02 9.99814616e-01 7.48812370e-05 6.14936339e-01] [ 5.04674463e-03 -1.72083690e-04 9.99987250e-01 1.74466135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:342.53, Y:0.61, Z:1.74 [[ 9.99782859e-01 -2.02173738e-02 -5.04911653e-03 3.42525211e+02] [ 2.02180115e-02 9.99795592e-01 7.52746410e-05 6.14318278e-01] [ 5.04656260e-03 -1.77341392e-04 9.99987250e-01 1.74354516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:342.56, Y:0.61, Z:1.74 [[ 9.99761604e-01 -2.12424318e-02 -5.04911068e-03 3.42556683e+02] [ 2.12430845e-02 9.99774337e-01 7.56653622e-05 6.13660236e-01] [ 5.04636397e-03 -1.82906008e-04 9.99987250e-01 1.74268761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:342.59, Y:0.61, Z:1.74 [[ 9.99709672e-01 -2.35601177e-02 -5.04910630e-03 3.42589258e+02] [ 2.35608013e-02 9.99722403e-01 7.59565718e-05 6.12935338e-01] [ 5.04591513e-03 -1.94895510e-04 9.99987250e-01 1.74350019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:342.62, Y:0.61, Z:1.74 [[ 9.99675926e-01 -2.49509451e-02 -5.04910014e-03 3.42621450e+02] [ 2.49516485e-02 9.99688656e-01 7.63639167e-05 6.12085164e-01] [ 5.04562278e-03 -2.02322541e-04 9.99987250e-01 1.74412897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:342.65, Y:0.61, Z:1.74 [[ 9.99607877e-01 -2.75426713e-02 -5.04909374e-03 3.42652759e+02] [ 2.75434098e-02 9.99620605e-01 7.67842134e-05 6.11379063e-01] [ 5.04506330e-03 -2.15823363e-04 9.99987250e-01 1.74311901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:342.68, Y:0.61, Z:1.74 [[ 9.99576236e-01 -2.86680154e-02 -5.04908897e-03 3.42684995e+02] [ 2.86687699e-02 9.99588963e-01 7.70970149e-05 6.11324226e-01] [ 5.04480339e-03 -2.21815514e-04 9.99987250e-01 1.74449222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:342.72, Y:0.61, Z:1.74 [[ 9.99543722e-01 -2.97801201e-02 -5.04908260e-03 3.42716761e+02] [ 2.97808908e-02 9.99556448e-01 7.75118846e-05 6.11534464e-01] [ 5.04453475e-03 -2.27842695e-04 9.99987250e-01 1.74440788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:342.75, Y:0.61, Z:1.75 [[ 9.99518195e-01 -3.06249040e-02 -5.04906668e-03 3.42748508e+02] [ 3.06256906e-02 9.99530920e-01 7.85354176e-05 6.11715121e-01] [ 5.04429312e-03 -2.33128733e-04 9.99987250e-01 1.74607574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.304391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:342.78, Y:0.61, Z:1.75 [[ 9.99448513e-01 -3.28203693e-02 -5.04906021e-03 3.42780668e+02] [ 3.28211860e-02 9.99461237e-01 7.89493847e-05 6.11926885e-01] [ 5.04374881e-03 -2.44621989e-04 9.99987250e-01 1.74716436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:342.81, Y:0.61, Z:1.75 [[ 9.99411932e-01 -3.39160317e-02 -5.04905371e-03 3.42813455e+02] [ 3.39168644e-02 9.99424655e-01 7.93624542e-05 6.11554290e-01] [ 5.04345710e-03 -2.50563854e-04 9.99987250e-01 1.74776127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.364391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:342.85, Y:0.61, Z:1.75 [[ 9.99327232e-01 -3.63261780e-02 -5.04904386e-03 3.42845501e+02] [ 3.63270445e-02 9.99339952e-01 7.99845006e-05 6.12264141e-01] [ 5.04280572e-03 -2.63347531e-04 9.99987250e-01 1.74833374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:342.88, Y:0.61, Z:1.75 [[ 9.99272476e-01 -3.78024690e-02 -5.04903731e-03 3.42878981e+02] [ 3.78033564e-02 9.99285194e-01 8.03956415e-05 6.12713770e-01] [ 5.04238908e-03 -2.71207708e-04 9.99987250e-01 1.74862996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:342.91, Y:0.61, Z:1.75 [[ 9.99212128e-01 -3.93653393e-02 -5.04902739e-03 3.42911663e+02] [ 3.93662496e-02 9.99224845e-01 8.10137245e-05 6.12878118e-01] [ 5.04192449e-03 -2.79711169e-04 9.99987250e-01 1.74872718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:342.94, Y:0.61, Z:1.75 [[ 9.99087722e-01 -4.24055488e-02 -5.04902063e-03 3.42943474e+02] [ 4.24065000e-02 9.99100436e-01 8.14331439e-05 6.12721446e-01] [ 5.04102550e-03 -2.95470147e-04 9.99987250e-01 1.74761732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:342.98, Y:0.61, Z:1.75 [[ 9.99038855e-01 -4.35416257e-02 -5.04901381e-03 3.42975151e+02] [ 4.35425934e-02 9.99051568e-01 8.18539515e-05 6.12471184e-01] [ 5.04066111e-03 -3.01622433e-04 9.99987250e-01 1.74664149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:343.01, Y:0.61, Z:1.75 [[ 9.98950983e-01 -4.55130967e-02 -5.04899669e-03 3.43007587e+02] [ 4.55140948e-02 9.98963693e-01 8.28968257e-05 6.13009160e-01] [ 5.03999148e-03 -3.12610379e-04 9.99987250e-01 1.74574951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:343.04, Y:0.61, Z:1.75 [[ 9.98909342e-01 -4.64180429e-02 -5.04897975e-03 3.43040353e+02] [ 4.64190576e-02 9.98922051e-01 8.39155828e-05 6.13134267e-01] [ 5.03964201e-03 -3.18192942e-04 9.99987250e-01 1.74598417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:343.07, Y:0.61, Z:1.75 [[ 9.98843314e-01 -4.78178053e-02 -5.04896983e-03 3.43072954e+02] [ 4.78188409e-02 9.98856021e-01 8.45086989e-05 6.14538047e-01] [ 5.03915289e-03 -3.25846834e-04 9.99987250e-01 1.74874172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:343.10, Y:0.61, Z:1.75 [[ 9.98873945e-01 -4.71736001e-02 -5.04915392e-03 3.43104816e+02] [ 4.71745724e-02 9.98886657e-01 7.35754093e-05 6.13967902e-01] [ 5.04006166e-03 -3.11684236e-04 9.99987250e-01 1.74787467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:343.14, Y:0.62, Z:1.75 [[ 9.98849153e-01 -4.76956843e-02 -5.04893933e-03 3.43138174e+02] [ 4.76967266e-02 9.98861860e-01 8.61516245e-05 6.15789121e-01] [ 5.03908386e-03 -3.26870356e-04 9.99987250e-01 1.74866600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:343.17, Y:0.62, Z:1.75 [[ 9.98807571e-01 -4.85586737e-02 -5.04892841e-03 3.43170238e+02] [ 4.85597302e-02 9.98820277e-01 8.67866053e-05 6.17690599e-01] [ 5.03875783e-03 -3.31857720e-04 9.99987250e-01 1.74946818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:343.20, Y:0.62, Z:1.75 [[ 9.98882505e-01 -4.69920016e-02 -5.04912356e-03 3.43202809e+02] [ 4.69929813e-02 9.98895217e-01 7.55069474e-05 6.17919292e-01] [ 5.03999715e-03 -3.12695938e-04 9.99987250e-01 1.74815812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:343.24, Y:0.62, Z:1.75 [[ 9.98914562e-01 -4.63055847e-02 -5.04888723e-03 3.43235572e+02] [ 4.63066232e-02 9.98927269e-01 8.89250832e-05 6.18461655e-01] [ 5.03935340e-03 -3.22625479e-04 9.99987250e-01 1.74854836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:343.27, Y:0.62, Z:1.75 [[ 9.98948465e-01 -4.55683411e-02 -5.04887631e-03 3.43268932e+02] [ 4.55693733e-02 9.98961173e-01 8.95403531e-05 6.19602517e-01] [ 5.03955120e-03 -3.19520328e-04 9.99987250e-01 1.74936662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:343.30, Y:0.62, Z:1.75 [[ 9.99038861e-01 -4.35415114e-02 -5.04886536e-03 3.43302218e+02] [ 4.35425209e-02 9.99051571e-01 9.01537183e-05 6.22589011e-01] [ 5.04015144e-03 -3.09907394e-04 9.99987250e-01 1.75008210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:343.33, Y:0.62, Z:1.75 [[ 9.99081450e-01 -4.25530781e-02 -5.04885421e-03 3.43334928e+02] [ 4.25540782e-02 9.99094161e-01 9.07740916e-05 6.23663529e-01] [ 5.04041804e-03 -3.05540048e-04 9.99987250e-01 1.75042061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:343.37, Y:0.62, Z:1.75 [[ 9.99146534e-01 -4.09964877e-02 -5.04884281e-03 3.43366933e+02] [ 4.09974712e-02 9.99159246e-01 9.14037134e-05 6.24404693e-01] [ 5.04085074e-03 -2.98315491e-04 9.99987250e-01 1.74993297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:343.40, Y:0.63, Z:1.75 [[ 9.99228968e-01 -3.89355780e-02 -5.04882381e-03 3.43399248e+02] [ 3.89365405e-02 9.99241681e-01 9.24416384e-05 6.26411848e-01] [ 5.04139592e-03 -2.88954095e-04 9.99987250e-01 1.74944963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:343.43, Y:0.63, Z:1.75 [[ 9.99253708e-01 -3.82953737e-02 -5.04880515e-03 3.43431544e+02] [ 3.82963331e-02 9.99266422e-01 9.34494851e-05 6.26951168e-01] [ 5.04152278e-03 -2.86730468e-04 9.99987250e-01 1.74975491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:343.46, Y:0.63, Z:1.75 [[ 9.99266815e-01 -3.79518341e-02 -5.04879763e-03 3.43463554e+02] [ 3.79527912e-02 9.99279529e-01 9.38543105e-05 6.28876178e-01] [ 5.04159817e-03 -2.85401460e-04 9.99987250e-01 1.74987254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:343.50, Y:0.63, Z:1.75 [[ 9.99266020e-01 -3.79727608e-02 -5.04878820e-03 3.43497091e+02] [ 3.79737206e-02 9.99278734e-01 9.43585196e-05 6.29546600e-01] [ 5.04156363e-03 -2.86010535e-04 9.99987250e-01 1.75071395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:343.53, Y:0.63, Z:1.75 [[ 9.99257038e-01 -3.82083925e-02 -5.04877658e-03 3.43530289e+02] [ 3.82093585e-02 9.99269751e-01 9.49765719e-05 6.30125014e-01] [ 5.04146081e-03 -2.87816522e-04 9.99987250e-01 1.75103872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:343.56, Y:0.63, Z:1.75 [[ 9.99244099e-01 -3.85453019e-02 -5.04876495e-03 3.43563178e+02] [ 3.85462753e-02 9.99256812e-01 9.55905037e-05 6.30734530e-01] [ 5.04132820e-03 -2.90129330e-04 9.99987250e-01 1.75187522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.054391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:343.60, Y:0.63, Z:1.75 [[ 9.99230443e-01 -3.88977178e-02 -5.04875325e-03 3.43595724e+02] [ 3.88986988e-02 9.99243155e-01 9.62048054e-05 6.32342841e-01] [ 5.04118997e-03 -2.92520702e-04 9.99987250e-01 1.75309026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:343.63, Y:0.63, Z:1.75 [[ 9.99222414e-01 -3.91034236e-02 -5.04874550e-03 3.43627923e+02] [ 3.91044092e-02 9.99235125e-01 9.66094861e-05 6.32753794e-01] [ 5.04110608e-03 -2.93962574e-04 9.99987250e-01 1.75344558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.114391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:343.66, Y:0.63, Z:1.76 [[ 9.99233186e-01 -3.88271975e-02 -5.04873580e-03 3.43660610e+02] [ 3.88281821e-02 9.99245897e-01 9.71136900e-05 6.34398183e-01] [ 5.04115788e-03 -2.93072455e-04 9.99987250e-01 1.75576117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:343.69, Y:0.64, Z:1.76 [[ 9.99233661e-01 -3.88149700e-02 -5.04872781e-03 3.43692539e+02] [ 3.88159566e-02 9.99246372e-01 9.75273792e-05 6.35316053e-01] [ 5.04113743e-03 -2.93423840e-04 9.99987250e-01 1.75541549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17439141799997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:343.72, Y:0.64, Z:1.76 [[ 9.99229209e-01 -3.89293917e-02 -5.04871782e-03 3.43724638e+02] [ 3.89303823e-02 9.99241921e-01 9.80420987e-05 6.37350399e-01] [ 5.04107377e-03 -2.94515044e-04 9.99987250e-01 1.75667144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:343.76, Y:0.64, Z:1.76 [[ 9.99208011e-01 -3.94697526e-02 -5.04870974e-03 3.43758026e+02] [ 3.94707521e-02 9.99220721e-01 9.84564349e-05 6.37231349e-01] [ 5.04088933e-03 -2.97654829e-04 9.99987250e-01 1.75667159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234391418 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:343.79, Y:0.64, Z:1.76 [[ 9.99195339e-01 -3.97892531e-02 -5.04869756e-03 3.43791303e+02] [ 3.97902598e-02 9.99208049e-01 9.90770848e-05 6.36881586e-01] [ 5.04075703e-03 -2.99886349e-04 9.99987250e-01 1.75701220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:343.82, Y:0.64, Z:1.76 [[ 9.99136549e-01 -4.12391399e-02 -5.04868524e-03 3.43822619e+02] [ 4.12401682e-02 9.99149257e-01 9.97007455e-05 6.38592548e-01] [ 5.04027854e-03 -3.07823287e-04 9.99987250e-01 1.75859228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:343.86, Y:0.64, Z:1.76 [[ 9.99147353e-01 -4.09764772e-02 -5.04922770e-03 3.43856206e+02] [ 4.09773642e-02 9.99160072e-01 7.23010800e-05 6.37734154e-01] [ 5.04202408e-03 -2.79143475e-04 9.99987250e-01 1.75877154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324391418 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:343.89, Y:0.64, Z:1.76 [[ 9.99161589e-01 -4.06278788e-02 -5.04921578e-03 3.43889255e+02] [ 4.06287644e-02 9.99174308e-01 7.28976367e-05 6.35863732e-01] [ 5.04208501e-03 -2.77979917e-04 9.99987250e-01 1.75733946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:343.92, Y:0.64, Z:1.76 [[ 9.99094293e-01 -4.22504985e-02 -5.04862239e-03 3.43919395e+02] [ 4.22515523e-02 9.99106999e-01 1.02208231e-04 6.38189111e-01] [ 5.03979562e-03 -3.15427794e-04 9.99987250e-01 1.75981903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:343.95, Y:0.64, Z:1.76 [[ 9.99151628e-01 -4.08720971e-02 -5.04928544e-03 3.43952685e+02] [ 4.08729688e-02 9.99164349e-01 6.95386179e-05 6.36567486e-01] [ 5.04222381e-03 -2.75858910e-04 9.99987250e-01 1.75869637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:343.99, Y:0.64, Z:1.76 [[ 9.99171975e-01 -4.03717227e-02 -5.04856986e-03 3.43985078e+02] [ 4.03727627e-02 9.99184682e-01 1.04207017e-04 6.36358340e-01] [ 5.04024665e-03 -3.07945443e-04 9.99987250e-01 1.75853032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:344.02, Y:0.64, Z:1.76 [[ 9.99188809e-01 -3.99529305e-02 -5.04856145e-03 3.44016516e+02] [ 3.99539672e-02 9.99201516e-01 1.04612494e-04 6.36204135e-01] [ 5.04035068e-03 -3.06237691e-04 9.99987250e-01 1.75724177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:344.05, Y:0.64, Z:1.76 [[ 9.99254787e-01 -3.82672416e-02 -5.04855518e-03 3.44048373e+02] [ 3.82682584e-02 9.99267496e-01 1.04914273e-04 6.36555076e-01] [ 5.04084232e-03 -2.98035504e-04 9.99987250e-01 1.75706991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:344.08, Y:0.64, Z:1.76 [[ 9.99301352e-01 -3.70313389e-02 -5.04854676e-03 3.44079551e+02] [ 3.70323420e-02 9.99314062e-01 1.05317891e-04 6.36876955e-01] [ 5.04118371e-03 -2.92203821e-04 9.99987250e-01 1.75679211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:344.11, Y:0.64, Z:1.76 [[ 9.99366248e-01 -3.52365659e-02 -5.04854047e-03 3.44112132e+02] [ 3.52375476e-02 9.99378959e-01 1.05618474e-04 6.36974814e-01] [ 5.04168349e-03 -2.83449724e-04 9.99987250e-01 1.75752120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:344.15, Y:0.64, Z:1.76 [[ 9.99497590e-01 -3.12902569e-02 -5.04852790e-03 3.44145065e+02] [ 3.12911915e-02 9.99510305e-01 1.06216007e-04 6.38597313e-01] [ 5.04273214e-03 -2.64137096e-04 9.99987250e-01 1.75911015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:344.18, Y:0.64, Z:1.76 [[ 9.99577483e-01 -2.86246149e-02 -5.04851505e-03 3.44176797e+02] [ 2.86255186e-02 9.99590200e-01 1.06823610e-04 6.38833014e-01] [ 5.04338838e-03 -2.51294837e-04 9.99987250e-01 1.75886589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:344.21, Y:0.64, Z:1.76 [[ 9.99652265e-01 -2.58816757e-02 -5.04850437e-03 3.44209823e+02] [ 2.58825471e-02 9.99664985e-01 1.07325793e-04 6.39104040e-01] [ 5.04403527e-03 -2.37956624e-04 9.99987250e-01 1.75927694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:344.24, Y:0.64, Z:1.76 [[ 9.99720910e-01 -2.30784359e-02 -5.04849186e-03 3.44241745e+02] [ 2.30792746e-02 9.99733632e-01 1.07911049e-04 6.39398161e-01] [ 5.04465669e-03 -2.24396462e-04 9.99987250e-01 1.75995056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:344.27, Y:0.64, Z:1.76 [[ 9.99832141e-01 -1.76125864e-02 -5.04848358e-03 3.44274243e+02] [ 1.76133574e-02 9.99844867e-01 1.08296939e-04 6.41622883e-01] [ 5.04579301e-03 -1.97199506e-04 9.99987250e-01 1.76195815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:344.31, Y:0.64, Z:1.76 [[ 9.99871312e-01 -1.52273789e-02 -5.04847532e-03 3.44306898e+02] [ 1.52281215e-02 9.99884040e-01 1.08680631e-04 6.42231299e-01] [ 5.04623498e-03 -1.85545441e-04 9.99987250e-01 1.76415428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:344.34, Y:0.65, Z:1.77 [[ 9.99895259e-01 -1.35640368e-02 -5.04846667e-03 3.44337370e+02] [ 1.35647602e-02 9.99907988e-01 1.09081137e-04 6.45460237e-01] [ 5.04652257e-03 -1.77550952e-04 9.99987250e-01 1.76666970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:344.37, Y:0.64, Z:1.76 [[ 9.99932630e-01 -1.04517523e-02 -5.04932628e-03 3.44369544e+02] [ 1.04522347e-02 9.99945372e-01 6.91666405e-05 6.42254103e-01] [ 5.04832753e-03 -1.21938724e-04 9.99987250e-01 1.76339973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.804391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:344.40, Y:0.64, Z:1.77 [[ 9.99945350e-01 -9.15478161e-03 -5.04843962e-03 3.44401501e+02] [ 9.15545302e-03 9.99958082e-01 1.09897546e-04 6.41661389e-01] [ 5.04722192e-03 -1.56112292e-04 9.99987251e-01 1.76532417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:344.43, Y:0.64, Z:1.76 [[ 9.99967892e-01 -6.22313282e-03 -5.04843082e-03 3.44432416e+02] [ 6.22376892e-03 9.99980626e-01 1.10300540e-04 6.41843671e-01] [ 5.04764660e-03 -1.41717265e-04 9.99987251e-01 1.76356996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.864391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:344.46, Y:0.64, Z:1.77 [[ 9.99977374e-01 -4.44577192e-03 -5.04842425e-03 3.44463233e+02] [ 4.44638691e-03 9.99990109e-01 1.10600522e-04 6.41858717e-01] [ 5.04788261e-03 -1.33045267e-04 9.99987251e-01 1.76659507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:344.49, Y:0.64, Z:1.77 [[ 9.99983191e-01 -2.85148661e-03 -5.04842425e-03 3.44492261e+02] [ 2.85208129e-03 9.99995927e-01 1.10600522e-04 6.42056737e-01] [ 5.04808831e-03 -1.24997179e-04 9.99987251e-01 1.76662685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:344.52, Y:0.64, Z:1.77 [[ 9.99986783e-01 9.73650004e-04 -5.04842648e-03 3.44522187e+02] [-9.73104556e-04 9.99999520e-01 1.10498392e-04 6.42072431e-01] [ 5.04853165e-03 -1.05584285e-04 9.99987251e-01 1.76712611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:344.55, Y:0.64, Z:1.77 [[ 9.99983823e-01 2.62054057e-03 -5.04843096e-03 3.44550100e+02] [-2.62001714e-03 9.99996562e-01 1.10293544e-04 6.41385996e-01] [ 5.04870263e-03 -9.70647841e-05 9.99987251e-01 1.76719085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:344.58, Y:0.64, Z:1.77 [[ 9.99969928e-01 5.88688790e-03 -5.04846639e-03 3.44578034e+02] [-5.88641438e-03 9.99982669e-01 1.08646997e-04 6.40557739e-01] [ 5.04901849e-03 -7.89263648e-05 9.99987251e-01 1.76719218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:344.61, Y:0.64, Z:1.77 [[ 9.99961675e-01 7.15266840e-03 -5.04850123e-03 3.44605524e+02] [-7.15221931e-03 9.99974417e-01 1.07003468e-04 6.40136196e-01] [ 5.04913743e-03 -7.08913787e-05 9.99987251e-01 1.76712549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:344.63, Y:0.64, Z:1.77 [[ 9.99952323e-01 8.35850314e-03 -5.04851193e-03 3.44633405e+02] [-8.35807198e-03 9.99965065e-01 1.06495931e-04 6.39763872e-01] [ 5.04922571e-03 -6.42950279e-05 9.99987251e-01 1.76731587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:344.66, Y:0.64, Z:1.77 [[ 9.99940450e-01 9.67512733e-03 -5.04852452e-03 3.44661617e+02] [-9.67471597e-03 9.99953193e-01 1.05896123e-04 6.38406437e-01] [ 5.04931277e-03 -5.70467765e-05 9.99987251e-01 1.76743483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:344.69, Y:0.64, Z:1.77 [[ 9.99940850e-01 9.63373436e-03 -5.04853703e-03 3.44689195e+02] [-9.63332550e-03 9.99953593e-01 1.05296314e-04 6.37084012e-01] [ 5.04931713e-03 -5.66558850e-05 9.99987251e-01 1.76757122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:344.72, Y:0.64, Z:1.77 [[ 9.99948050e-01 8.85487452e-03 -5.04854946e-03 3.44717059e+02] [-8.85445877e-03 9.99960793e-01 1.04696570e-04 6.35645112e-01] [ 5.04927860e-03 -5.99889578e-05 9.99987251e-01 1.76789813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:344.75, Y:0.63, Z:1.77 [[ 9.99967299e-01 6.31774148e-03 -5.04856182e-03 3.44745251e+02] [-6.31729642e-03 9.99980040e-01 1.04097384e-04 6.32467783e-01] [ 5.04911871e-03 -7.22007183e-05 9.99987251e-01 1.76786228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:344.77, Y:0.63, Z:1.77 [[ 9.99977149e-01 4.49594017e-03 -5.04857197e-03 3.44774292e+02] [-4.49547440e-03 9.99989890e-01 1.03602530e-04 6.30546789e-01] [ 5.04898672e-03 -8.09044362e-05 9.99987251e-01 1.76867286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:344.80, Y:0.63, Z:1.77 [[ 9.99984710e-01 2.25626806e-03 -5.04858014e-03 3.44802894e+02] [-2.25577577e-03 9.99997450e-01 1.03202859e-04 6.28770268e-01] [ 5.04880012e-03 -9.18128162e-05 9.99987251e-01 1.76980056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:344.83, Y:0.63, Z:1.77 [[ 9.99984775e-01 -2.22745577e-03 -5.04858855e-03 3.44831007e+02] [ 2.22800310e-03 9.99997513e-01 1.02789881e-04 6.25565617e-01] [ 5.04834703e-03 -1.14036587e-04 9.99987251e-01 1.77030619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:344.86, Y:0.62, Z:1.77 [[ 9.99976818e-01 -4.56902735e-03 -5.04859891e-03 3.44859279e+02] [ 4.56960192e-03 9.99989554e-01 1.02278408e-04 6.23553746e-01] [ 5.04807886e-03 -1.25346124e-04 9.99987251e-01 1.77006203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:344.89, Y:0.62, Z:1.77 [[ 9.99946246e-01 -9.05635541e-03 -5.04860505e-03 3.44888877e+02] [ 9.05698559e-03 9.99958979e-01 1.01974682e-04 6.19961352e-01] [ 5.04747443e-03 -1.47694343e-04 9.99987251e-01 1.77066715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:344.92, Y:0.62, Z:1.77 [[ 9.99926083e-01 -1.10607442e-02 -5.04860911e-03 3.44920363e+02] [ 1.10613989e-02 9.99938816e-01 1.01772953e-04 6.17940248e-01] [ 5.04717453e-03 -1.57610109e-04 9.99987251e-01 1.77150229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:344.95, Y:0.62, Z:1.77 [[ 9.99905749e-01 -1.27673497e-02 -5.04860498e-03 3.44952526e+02] [ 1.27680271e-02 9.99918480e-01 1.01977530e-04 6.15552714e-01] [ 5.04689144e-03 -1.66428644e-04 9.99987251e-01 1.77180518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:344.98, Y:0.61, Z:1.77 [[ 9.99844458e-01 -1.68988897e-02 -5.04859672e-03 3.44984736e+02] [ 1.68996218e-02 9.99857186e-01 1.02384884e-04 6.11587382e-01] [ 5.04614552e-03 -1.87688334e-04 9.99987251e-01 1.77130990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:345.02, Y:0.61, Z:1.77 [[ 9.99806451e-01 -1.90150353e-02 -5.04858847e-03 3.45016122e+02] [ 1.90157964e-02 9.99819178e-01 1.02790314e-04 6.09247933e-01] [ 5.04572101e-03 -1.98773349e-04 9.99987251e-01 1.77032100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:345.05, Y:0.61, Z:1.77 [[ 9.99704510e-01 -2.37782220e-02 -5.04858229e-03 3.45048207e+02] [ 2.37790453e-02 9.99717233e-01 1.03092592e-04 6.05718088e-01] [ 5.04470336e-03 -2.23112596e-04 9.99987251e-01 1.76907173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:345.08, Y:0.60, Z:1.77 [[ 9.99646016e-01 -2.61219302e-02 -5.04857417e-03 3.45080382e+02] [ 2.61227853e-02 9.99658736e-01 1.03488950e-04 6.03283349e-01] [ 5.04414794e-03 -2.35335136e-04 9.99987251e-01 1.76870261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:345.11, Y:0.60, Z:1.77 [[ 9.99520279e-01 -3.05568883e-02 -5.04856593e-03 3.45111402e+02] [ 3.05578018e-02 9.99532996e-01 1.03889326e-04 5.99740331e-01] [ 5.04303370e-03 -2.58112565e-04 9.99987251e-01 1.76716290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.554391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:345.14, Y:0.60, Z:1.77 [[ 9.99421657e-01 -3.36283080e-02 -5.04855978e-03 3.45143700e+02] [ 3.36292621e-02 9.99434371e-01 1.04187475e-04 5.97237771e-01] [ 5.04220052e-03 -2.73906558e-04 9.99987251e-01 1.76706954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:345.17, Y:0.60, Z:1.77 [[ 9.99383858e-01 -3.47334944e-02 -5.04855157e-03 3.45174660e+02] [ 3.47344645e-02 9.99396571e-01 1.04583649e-04 5.96093577e-01] [ 5.04187257e-03 -2.79877946e-04 9.99987251e-01 1.76697035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.614391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:345.21, Y:0.59, Z:1.77 [[ 9.99361949e-01 -3.53582805e-02 -5.04854544e-03 3.45207643e+02] [ 3.53592601e-02 9.99374660e-01 1.04878726e-04 5.94949001e-01] [ 5.04168005e-03 -2.83324640e-04 9.99987251e-01 1.76969000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:345.24, Y:0.59, Z:1.77 [[ 9.99351362e-01 -3.56562517e-02 -5.04853221e-03 3.45239855e+02] [ 3.56572383e-02 9.99364073e-01 1.05511630e-04 5.93637414e-01] [ 5.04155957e-03 -2.85459908e-04 9.99987251e-01 1.76772962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67439141799997 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:345.27, Y:0.59, Z:1.77 [[ 9.99346492e-01 -3.57924800e-02 -5.04851020e-03 3.45271178e+02] [ 3.57934736e-02 9.99359203e-01 1.06554404e-04 5.92479827e-01] [ 5.04146129e-03 -2.87188486e-04 9.99987251e-01 1.76737459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:345.30, Y:0.59, Z:1.77 [[ 9.99385215e-01 -3.46944589e-02 -5.04850405e-03 3.45303476e+02] [ 3.46954399e-02 9.99397926e-01 1.06845152e-04 5.91629085e-01] [ 5.04175754e-03 -2.81939534e-04 9.99987251e-01 1.76797302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:345.34, Y:0.59, Z:1.77 [[ 9.99423762e-01 -3.35657130e-02 -5.04849598e-03 3.45335895e+02] [ 3.35666816e-02 9.99436474e-01 1.07224943e-04 5.91184969e-01] [ 5.04205195e-03 -2.76624413e-04 9.99987251e-01 1.76961252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764391418 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:345.37, Y:0.59, Z:1.77 [[ 9.99465345e-01 -3.23038331e-02 -5.04848755e-03 3.45369180e+02] [ 3.23047876e-02 9.99478058e-01 1.07620472e-04 5.90999905e-01] [ 5.04237598e-03 -2.70653251e-04 9.99987251e-01 1.77143408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:345.40, Y:0.59, Z:1.77 [[ 9.99543631e-01 -2.97832490e-02 -5.04847424e-03 3.45400687e+02] [ 2.97841746e-02 9.99556347e-01 1.08241178e-04 5.91517975e-01] [ 5.04301070e-03 -2.58556418e-04 9.99987251e-01 1.77247987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:345.43, Y:0.59, Z:1.77 [[ 9.99581472e-01 -2.84849845e-02 -5.04846765e-03 3.45433270e+02] [ 2.84858951e-02 9.99594189e-01 1.08547946e-04 5.91050721e-01] [ 5.04332694e-03 -2.52312635e-04 9.99987251e-01 1.77452870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:345.47, Y:0.59, Z:1.78 [[ 9.99608753e-01 -2.75109851e-02 -5.04845871e-03 3.45465925e+02] [ 2.75118854e-02 9.99621471e-01 1.08962062e-04 5.90411647e-01] [ 5.04355007e-03 -2.47812049e-04 9.99987251e-01 1.77546066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:345.50, Y:0.59, Z:1.78 [[ 9.99636987e-01 -2.64652075e-02 -5.04844975e-03 3.45498200e+02] [ 2.64660966e-02 9.99649706e-01 1.09375582e-04 5.89582927e-01] [ 5.04378666e-03 -2.42948636e-04 9.99987251e-01 1.77630213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:345.53, Y:0.59, Z:1.78 [[ 9.99694613e-01 -2.41907953e-02 -5.04844072e-03 3.45529232e+02] [ 2.41916575e-02 9.99707333e-01 1.09790999e-04 5.89047641e-01] [ 5.04430727e-03 -2.31887619e-04 9.99987251e-01 1.77635611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:345.56, Y:0.59, Z:1.78 [[ 9.99725530e-01 -2.28774560e-02 -5.04843398e-03 3.45561424e+02] [ 2.28783031e-02 9.99738251e-01 1.10099822e-04 5.88812651e-01] [ 5.04459376e-03 -2.25569205e-04 9.99987251e-01 1.77655916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:345.59, Y:0.59, Z:1.78 [[ 9.99795352e-01 -1.95899875e-02 -5.04842507e-03 3.45593892e+02] [ 1.95907948e-02 9.99808076e-01 1.10506970e-04 5.89386979e-01] [ 5.04529133e-03 -2.09387015e-04 9.99987251e-01 1.77608305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:345.63, Y:0.59, Z:1.77 [[ 9.99833905e-01 -1.75121847e-02 -5.04841617e-03 3.45625576e+02] [ 1.75129676e-02 9.99846630e-01 1.10912195e-04 5.89039126e-01] [ 5.04569958e-03 -1.99306522e-04 9.99987251e-01 1.77497413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:345.66, Y:0.59, Z:1.78 [[ 9.99870774e-01 -1.52626608e-02 -5.04840732e-03 3.45657731e+02] [ 1.52634171e-02 9.99883501e-01 1.11313539e-04 5.88838408e-01] [ 5.04612024e-03 -1.88355101e-04 9.99987251e-01 1.77589934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:345.69, Y:0.59, Z:1.78 [[ 9.99937538e-01 -9.97165699e-03 -5.04839809e-03 3.45689621e+02] [ 9.97234803e-03 9.99950269e-01 1.11730315e-04 5.89062879e-01] [ 5.04703289e-03 -1.62067719e-04 9.99987251e-01 1.77548193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094391418 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:345.72, Y:0.59, Z:1.78 [[ 9.99937286e-01 -9.99694247e-03 -5.04838894e-03 3.45719148e+02] [ 9.99763592e-03 9.99950016e-01 1.12142540e-04 5.92266446e-01] [ 5.04701552e-03 -1.62607461e-04 9.99987251e-01 1.77549652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:345.75, Y:0.59, Z:1.78 [[ 9.99983543e-01 -2.72339228e-03 -5.04940175e-03 3.45751114e+02] [ 2.72376101e-03 9.99996288e-01 6.61480350e-05 5.88411598e-01] [ 5.04920286e-03 -7.99003101e-05 9.99987250e-01 1.77607311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:345.78, Y:0.59, Z:1.78 [[ 9.99987191e-01 -3.63503622e-04 -5.04836738e-03 3.45780097e+02] [ 3.64076433e-04 9.99999927e-01 1.12546005e-04 5.87934996e-01] [ 5.04832610e-03 -1.14382555e-04 9.99987251e-01 1.77664249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:345.81, Y:0.59, Z:1.78 [[ 9.99982832e-01 2.97486063e-03 -5.04837592e-03 3.45807391e+02] [-2.97433229e-03 9.99995570e-01 1.12161693e-04 5.87362818e-01] [ 5.04868722e-03 -9.71442197e-05 9.99987251e-01 1.77711399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:345.84, Y:0.59, Z:1.78 [[ 9.99982881e-01 2.95760597e-03 -5.04876395e-03 3.45836704e+02] [-2.95716639e-03 9.99995623e-01 9.45295065e-05 5.86758086e-01] [ 5.04902143e-03 -7.95978532e-05 9.99987250e-01 1.77726811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:345.87, Y:0.59, Z:1.78 [[ 9.99976597e-01 4.61687063e-03 -5.04873557e-03 3.45866348e+02] [-4.61644572e-03 9.99989340e-01 9.58117170e-05 5.85856375e-01] [ 5.04912410e-03 -7.25022610e-05 9.99987250e-01 1.77844191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:345.89, Y:0.58, Z:1.78 [[ 9.99937576e-01 9.96781675e-03 -5.04839855e-03 3.45893899e+02] [-9.96738275e-03 9.99950318e-01 1.11122729e-04 5.83485486e-01] [ 5.04925539e-03 -6.07964720e-05 9.99987251e-01 1.77881760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.304391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:345.92, Y:0.58, Z:1.78 [[ 9.99908607e-01 1.25415621e-02 -5.04841468e-03 3.45922107e+02] [-1.25411646e-02 9.99921350e-01 1.10385215e-04 5.81965670e-01] [ 5.04940202e-03 -4.70621268e-05 9.99987251e-01 1.77985109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:345.95, Y:0.58, Z:1.78 [[ 9.99837681e-01 1.72952558e-02 -5.04842792e-03 3.45950478e+02] [-1.72949219e-02 9.99850426e-01 1.09776274e-04 5.79525209e-01] [ 5.04957141e-03 -2.24462886e-05 9.99987251e-01 1.77944092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.364391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:345.98, Y:0.58, Z:1.78 [[ 9.99797202e-01 1.94953228e-02 -5.04843681e-03 3.45978012e+02] [-1.94950191e-02 9.99809948e-01 1.09365874e-04 5.77979534e-01] [ 5.04960947e-03 -1.09243230e-05 9.99987251e-01 1.77767873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:346.01, Y:0.57, Z:1.78 [[ 9.99717709e-01 2.32167128e-02 -5.04844774e-03 3.46006367e+02] [-2.32164591e-02 9.99730456e-01 1.08858883e-04 5.74830100e-01] [ 5.04961431e-03 8.37892759e-06 9.99987251e-01 1.77852803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:346.03, Y:0.57, Z:1.78 [[ 9.99679237e-01 2.48180598e-02 -5.04845665e-03 3.46033039e+02] [-2.48178286e-02 9.99691984e-01 1.08444172e-04 5.72819814e-01] [ 5.04959302e-03 1.68823444e-05 9.99987251e-01 1.77795299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:346.06, Y:0.57, Z:1.78 [[ 9.99638713e-01 2.63999443e-02 -5.04847199e-03 3.46061975e+02] [-2.63997369e-02 9.99651460e-01 1.07725183e-04 5.70741292e-01] [ 5.04955634e-03 2.55920691e-05 9.99987251e-01 1.77824732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:346.09, Y:0.57, Z:1.78 [[ 9.99555610e-01 2.93784940e-02 -5.04848059e-03 3.46090253e+02] [-2.93783267e-02 9.99568358e-01 1.07320672e-04 5.67160439e-01] [ 5.04945437e-03 4.10429320e-05 9.99987251e-01 1.78004467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514391418 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:346.12, Y:0.57, Z:1.78 [[ 9.99520280e-01 3.05568898e-02 -5.04849389e-03 3.46117636e+02] [-3.05567406e-02 9.99533028e-01 1.06691355e-04 5.65021046e-01] [ 5.04939654e-03 4.76253459e-05 9.99987251e-01 1.78025285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:346.15, Y:0.56, Z:1.78 [[ 9.99497725e-01 3.12859531e-02 -5.04850483e-03 3.46145955e+02] [-3.12858159e-02 9.99510473e-01 1.06171031e-04 5.62871368e-01] [ 5.04935512e-03 5.18288890e-05 9.99987251e-01 1.78104193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574391418 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:346.17, Y:0.56, Z:1.78 [[ 9.99452117e-01 3.27105233e-02 -5.04851346e-03 3.46173238e+02] [-3.27104064e-02 9.99464866e-01 1.05759346e-04 5.58094815e-01] [ 5.04927127e-03 5.94375245e-05 9.99987251e-01 1.78168170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:346.20, Y:0.56, Z:1.78 [[ 9.99442289e-01 3.30094525e-02 -5.04852408e-03 3.46201626e+02] [-3.30093420e-02 9.99455038e-01 1.05249517e-04 5.55193191e-01] [ 5.04924706e-03 6.14576394e-05 9.99987251e-01 1.78291961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634391418 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:346.23, Y:0.55, Z:1.78 [[ 9.99456568e-01 3.25742452e-02 -5.04853255e-03 3.46230449e+02] [-3.25741311e-02 9.99469317e-01 1.04841837e-04 5.50514283e-01] [ 5.04926852e-03 5.96666988e-05 9.99987251e-01 1.78419577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:346.26, Y:0.55, Z:1.79 [[ 9.99487209e-01 3.16201024e-02 -5.04854102e-03 3.46258728e+02] [-3.16199782e-02 9.99499958e-01 1.04432307e-04 5.47821983e-01] [ 5.04931870e-03 5.52560019e-05 9.99987251e-01 1.78511148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:346.29, Y:0.54, Z:1.78 [[ 9.99575895e-01 2.86799938e-02 -5.04854948e-03 3.46286556e+02] [-2.86798342e-02 9.99588644e-01 1.04021898e-04 5.42112336e-01] [ 5.04945607e-03 4.08137805e-05 9.99987251e-01 1.78497470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:346.32, Y:0.54, Z:1.79 [[ 9.99628044e-01 2.68008533e-02 -5.04855988e-03 3.46315259e+02] [-2.68006723e-02 9.99640792e-01 1.03514357e-04 5.38639781e-01] [ 5.04952067e-03 3.18289447e-05 9.99987251e-01 1.78533040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:346.34, Y:0.54, Z:1.79 [[ 9.99683140e-01 2.46603404e-02 -5.04856821e-03 3.46343541e+02] [-2.46601342e-02 9.99695887e-01 1.03106720e-04 5.35063741e-01] [ 5.04957552e-03 2.14243199e-05 9.99987251e-01 1.78500235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:346.37, Y:0.53, Z:1.78 [[ 9.99783600e-01 2.01808284e-02 -5.04857648e-03 3.46371096e+02] [-2.01805671e-02 9.99796346e-01 1.02700336e-04 5.28898383e-01] [ 5.04962089e-03 -7.94974937e-07 9.99987251e-01 1.78343341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:346.40, Y:0.53, Z:1.78 [[ 9.99824252e-01 1.80548117e-02 -5.04858668e-03 3.46400138e+02] [-1.80545258e-02 9.99836999e-01 1.02196424e-04 5.25786331e-01] [ 5.04960889e-03 -1.10286243e-05 9.99987251e-01 1.78271328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:346.43, Y:0.52, Z:1.78 [[ 9.99859371e-01 1.59921655e-02 -5.04859473e-03 3.46428609e+02] [-1.59918553e-02 9.99872117e-01 1.01796983e-04 5.23158412e-01] [ 5.04957706e-03 -2.10462704e-05 9.99987251e-01 1.78244013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:346.46, Y:0.52, Z:1.78 [[ 9.99885311e-01 1.42785597e-02 -5.04860273e-03 3.46456676e+02] [-1.42782297e-02 9.99898056e-01 1.01398559e-04 5.20224031e-01] [ 5.04953588e-03 -2.93018205e-05 9.99987251e-01 1.78258765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:346.48, Y:0.51, Z:1.78 [[ 9.99920749e-01 1.15328621e-02 -5.04861260e-03 3.46484419e+02] [-1.15324996e-02 9.99933493e-01 1.00904952e-04 5.14568080e-01] [ 5.04944056e-03 -4.26738321e-05 9.99987251e-01 1.78309555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:346.51, Y:0.51, Z:1.78 [[ 9.99934102e-01 1.03103758e-02 -5.04862231e-03 3.46512728e+02] [-1.03100002e-02 9.99946846e-01 1.00416674e-04 5.11545024e-01] [ 5.04938929e-03 -4.83587600e-05 9.99987251e-01 1.78332300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:346.54, Y:0.51, Z:1.78 [[ 9.99950901e-01 8.52681637e-03 -5.04862999e-03 3.46541541e+02] [-8.52641999e-03 9.99963644e-01 1.00029300e-04 5.06724456e-01] [ 5.04929937e-03 -5.69776485e-05 9.99987251e-01 1.78423354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:346.57, Y:0.50, Z:1.79 [[ 9.99960149e-01 7.36292164e-03 -5.04863760e-03 3.46570632e+02] [-7.36251238e-03 9.99972891e-01 9.96436616e-05 5.04642177e-01] [ 5.04923440e-03 -6.24690338e-05 9.99987251e-01 1.78687632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:346.60, Y:0.50, Z:1.79 [[ 9.99967718e-01 6.25090659e-03 -5.04864568e-03 3.46598524e+02] [-6.25048524e-03 9.99980461e-01 9.92324087e-05 5.02480183e-01] [ 5.04916733e-03 -6.76727200e-05 9.99987251e-01 1.78652961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.054391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:346.63, Y:0.50, Z:1.79 [[ 9.99982992e-01 2.92014772e-03 -5.04865563e-03 3.46627039e+02] [-2.91968649e-03 9.99995733e-01 9.87233523e-05 4.98390037e-01] [ 5.04892238e-03 -8.39811815e-05 9.99987251e-01 1.78904321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:346.65, Y:0.50, Z:1.79 [[ 9.99986831e-01 9.21644611e-04 -5.04866357e-03 3.46654707e+02] [-9.21159984e-04 9.99999571e-01 9.83156611e-05 4.95923858e-01] [ 5.04875202e-03 -9.36637395e-05 9.99987251e-01 1.78803245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.114391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:346.68, Y:0.49, Z:1.79 [[ 9.99980549e-01 -3.66236635e-03 -5.04867421e-03 3.46683738e+02] [ 3.66290661e-03 9.99993287e-01 9.77664638e-05 4.91799041e-01] [ 5.04828226e-03 -1.16257384e-04 9.99987251e-01 1.78931484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:346.71, Y:0.49, Z:1.79 [[ 9.99965889e-01 -6.53701677e-03 -5.04868227e-03 3.46712465e+02] [ 6.53759153e-03 9.99978625e-01 9.73483006e-05 4.89731235e-01] [ 5.04793799e-03 -1.30351202e-04 9.99987251e-01 1.78884113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17439141799997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:346.74, Y:0.49, Z:1.79 [[ 9.99938764e-01 -9.84779820e-03 -5.04868646e-03 3.46741936e+02] [ 9.84841403e-03 9.99951498e-01 9.71306536e-05 4.87444427e-01] [ 5.04748507e-03 -1.46846260e-04 9.99987251e-01 1.78867357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:346.77, Y:0.48, Z:1.79 [[ 9.99858102e-01 -1.60712755e-02 -5.04869039e-03 3.46772057e+02] [ 1.60719696e-02 9.99870833e-01 9.69261118e-05 4.83328337e-01] [ 5.04648053e-03 -1.78054756e-04 9.99987251e-01 1.78900525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:346.80, Y:0.48, Z:1.79 [[ 9.99801933e-01 -1.92511239e-02 -5.04869039e-03 3.46804397e+02] [ 1.92518584e-02 9.99814661e-01 9.69261118e-05 4.81403789e-01] [ 5.04588873e-03 -1.94103586e-04 9.99987251e-01 1.78991937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:346.84, Y:0.48, Z:1.79 [[ 9.99679834e-01 -2.47939642e-02 -5.04868229e-03 3.46835183e+02] [ 2.47947714e-02 9.99692558e-01 9.73457606e-05 4.79269204e-01] [ 5.04471653e-03 -2.22495517e-04 9.99987251e-01 1.78969578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:346.87, Y:0.48, Z:1.79 [[ 9.99619906e-01 -2.71026575e-02 -5.04867625e-03 3.46866581e+02] [ 2.71034957e-02 9.99632628e-01 9.76581944e-05 4.78067374e-01] [ 5.04417471e-03 -2.34457850e-04 9.99987251e-01 1.78988239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:346.90, Y:0.48, Z:1.79 [[ 9.99567563e-01 -2.89689177e-02 -5.04867043e-03 3.46898250e+02] [ 2.89697812e-02 9.99580283e-01 9.79581912e-05 4.76709279e-01] [ 5.04371367e-03 -2.44174708e-04 9.99987251e-01 1.79234663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:346.93, Y:0.48, Z:1.79 [[ 9.99504585e-01 -3.10659745e-02 -5.04866231e-03 3.46929869e+02] [ 3.10668667e-02 9.99517304e-01 9.83749887e-05 4.75603383e-01] [ 5.04316922e-03 -2.55172371e-04 9.99987251e-01 1.79370613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:346.96, Y:0.47, Z:1.80 [[ 9.99398898e-01 -3.42980182e-02 -5.04865624e-03 3.46961844e+02] [ 3.42989531e-02 9.99411613e-01 9.86853154e-05 4.73621879e-01] [ 5.04230097e-03 -2.71789619e-04 9.99987251e-01 1.79565360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:346.99, Y:0.47, Z:1.80 [[ 9.99327714e-01 -3.63129616e-02 -5.04864812e-03 3.46994087e+02] [ 3.63139242e-02 9.99340427e-01 9.90989981e-05 4.72020365e-01] [ 5.04171959e-03 -2.82368601e-04 9.99987251e-01 1.79658655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:347.03, Y:0.47, Z:1.80 [[ 9.99294171e-01 -3.72246098e-02 -5.04863978e-03 3.47025389e+02] [ 3.72255862e-02 9.99306883e-01 9.95220011e-05 4.71214331e-01] [ 5.04143582e-03 -2.87390331e-04 9.99987251e-01 1.79627579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:347.06, Y:0.47, Z:1.80 [[ 9.99272137e-01 -3.78114610e-02 -5.04863356e-03 3.47058641e+02] [ 3.78124464e-02 9.99284849e-01 9.98369136e-05 4.70309463e-01] [ 5.04124804e-03 -2.90665432e-04 9.99987251e-01 1.79619418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:347.09, Y:0.47, Z:1.80 [[ 9.99248292e-01 -3.84364797e-02 -5.04862099e-03 3.47090691e+02] [ 3.84374763e-02 9.99261002e-01 1.00468513e-04 4.69901608e-01] [ 5.04102841e-03 -2.94449240e-04 9.99987251e-01 1.79562368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:347.12, Y:0.47, Z:1.79 [[ 9.99215576e-01 -3.92777906e-02 -5.04861262e-03 3.47122333e+02] [ 3.92787999e-02 9.99228285e-01 1.00887031e-04 4.69896497e-01] [ 5.04075392e-03 -2.99111338e-04 9.99987251e-01 1.79440147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:347.15, Y:0.47, Z:1.79 [[ 9.99219599e-01 -3.91753002e-02 -5.04859902e-03 3.47154890e+02] [ 3.91763116e-02 9.99232308e-01 1.01563411e-04 4.69015176e-01] [ 5.04074447e-03 -2.99269639e-04 9.99987251e-01 1.79422469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:347.19, Y:0.47, Z:1.80 [[ 9.99219444e-01 -3.91792691e-02 -5.04859071e-03 3.47186805e+02] [ 3.91802826e-02 9.99232153e-01 1.01974515e-04 4.68490060e-01] [ 5.04071888e-03 -2.99700129e-04 9.99987251e-01 1.79538089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:347.22, Y:0.47, Z:1.80 [[ 9.99231426e-01 -3.88724677e-02 -5.04858240e-03 3.47218827e+02] [ 3.88734794e-02 9.99244135e-01 1.02384395e-04 4.68243400e-01] [ 5.04078642e-03 -2.98561669e-04 9.99987251e-01 1.79585431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:347.25, Y:0.47, Z:1.80 [[ 9.99237106e-01 -3.87261852e-02 -5.04857407e-03 3.47250837e+02] [ 3.87271971e-02 9.99249815e-01 1.02793395e-04 4.68208240e-01] [ 5.04080592e-03 -2.98232098e-04 9.99987251e-01 1.79685521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:347.28, Y:0.47, Z:1.80 [[ 9.99262947e-01 -3.80535888e-02 -5.04856558e-03 3.47283538e+02] [ 3.80545942e-02 9.99275656e-01 1.03209022e-04 4.69898428e-01] [ 5.04098121e-03 -2.95254066e-04 9.99987251e-01 1.79843039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:347.32, Y:0.47, Z:1.80 [[ 9.99292991e-01 -3.72562768e-02 -5.04855692e-03 3.47316064e+02] [ 3.72572743e-02 9.99305701e-01 1.03630875e-04 4.70513595e-01] [ 5.04119081e-03 -2.91653077e-04 9.99987251e-01 1.79845482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:347.35, Y:0.47, Z:1.80 [[ 9.99320172e-01 -3.65199292e-02 -5.04854607e-03 3.47347380e+02] [ 3.65209199e-02 9.99332883e-01 1.04156469e-04 4.70886561e-01] [ 5.04137432e-03 -2.88463207e-04 9.99987251e-01 1.79781749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:347.38, Y:0.47, Z:1.80 [[ 9.99359990e-01 -3.54135882e-02 -5.04853974e-03 3.47379473e+02] [ 3.54145664e-02 9.99372702e-01 1.04462767e-04 4.71675923e-01] [ 5.04167340e-03 -2.83187755e-04 9.99987251e-01 1.79778582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.804391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:347.41, Y:0.47, Z:1.80 [[ 9.99391000e-01 -3.45274122e-02 -5.04853098e-03 3.47410957e+02] [ 3.45283813e-02 9.99403712e-01 1.04884151e-04 4.71636491e-01] [ 5.04189923e-03 -2.79137879e-04 9.99987251e-01 1.79600132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:347.44, Y:0.47, Z:1.80 [[ 9.99469113e-01 -3.21870146e-02 -5.04852445e-03 3.47443078e+02] [ 3.21879554e-02 9.99481828e-01 1.05197715e-04 4.73664261e-01] [ 5.04252244e-03 -2.67643547e-04 9.99987251e-01 1.79720941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.864391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:347.48, Y:0.47, Z:1.80 [[ 9.99523607e-01 -3.04478481e-02 -5.04851589e-03 3.47475426e+02] [ 3.04487689e-02 9.99536323e-01 1.05606904e-04 4.74592999e-01] [ 5.04295951e-03 -2.59277687e-04 9.99987251e-01 1.79875506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:347.51, Y:0.48, Z:1.80 [[ 9.99580442e-01 -2.85210977e-02 -5.04850712e-03 3.47507883e+02] [ 2.85219961e-02 9.99593160e-01 1.06024347e-04 4.75667681e-01] [ 5.04342925e-03 -2.49973364e-04 9.99987251e-01 1.79960719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:347.54, Y:0.48, Z:1.80 [[ 9.99690080e-01 -2.43773823e-02 -5.04849833e-03 3.47539039e+02] [ 2.43782300e-02 9.99702801e-01 1.06441534e-04 4.78371323e-01] [ 5.04440315e-03 -2.29482000e-04 9.99987251e-01 1.80108774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:347.57, Y:0.48, Z:1.80 [[ 9.99739546e-01 -2.22565284e-02 -5.04849176e-03 3.47570850e+02] [ 2.22573507e-02 9.99752269e-01 1.06751851e-04 4.78998118e-01] [ 5.04486517e-03 -2.19090099e-04 9.99987251e-01 1.80191459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:347.60, Y:0.48, Z:1.80 [[ 9.99824037e-01 -1.80667831e-02 -5.04848292e-03 3.47603526e+02] [ 1.80675542e-02 9.99836763e-01 1.07168581e-04 4.80021222e-01] [ 5.04572263e-03 -1.98363462e-04 9.99987251e-01 1.80335523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:347.63, Y:0.48, Z:1.80 [[ 9.99858753e-01 -1.60308027e-02 -5.04847390e-03 3.47634503e+02] [ 1.60315501e-02 9.99871481e-01 1.07591570e-04 4.80689691e-01] [ 5.04610030e-03 -1.88511235e-04 9.99987251e-01 1.80406711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:347.67, Y:0.48, Z:1.80 [[ 9.99892501e-01 -1.37659029e-02 -5.04846719e-03 3.47666126e+02] [ 1.37666229e-02 9.99905230e-01 1.07905475e-04 4.81346092e-01] [ 5.04650333e-03 -1.77394220e-04 9.99987251e-01 1.80442092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:347.70, Y:0.48, Z:1.81 [[ 9.99938578e-01 -9.86674116e-03 -5.04846054e-03 3.47698003e+02] [ 9.86741315e-03 9.99951310e-01 1.08216087e-04 4.83353378e-01] [ 5.04714699e-03 -1.58024686e-04 9.99987251e-01 1.80534876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:347.73, Y:0.48, Z:1.81 [[ 9.99938982e-01 -9.82580236e-03 -5.04845610e-03 3.47729838e+02] [ 9.82647487e-03 9.99951713e-01 1.08422775e-04 4.82631817e-01] [ 5.04714698e-03 -1.58024686e-04 9.99987251e-01 1.80550950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:347.76, Y:0.48, Z:1.81 [[ 9.99956205e-01 -7.88040149e-03 -5.04845165e-03 3.47760340e+02] [ 7.88105027e-03 9.99968938e-01 1.08629463e-04 4.82818972e-01] [ 5.04743879e-03 -1.48411807e-04 9.99987251e-01 1.80563452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:347.79, Y:0.48, Z:1.81 [[ 9.99968911e-01 -6.05727676e-03 -5.04844944e-03 3.47791283e+02] [ 6.05790284e-03 9.99981645e-01 1.08731877e-04 4.83271882e-01] [ 5.04769816e-03 -1.39311513e-04 9.99987251e-01 1.80605005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:347.82, Y:0.48, Z:1.81 [[ 9.99983767e-01 -2.64168021e-03 -5.04844944e-03 3.47821568e+02] [ 2.64226279e-03 9.99996503e-01 1.08731877e-04 4.84329492e-01] [ 5.04814456e-03 -1.22069442e-04 9.99987251e-01 1.80593534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:347.85, Y:0.48, Z:1.81 [[ 9.99985406e-01 -1.92379277e-03 -5.04844944e-03 3.47850115e+02] [ 1.92436621e-03 9.99998143e-01 1.08731877e-04 4.84314106e-01] [ 5.04823089e-03 -1.18445356e-04 9.99987251e-01 1.80631128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:347.88, Y:0.48, Z:1.81 [[ 9.99987195e-01 -3.50233306e-04 -5.04845787e-03 3.47878721e+02] [ 3.50784720e-04 9.99999933e-01 1.08339324e-04 4.83837937e-01] [ 5.04841958e-03 -1.10108859e-04 9.99987251e-01 1.80671643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:347.91, Y:0.48, Z:1.81 [[ 9.99987214e-01 -2.91180913e-04 -5.04848753e-03 3.47907343e+02] [ 2.91724510e-04 9.99999952e-01 1.06939107e-04 4.83418254e-01] [ 5.04845615e-03 -1.08410507e-04 9.99987251e-01 1.80791689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:347.94, Y:0.48, Z:1.81 [[ 9.99987205e-01 -3.19212449e-04 -5.04851751e-03 3.47935599e+02] [ 3.19749163e-04 9.99999943e-01 1.05504501e-04 4.83082059e-01] [ 5.04848354e-03 -1.07117410e-04 9.99987251e-01 1.80855388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:347.96, Y:0.48, Z:1.81 [[ 9.99987076e-01 -5.99717893e-04 -5.04854750e-03 3.47964837e+02] [ 6.00250836e-04 9.99999814e-01 1.04049201e-04 4.82494680e-01] [ 5.04848417e-03 -1.07078252e-04 9.99987251e-01 1.80906326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:347.99, Y:0.48, Z:1.81 [[ 9.99985445e-01 -1.90297530e-03 -5.04855602e-03 3.47993192e+02] [ 1.90352275e-03 9.99998183e-01 1.03634081e-04 4.80780253e-01] [ 5.04834964e-03 -1.13242614e-04 9.99987251e-01 1.80776862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:348.02, Y:0.48, Z:1.81 [[ 9.99983125e-01 -2.87429140e-03 -5.04856234e-03 3.48021923e+02] [ 2.87484966e-03 9.99995862e-01 1.03325334e-04 4.79281093e-01] [ 5.04824447e-03 -1.17837449e-04 9.99987251e-01 1.80784872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:348.05, Y:0.48, Z:1.81 [[ 9.99973786e-01 -5.19032481e-03 -5.04857090e-03 3.48050411e+02] [ 5.19091045e-03 9.99986522e-01 1.02905392e-04 4.76775734e-01] [ 5.04796874e-03 -1.29109374e-04 9.99987251e-01 1.80753656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:348.08, Y:0.48, Z:1.81 [[ 9.99963920e-01 -6.83156447e-03 -5.04857585e-03 3.48080426e+02] [ 6.83216979e-03 9.99976655e-01 1.02662038e-04 4.75414393e-01] [ 5.04775665e-03 -1.37151061e-04 9.99987251e-01 1.80803478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:348.11, Y:0.47, Z:1.81 [[ 9.99950912e-01 -8.52555670e-03 -5.04858002e-03 3.48110721e+02] [ 8.52618256e-03 9.99963646e-01 1.02456522e-04 4.73970300e-01] [ 5.04752299e-03 -1.45496608e-04 9.99987251e-01 1.80914806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:348.14, Y:0.47, Z:1.81 [[ 9.99909904e-01 -1.24376564e-02 -5.04858002e-03 3.48141499e+02] [ 1.24383321e-02 9.99922636e-01 1.02456522e-04 4.71119075e-01] [ 5.04691512e-03 -1.65243206e-04 9.99987251e-01 1.80996054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.554391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:348.17, Y:0.47, Z:1.81 [[ 9.99881512e-01 -1.45421165e-02 -5.04858002e-03 3.48173259e+02] [ 1.45428190e-02 9.99894242e-01 1.02456522e-04 4.69029267e-01] [ 5.04655616e-03 -1.75864968e-04 9.99987251e-01 1.81042223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:348.20, Y:0.47, Z:1.81 [[ 9.99801757e-01 -1.92602974e-02 -5.04857574e-03 3.48204773e+02] [ 1.92610610e-02 9.99814483e-01 1.02667065e-04 4.65376228e-01] [ 5.04566175e-03 -1.99887637e-04 9.99987251e-01 1.81043797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.614391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:348.24, Y:0.46, Z:1.81 [[ 9.99756166e-01 -2.14970091e-02 -5.04856932e-03 3.48235493e+02] [ 2.14978027e-02 9.99768890e-01 1.02981820e-04 4.63565167e-01] [ 5.04518874e-03 -2.11489857e-04 9.99987251e-01 1.80999639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:348.27, Y:0.46, Z:1.81 [[ 9.99713260e-01 -2.34074713e-02 -5.04856293e-03 3.48267306e+02] [ 2.34082908e-02 9.99725983e-01 1.03294097e-04 4.61807833e-01] [ 5.04476168e-03 -2.21442707e-04 9.99987251e-01 1.81040566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67439141799997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:348.30, Y:0.46, Z:1.81 [[ 9.99621127e-01 -2.70576096e-02 -5.04855432e-03 3.48299554e+02] [ 2.70584777e-02 9.99633847e-01 1.03713070e-04 4.58885579e-01] [ 5.04389955e-03 -2.40279970e-04 9.99987251e-01 1.80933874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:348.33, Y:0.46, Z:1.81 [[ 9.99574983e-01 -2.87117505e-02 -5.04854580e-03 3.48330581e+02] [ 2.87126417e-02 9.99587702e-01 1.04126149e-04 4.57291497e-01] [ 5.04347465e-03 -2.49038981e-04 9.99987251e-01 1.80860913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:348.36, Y:0.45, Z:1.81 [[ 9.99463213e-01 -3.23697010e-02 -5.04853944e-03 3.48362258e+02] [ 3.23706403e-02 9.99475928e-01 1.04433581e-04 4.54318155e-01] [ 5.04251316e-03 -2.67801977e-04 9.99987251e-01 1.80724198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:348.39, Y:0.45, Z:1.81 [[ 9.99413208e-01 -3.38784762e-02 -5.04853100e-03 3.48394784e+02] [ 3.38794368e-02 9.99425922e-01 1.04840304e-04 4.52156674e-01] [ 5.04208092e-03 -2.75820171e-04 9.99987251e-01 1.80764616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:348.43, Y:0.45, Z:1.81 [[ 9.99374841e-01 -3.49919938e-02 -5.04852251e-03 3.48426272e+02] [ 3.49929706e-02 9.99387553e-01 1.05247602e-04 4.50607651e-01] [ 5.04174773e-03 -2.81844605e-04 9.99987251e-01 1.80781641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:348.46, Y:0.45, Z:1.81 [[ 9.99333455e-01 -3.61546478e-02 -5.04851616e-03 3.48457968e+02] [ 3.61556409e-02 9.99346166e-01 1.05551085e-04 4.49259770e-01] [ 5.04139911e-03 -2.88013068e-04 9.99987251e-01 1.80947958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:348.49, Y:0.45, Z:1.81 [[ 9.99242351e-01 -3.85906177e-02 -5.04850270e-03 3.48489198e+02] [ 3.85916450e-02 9.99255059e-01 1.06190900e-04 4.47430246e-01] [ 5.04064390e-03 -3.00940468e-04 9.99987251e-01 1.81102486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:348.52, Y:0.45, Z:1.81 [[ 9.99198346e-01 -3.97137002e-02 -5.04849639e-03 3.48521630e+02] [ 3.97147433e-02 9.99211053e-01 1.06490119e-04 4.46154551e-01] [ 5.04028428e-03 -3.06904489e-04 9.99987251e-01 1.81162450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:348.55, Y:0.44, Z:1.81 [[ 9.99142345e-01 -4.10984976e-02 -5.04848809e-03 3.48553746e+02] [ 4.10995603e-02 9.99155050e-01 1.06882353e-04 4.44598665e-01] [ 5.03982967e-03 -3.14281326e-04 9.99987251e-01 1.81210990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:348.59, Y:0.44, Z:1.81 [[ 9.99114118e-01 -4.17790841e-02 -5.04846732e-03 3.48585623e+02] [ 4.17801603e-02 9.99126822e-01 1.07854549e-04 4.43828454e-01] [ 5.03955304e-03 -3.18684777e-04 9.99987251e-01 1.81235352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:348.62, Y:0.44, Z:1.81 [[ 9.99089429e-01 -4.23653840e-02 -5.04845904e-03 3.48618182e+02] [ 4.23664696e-02 9.99102132e-01 1.08240437e-04 4.43073547e-01] [ 5.03934055e-03 -3.22027263e-04 9.99987251e-01 1.81233985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:348.65, Y:0.44, Z:1.81 [[ 9.99067799e-01 -4.28724352e-02 -5.04845079e-03 3.48650767e+02] [ 4.28735292e-02 9.99080502e-01 1.08624128e-04 4.42189191e-01] [ 5.03915177e-03 -3.24967771e-04 9.99987251e-01 1.81177276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:348.68, Y:0.44, Z:1.81 [[ 9.99007769e-01 -4.42491816e-02 -5.04844254e-03 3.48681647e+02] [ 4.42502950e-02 9.99020470e-01 1.09005941e-04 4.41525116e-01] [ 5.03867402e-03 -3.32292854e-04 9.99987251e-01 1.81084208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:348.71, Y:0.44, Z:1.81 [[ 9.98977280e-01 -4.49322574e-02 -5.04843640e-03 3.48713827e+02] [ 4.49333809e-02 9.98989980e-01 1.09289862e-04 4.41332733e-01] [ 5.03842673e-03 -3.36021404e-04 9.99987251e-01 1.81064062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:348.75, Y:0.44, Z:1.81 [[ 9.98909421e-01 -4.64163891e-02 -5.04842830e-03 3.48746477e+02] [ 4.64175334e-02 9.98922119e-01 1.09662726e-04 4.41300864e-01] [ 5.03789655e-03 -3.43878719e-04 9.99987251e-01 1.81323362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:348.78, Y:0.44, Z:1.81 [[ 9.98986244e-01 -4.47325114e-02 -5.04841919e-03 3.48775939e+02] [ 4.47336363e-02 9.98998944e-01 1.10080566e-04 4.39586403e-01] [ 5.03844126e-03 -3.35803120e-04 9.99987251e-01 1.81343929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:348.81, Y:0.44, Z:1.81 [[ 9.98825577e-01 -4.81867899e-02 -5.04968264e-03 3.48810173e+02] [ 4.81876646e-02 9.98838298e-01 5.16227794e-05 4.40204786e-01] [ 5.04132888e-03 -2.94894566e-04 9.99987249e-01 1.81404808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:348.84, Y:0.44, Z:1.82 [[ 9.98805044e-01 -4.86106876e-02 -5.04837109e-03 3.48843521e+02] [ 4.86118673e-02 9.98817738e-01 1.11178017e-04 4.40056682e-01] [ 5.03699816e-03 -3.56455910e-04 9.99987251e-01 1.81579210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:348.88, Y:0.44, Z:1.82 [[ 9.98794223e-01 -4.88325069e-02 -5.04835734e-03 3.48875920e+02] [ 4.88336926e-02 9.98806917e-01 1.11798922e-04 4.39934261e-01] [ 5.03687481e-03 -3.58194048e-04 9.99987251e-01 1.81580932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:348.91, Y:0.44, Z:1.81 [[ 9.98810379e-01 -4.85009290e-02 -5.04834824e-03 3.48907026e+02] [ 4.85021126e-02 9.98823074e-01 1.12208342e-04 4.40763692e-01] [ 5.03696450e-03 -3.56930412e-04 9.99987251e-01 1.81471159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:348.94, Y:0.44, Z:1.82 [[ 9.98851503e-01 -4.76465023e-02 -5.04833139e-03 3.48938889e+02] [ 4.76476788e-02 9.98864198e-01 1.12961439e-04 4.40994014e-01] [ 5.03721527e-03 -3.53372975e-04 9.99987251e-01 1.81553929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.304391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:348.97, Y:0.45, Z:1.81 [[ 9.98830834e-01 -4.80778550e-02 -5.04832185e-03 3.48967532e+02] [ 4.80790391e-02 9.98843528e-01 1.13386246e-04 4.47744080e-01] [ 5.03703224e-03 -3.55972142e-04 9.99987251e-01 1.81240261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:349.00, Y:0.45, Z:1.81 [[ 9.98938781e-01 -4.57800544e-02 -5.04954280e-03 3.48999780e+02] [ 4.57809368e-02 9.98951501e-01 5.92261196e-05 4.48534776e-01] [ 5.04153698e-03 -2.90336067e-04 9.99987249e-01 1.81196894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.364391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:349.03, Y:0.45, Z:1.81 [[ 9.99065839e-01 -4.29179403e-02 -5.04964460e-03 3.49032066e+02] [ 4.29187637e-02 9.99078564e-01 5.47644832e-05 4.48609973e-01] [ 5.04264129e-03 -2.71437828e-04 9.99987249e-01 1.81226226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:349.06, Y:0.45, Z:1.81 [[ 9.99177155e-01 -4.02431901e-02 -5.04961932e-03 3.49063871e+02] [ 4.02439849e-02 9.99189881e-01 5.58632943e-05 4.48596705e-01] [ 5.04328041e-03 -2.59034131e-04 9.99987249e-01 1.81335829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:349.10, Y:0.45, Z:1.82 [[ 9.99476255e-01 -3.19643585e-02 -5.04939547e-03 3.49098536e+02] [ 3.19650969e-02 9.99488984e-01 6.55934260e-05 4.46692580e-01] [ 5.04471850e-03 -2.26963488e-04 9.99987250e-01 1.81840354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:349.13, Y:0.45, Z:1.82 [[ 9.99550290e-01 -2.95590022e-02 -5.04817511e-03 3.49130413e+02] [ 2.95599734e-02 9.99563002e-01 1.17862805e-04 4.47293839e-01] [ 5.04248516e-03 -2.67033723e-04 9.99987251e-01 1.81998006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:349.16, Y:0.45, Z:1.82 [[ 9.99684574e-01 -2.46022029e-02 -5.04816569e-03 3.49161129e+02] [ 2.46031131e-02 9.99697291e-01 1.18265116e-04 4.48943722e-01] [ 5.04372798e-03 -2.42428403e-04 9.99987251e-01 1.82180657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514391418 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:349.19, Y:0.45, Z:1.82 [[ 9.99750352e-01 -2.17657714e-02 -5.04816099e-03 3.49192468e+02] [ 2.17666465e-02 9.99763071e-01 1.18465249e-04 4.49471930e-01] [ 5.04438645e-03 -2.28317210e-04 9.99987251e-01 1.82230397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:349.22, Y:0.45, Z:1.82 [[ 9.99848774e-01 -1.66416750e-02 -5.04814548e-03 3.49224538e+02] [ 1.66424882e-02 9.99861497e-01 1.19122681e-04 4.51684209e-01] [ 5.04546390e-03 -2.03118368e-04 9.99987251e-01 1.82190946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:349.26, Y:0.45, Z:1.82 [[ 9.99885094e-01 -1.42938925e-02 -5.04813626e-03 3.49256497e+02] [ 1.42946778e-02 9.99897819e-01 1.19512000e-04 4.51898417e-01] [ 5.04591215e-03 -1.91659749e-04 9.99987251e-01 1.82106983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:349.29, Y:0.45, Z:1.82 [[ 9.99915284e-01 -1.19975716e-02 -5.04812703e-03 3.49288157e+02] [ 1.19983296e-02 9.99928010e-01 1.19900569e-04 4.51862875e-01] [ 5.04632510e-03 -1.80459504e-04 9.99987251e-01 1.82067988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:349.32, Y:0.45, Z:1.82 [[ 9.99939438e-01 -9.77937018e-03 -5.04812225e-03 3.49319168e+02] [ 9.78010098e-03 9.99952166e-01 1.20101513e-04 4.51138096e-01] [ 5.04670627e-03 -1.69465385e-04 9.99987251e-01 1.81980152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:349.35, Y:0.45, Z:1.82 [[ 9.99964021e-01 -6.81718706e-03 -5.04811744e-03 3.49350467e+02] [ 6.81788118e-03 9.99976751e-01 1.20303378e-04 4.51182925e-01] [ 5.04717995e-03 -1.54716514e-04 9.99987251e-01 1.81979331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:349.38, Y:0.45, Z:1.82 [[ 9.99972663e-01 -5.40282407e-03 -5.04811251e-03 3.49379700e+02] [ 5.40350122e-03 9.99985394e-01 1.20509852e-04 4.51360163e-01] [ 5.04738769e-03 -1.47784040e-04 9.99987251e-01 1.82006060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:349.40, Y:0.46, Z:1.82 [[ 9.99947754e-01 -8.88855306e-03 -5.04811496e-03 3.49403773e+02] [ 8.88927406e-03 9.99960482e-01 1.20407424e-04 4.59849300e-01] [ 5.04684522e-03 -1.65275210e-04 9.99987251e-01 1.82169812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:349.44, Y:0.46, Z:1.82 [[ 9.99966115e-01 -6.50064487e-03 -5.05088749e-03 3.49435523e+02] [ 6.50072742e-03 9.99978870e-01 -7.47645315e-08 4.56976099e-01] [ 5.05078126e-03 -3.27596808e-05 9.99987244e-01 1.81873216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:349.47, Y:0.45, Z:1.82 [[ 9.99982946e-01 -2.93383002e-03 -5.04972107e-03 3.49468875e+02] [ 2.93412555e-03 9.99995694e-01 5.11172632e-05 4.51886428e-01] [ 5.04954936e-03 -6.59329071e-05 9.99987249e-01 1.82052281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:349.49, Y:0.46, Z:1.82 [[ 9.99970623e-01 -5.76797112e-03 -5.04821746e-03 3.49494085e+02] [ 5.76863196e-03 9.99983355e-01 1.16354219e-04 4.56038629e-01] [ 5.04746230e-03 -1.45472109e-04 9.99987251e-01 1.82122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:349.53, Y:0.45, Z:1.82 [[ 9.99982304e-01 -3.14386447e-03 -5.05048563e-03 3.49525708e+02] [ 3.14398750e-03 9.99995058e-01 1.64212475e-05 4.53649173e-01] [ 5.05040904e-03 -3.22996206e-05 9.99987246e-01 1.82036922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:349.55, Y:0.45, Z:1.82 [[ 9.99982656e-01 -3.03199472e-03 -5.04926046e-03 3.49554547e+02] [ 3.03239039e-03 9.99995400e-01 7.07082389e-05 4.53671347e-01] [ 5.04902285e-03 -8.60183414e-05 9.99987250e-01 1.82126875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904391418 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:349.58, Y:0.45, Z:1.82 [[ 9.99984401e-01 -2.38724553e-03 -5.04960268e-03 3.49584614e+02] [ 2.38755830e-03 9.99997148e-01 5.59110081e-05 4.53548854e-01] [ 5.04945481e-03 -6.79663567e-05 9.99987249e-01 1.82144923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:349.61, Y:0.45, Z:1.82 [[ 9.99987249e-01 -6.82111237e-05 -5.04952993e-03 3.49613970e+02] [ 6.85105247e-05 9.99999996e-01 5.91199094e-05 4.51941043e-01] [ 5.04952588e-03 -5.94651014e-05 9.99987249e-01 1.82176764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:349.64, Y:0.45, Z:1.82 [[ 9.99986765e-01 9.86224569e-04 -5.04938901e-03 3.49644215e+02] [-9.85906987e-04 9.99999512e-01 6.53838207e-05 4.48894705e-01] [ 5.04945102e-03 -6.04047275e-05 9.99987250e-01 1.81966635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:349.67, Y:0.45, Z:1.82 [[ 9.99987011e-01 7.01269480e-04 -5.04829013e-03 3.49672748e+02] [-7.00702738e-04 9.99999748e-01 1.14032036e-04 4.48129634e-01] [ 5.04836883e-03 -1.10493205e-04 9.99987251e-01 1.81910077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:349.70, Y:0.45, Z:1.82 [[ 9.99987063e-01 6.22552669e-04 -5.04829906e-03 3.49702048e+02] [-6.21986924e-04 9.99999800e-01 1.13635614e-04 4.47548895e-01] [ 5.04836879e-03 -1.10494168e-04 9.99987251e-01 1.81924887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.054391418 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:349.73, Y:0.45, Z:1.82 [[ 9.99986924e-01 8.16938131e-04 -5.04830797e-03 3.49730855e+02] [-8.16376867e-04 9.99999660e-01 1.13238227e-04 4.47399419e-01] [ 5.04839876e-03 -1.09115425e-04 9.99987251e-01 1.81923969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084391418 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:349.76, Y:0.45, Z:1.82 [[ 9.99987111e-01 5.33666986e-04 -5.04902302e-03 3.49760098e+02] [-5.33262633e-04 9.99999855e-01 8.14313100e-05 4.47320986e-01] [ 5.04906574e-03 -7.87378051e-05 9.99987250e-01 1.81878424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.114391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:349.79, Y:0.45, Z:1.82 [[ 9.99986862e-01 8.84856759e-04 -5.04901940e-03 3.49789789e+02] [-8.84456092e-04 9.99999606e-01 8.15876306e-05 4.45693212e-01] [ 5.04908960e-03 -7.71209227e-05 9.99987250e-01 1.81987037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:349.82, Y:0.45, Z:1.82 [[ 9.99987143e-01 -4.78816830e-04 -5.04819341e-03 3.49818921e+02] [ 4.79414450e-04 9.99999878e-01 1.17173667e-04 4.46900383e-01] [ 5.04813669e-03 -1.19592337e-04 9.99987251e-01 1.81925132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17439141799997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:349.85, Y:0.45, Z:1.82 [[ 9.99986737e-01 1.02010125e-03 -5.04829201e-03 3.49847563e+02] [-1.01954416e-03 9.99999474e-01 1.12924612e-04 4.45435314e-01] [ 5.04840455e-03 -1.07776158e-04 9.99987251e-01 1.81828537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:349.88, Y:0.44, Z:1.82 [[ 9.99986586e-01 1.15940759e-03 -5.04819793e-03 3.49876353e+02] [-1.15883178e-03 9.99999322e-01 1.16984241e-04 4.44902769e-01] [ 5.04833014e-03 -1.11132660e-04 9.99987251e-01 1.81993222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234391418 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:349.90, Y:0.44, Z:1.82 [[ 9.99986959e-01 7.73550968e-04 -5.04820721e-03 3.49903910e+02] [-7.72972280e-04 9.99999694e-01 1.16582591e-04 4.44992398e-01] [ 5.04829585e-03 -1.12678946e-04 9.99987251e-01 1.82152745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:349.93, Y:0.44, Z:1.82 [[ 9.99987247e-01 1.32919948e-04 -5.04856966e-03 3.49932141e+02] [-1.32413961e-04 9.99999986e-01 1.00557932e-04 4.44557663e-01] [ 5.04858296e-03 -9.98881485e-05 9.99987251e-01 1.82142750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:349.96, Y:0.44, Z:1.82 [[ 9.99986981e-01 -7.40780911e-04 -5.04876519e-03 3.49961318e+02] [ 7.41253971e-04 9.99999721e-01 9.18276614e-05 4.43312404e-01] [ 5.04869576e-03 -9.55688831e-05 9.99987251e-01 1.82237194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:349.99, Y:0.44, Z:1.82 [[ 9.99981926e-01 -3.26547610e-03 -5.04828747e-03 3.49990283e+02] [ 3.26608887e-03 9.99994660e-01 1.13143146e-04 4.42888571e-01] [ 5.04789104e-03 -1.29629257e-04 9.99987251e-01 1.82392559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:350.02, Y:0.44, Z:1.82 [[ 9.99975296e-01 -4.89095747e-03 -5.04829674e-03 3.50019181e+02] [ 4.89158885e-03 9.99988030e-01 1.12727846e-04 4.41950373e-01] [ 5.04768496e-03 -1.37419253e-04 9.99987251e-01 1.82359437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:350.05, Y:0.44, Z:1.82 [[ 9.99963267e-01 -6.92669440e-03 -5.04830157e-03 3.50048589e+02] [ 6.92735061e-03 9.99975999e-01 1.12511212e-04 4.40560522e-01] [ 5.04740107e-03 -1.47478434e-04 9.99987251e-01 1.82399155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414391418 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:350.08, Y:0.44, Z:1.82 [[ 9.99915861e-01 -1.19493206e-02 -5.04830616e-03 3.50079300e+02] [ 1.19500397e-02 9.99928589e-01 1.12304844e-04 4.37551199e-01] [ 5.04660369e-03 -1.72622854e-04 9.99987251e-01 1.82244044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:350.11, Y:0.44, Z:1.82 [[ 9.99882350e-01 -1.44844990e-02 -5.04830616e-03 3.50110780e+02] [ 1.44852504e-02 9.99895077e-01 1.12304844e-04 4.35870872e-01] [ 5.04614979e-03 -1.85417610e-04 9.99987251e-01 1.82230662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:350.14, Y:0.43, Z:1.82 [[ 9.99801383e-01 -1.92797534e-02 -5.04829925e-03 3.50141561e+02] [ 1.92805674e-02 9.99814106e-01 1.12614328e-04 4.34819859e-01] [ 5.04518963e-03 -2.09926035e-04 9.99987251e-01 1.82113992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:350.17, Y:0.43, Z:1.82 [[ 9.99758945e-01 -2.13674065e-02 -5.04828363e-03 3.50173576e+02] [ 2.13682505e-02 9.99771666e-01 1.13310467e-04 4.33847213e-01] [ 5.04470979e-03 -2.21156142e-04 9.99987251e-01 1.82315583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:350.21, Y:0.43, Z:1.82 [[ 9.99714251e-01 -2.33651788e-02 -5.04827473e-03 3.50205877e+02] [ 2.33660502e-02 9.99726970e-01 1.13705616e-04 4.32477365e-01] [ 5.04423965e-03 -2.31631366e-04 9.99987251e-01 1.82468916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:350.24, Y:0.43, Z:1.82 [[ 9.99662603e-01 -2.54793054e-02 -5.04826534e-03 3.50236743e+02] [ 2.54802058e-02 9.99675320e-01 1.14120819e-04 4.30943643e-01] [ 5.04371855e-03 -2.42713155e-04 9.99987251e-01 1.82449086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:350.27, Y:0.43, Z:1.82 [[ 9.99550483e-01 -2.95524360e-02 -5.04825835e-03 3.50268339e+02] [ 2.95533898e-02 9.99563197e-01 1.14429484e-04 4.29052303e-01] [ 5.04267158e-03 -2.63571193e-04 9.99987251e-01 1.82416586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:350.30, Y:0.43, Z:1.82 [[ 9.99490100e-01 -3.15286278e-02 -5.04825145e-03 3.50299104e+02] [ 3.15296083e-02 9.99502812e-01 1.14732951e-04 4.27991425e-01] [ 5.04212415e-03 -2.73843840e-04 9.99987251e-01 1.82450700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:350.33, Y:0.43, Z:1.83 [[ 9.99430137e-01 -3.33753766e-02 -5.04824462e-03 3.50331462e+02] [ 3.33763821e-02 9.99442847e-01 1.15032470e-04 4.26729610e-01] [ 5.04159273e-03 -2.83459058e-04 9.99987251e-01 1.82506949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:350.36, Y:0.43, Z:1.83 [[ 9.99312050e-01 -3.67415639e-02 -5.04823561e-03 3.50364957e+02] [ 3.67426142e-02 9.99324756e-01 1.15426846e-04 4.25516832e-01] [ 5.04058585e-03 -3.00832811e-04 9.99987251e-01 1.82647674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:350.40, Y:0.42, Z:1.83 [[ 9.99260444e-01 -3.81193054e-02 -5.04822185e-03 3.50396731e+02] [ 3.81203762e-02 9.99273148e-01 1.16025597e-04 4.24718435e-01] [ 5.04012972e-03 -3.08379905e-04 9.99987251e-01 1.82654440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744391418 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:350.43, Y:0.42, Z:1.83 [[ 9.99159751e-01 -4.06731852e-02 -5.04819898e-03 3.50429511e+02] [ 4.06742934e-02 9.99172452e-01 1.17012257e-04 4.24027525e-01] [ 5.03926209e-03 -3.22245864e-04 9.99987251e-01 1.82789211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:350.46, Y:0.42, Z:1.83 [[ 9.99126570e-01 -4.14802748e-02 -5.04818516e-03 3.50462687e+02] [ 4.14813963e-02 9.99139270e-01 1.17605281e-04 4.22743310e-01] [ 5.03896173e-03 -3.26908330e-04 9.99987251e-01 1.82976811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.804391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:350.49, Y:0.43, Z:1.83 [[ 9.98938608e-01 -4.57839925e-02 -5.04817042e-03 3.50491381e+02] [ 4.57851718e-02 9.98951302e-01 1.18234428e-04 4.26292937e-01] [ 5.03746318e-03 -3.49240286e-04 9.99987251e-01 1.82592554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:350.52, Y:0.43, Z:1.83 [[ 9.98892415e-01 -4.67808340e-02 -5.04939812e-03 3.50523291e+02] [ 4.67817625e-02 9.98905132e-01 6.58567383e-05 4.26540786e-01] [ 5.04078886e-03 -3.02003540e-04 9.99987250e-01 1.82683357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.864391418 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:350.56, Y:0.42, Z:1.83 [[ 9.99039865e-01 -4.35184044e-02 -5.04942639e-03 3.50557951e+02] [ 4.35192853e-02 9.99052585e-01 6.46618684e-05 4.21419448e-01] [ 5.04182851e-03 -2.84347212e-04 9.99987249e-01 1.82959176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894391418 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:350.59, Y:0.42, Z:1.83 [[ 9.99030523e-01 -4.37325049e-02 -5.04805553e-03 3.50589799e+02] [ 4.37336750e-02 9.99043218e-01 1.21580747e-04 4.21034098e-01] [ 5.03790861e-03 -3.42232897e-04 9.99987251e-01 1.82729459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:350.62, Y:0.42, Z:1.83 [[ 9.99042123e-01 -4.34666972e-02 -5.04804330e-03 3.50622098e+02] [ 4.34678664e-02 9.99054818e-01 1.22086493e-04 4.21406532e-01] [ 5.03796528e-03 -3.41397221e-04 9.99987251e-01 1.82906567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:350.65, Y:0.43, Z:1.83 [[ 9.98893175e-01 -4.67647465e-02 -5.04803349e-03 3.50649342e+02] [ 4.67659597e-02 9.98905866e-01 1.22490638e-04 4.25828454e-01] [ 5.03678202e-03 -3.58431193e-04 9.99987251e-01 1.82667947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:350.68, Y:0.43, Z:1.83 [[ 9.98918981e-01 -4.62101051e-02 -5.04923290e-03 3.50682580e+02] [ 4.62110620e-02 9.98931696e-01 7.29463968e-05 4.25080292e-01] [ 5.04046792e-03 -3.06197955e-04 9.99987250e-01 1.82722478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:350.72, Y:0.42, Z:1.83 [[ 9.99093261e-01 -4.22748464e-02 -5.04905782e-03 3.50717345e+02] [ 4.22757890e-02 9.99105976e-01 8.00590881e-05 4.21964311e-01] [ 5.04115936e-03 -2.93439398e-04 9.99987250e-01 1.82979495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:350.75, Y:0.42, Z:1.83 [[ 9.99074440e-01 -4.27174711e-02 -5.04789854e-03 3.50748864e+02] [ 4.27186523e-02 9.99087134e-01 1.26368107e-04 4.22589487e-01] [ 5.03789236e-03 -3.41890568e-04 9.99987251e-01 1.82799975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:350.78, Y:0.42, Z:1.83 [[ 9.99049912e-01 -4.32873157e-02 -5.04789108e-03 3.50781587e+02] [ 4.32885056e-02 9.99062605e-01 1.26665359e-04 4.23509697e-01] [ 5.03767621e-03 -3.45060677e-04 9.99987251e-01 1.83337284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:350.81, Y:0.42, Z:1.83 [[ 9.99029743e-01 -4.37503422e-02 -5.04787523e-03 3.50813986e+02] [ 4.37515412e-02 9.99042435e-01 1.27293862e-04 4.23109574e-01] [ 5.03747241e-03 -3.48022675e-04 9.99987251e-01 1.83291229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134391418 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:350.85, Y:0.42, Z:1.83 [[ 9.99023782e-01 -4.38862351e-02 -5.04784893e-03 3.50845753e+02] [ 4.38874411e-02 9.99036474e-01 1.28328337e-04 4.22970771e-01] [ 5.03735335e-03 -3.49740233e-04 9.99987251e-01 1.83201832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:350.88, Y:0.42, Z:1.83 [[ 9.99029047e-01 -4.37662232e-02 -5.04783865e-03 3.50879276e+02] [ 4.37674296e-02 9.99041739e-01 1.28731472e-04 4.21996605e-01] [ 5.03736741e-03 -3.49537403e-04 9.99987251e-01 1.83218755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:350.91, Y:0.43, Z:1.84 [[ 9.98848328e-01 -4.77130802e-02 -5.04782311e-03 3.50908870e+02] [ 4.77143398e-02 9.98861014e-01 1.29337859e-04 4.28891634e-01] [ 5.03590260e-03 -3.70042451e-04 9.99987251e-01 1.83551302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:350.94, Y:0.42, Z:1.84 [[ 9.99017520e-01 -4.40283898e-02 -5.04923333e-03 3.50943624e+02] [ 4.40293238e-02 9.99030236e-01 7.39211309e-05 4.24664618e-01] [ 5.04108214e-03 -2.96162834e-04 9.99987250e-01 1.83686026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:350.98, Y:0.43, Z:1.84 [[ 9.99060562e-01 -4.30408319e-02 -5.04775858e-03 3.50975226e+02] [ 4.30420396e-02 9.99073253e-01 1.30823821e-04 4.25447984e-01] [ 5.03744982e-03 -3.47966745e-04 9.99987251e-01 1.83580294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:351.01, Y:0.43, Z:1.84 [[ 9.99092931e-01 -4.22828028e-02 -5.04775066e-03 3.51008138e+02] [ 4.22840024e-02 9.99105623e-01 1.31128659e-04 4.25436104e-01] [ 5.03769158e-03 -3.44448817e-04 9.99987251e-01 1.83737742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:351.04, Y:0.43, Z:1.84 [[ 9.99116969e-01 -4.17109304e-02 -5.04773468e-03 3.51039455e+02] [ 4.17121259e-02 9.99129662e-01 1.31741228e-04 4.25885175e-01] [ 5.03784639e-03 -3.42176640e-04 9.99987251e-01 1.83743265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:351.07, Y:0.43, Z:1.84 [[ 9.99211799e-01 -3.93738666e-02 -5.04772675e-03 3.51071096e+02] [ 3.93750339e-02 9.99224494e-01 1.32044341e-04 4.27663821e-01] [ 5.03861311e-03 -3.30694676e-04 9.99987251e-01 1.83838222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:351.10, Y:0.43, Z:1.84 [[ 9.99274111e-01 -3.77593809e-02 -5.04771357e-03 3.51104263e+02] [ 3.77605302e-02 9.99286808e-01 1.32546213e-04 4.27573895e-01] [ 5.03910872e-03 -3.23054340e-04 9.99987251e-01 1.83911034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:351.14, Y:0.43, Z:1.84 [[ 9.99342431e-01 -3.59058111e-02 -5.04769748e-03 3.51137152e+02] [ 3.59069400e-02 9.99355129e-01 1.33156238e-04 4.27169060e-01] [ 5.03966128e-03 -3.14316048e-04 9.99987251e-01 1.83981653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:351.17, Y:0.43, Z:1.84 [[ 9.99412381e-01 -3.39030145e-02 -5.04768100e-03 3.51170024e+02] [ 3.39041210e-02 9.99425081e-01 1.33777735e-04 4.27029999e-01] [ 5.04024353e-03 -3.04836312e-04 9.99987251e-01 1.84054689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:351.20, Y:0.43, Z:1.84 [[ 9.99550122e-01 -2.95647453e-02 -5.04766440e-03 3.51201375e+02] [ 2.95657998e-02 9.99562827e-01 1.34401270e-04 4.28595446e-01] [ 5.04148416e-03 -2.83579041e-04 9.99987251e-01 1.84139592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:351.23, Y:0.43, Z:1.84 [[ 9.99630382e-01 -2.67136758e-02 -5.04765618e-03 3.51233996e+02] [ 2.67146956e-02 9.99643090e-01 1.34709272e-04 4.28647612e-01] [ 5.04225604e-03 -2.69506079e-04 9.99987251e-01 1.84213208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:351.27, Y:0.43, Z:1.84 [[ 9.99778086e-01 -2.04523748e-02 -5.04764538e-03 3.51266508e+02] [ 2.04533170e-02 9.99790800e-01 1.35112769e-04 4.30546706e-01] [ 5.04382604e-03 -2.38323877e-04 9.99987251e-01 1.84498631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.554391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:351.30, Y:0.43, Z:1.85 [[ 9.99840430e-01 -1.71358136e-02 -5.04763410e-03 3.51297684e+02] [ 1.71367158e-02 9.99853147e-01 1.35532793e-04 4.31286150e-01] [ 5.04457038e-03 -2.22011037e-04 9.99987251e-01 1.84546976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:351.33, Y:0.43, Z:1.85 [[ 9.99896266e-01 -1.34899780e-02 -5.04762569e-03 3.51329974e+02] [ 1.34908353e-02 9.99908985e-01 1.35845463e-04 4.31786084e-01] [ 5.04533373e-03 -2.03928059e-04 9.99987251e-01 1.84600052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.614391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:351.36, Y:0.43, Z:1.85 [[ 9.99964639e-01 -6.72627181e-03 -5.04761453e-03 3.51361576e+02] [ 6.72704522e-03 9.99977364e-01 1.36258665e-04 4.33254734e-01] [ 5.04658376e-03 -1.70209378e-04 9.99987251e-01 1.84732511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:351.39, Y:0.43, Z:1.85 [[ 9.99980391e-01 -3.70661886e-03 -5.04760896e-03 3.51392085e+02] [ 3.70735487e-03 9.99993118e-01 1.36464920e-04 4.33785281e-01] [ 5.04706840e-03 -1.55175521e-04 9.99987251e-01 1.84824025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67439141799997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:351.42, Y:0.44, Z:1.85 [[ 9.99985568e-01 1.83991300e-03 -5.04760896e-03 3.51421740e+02] [-1.83924759e-03 9.99998299e-01 1.36464920e-04 4.35723009e-01] [ 5.04785146e-03 -1.27179148e-04 9.99987251e-01 1.85052654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:351.45, Y:0.44, Z:1.85 [[ 9.99981251e-01 3.46697514e-03 -5.04761170e-03 3.51449624e+02] [-3.46633096e-03 9.99993983e-01 1.36363338e-04 4.36263193e-01] [ 5.04805410e-03 -1.18864088e-04 9.99987251e-01 1.85127638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:351.48, Y:0.44, Z:1.85 [[ 9.99976546e-01 4.62908889e-03 -5.04765513e-03 3.51477857e+02] [-4.62846772e-03 9.99989280e-01 1.34736397e-04 4.36405062e-01] [ 5.04822472e-03 -1.11370328e-04 9.99987251e-01 1.85113692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764391418 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:351.51, Y:0.44, Z:1.85 [[ 9.99969548e-01 5.95189529e-03 -5.04766850e-03 3.51506585e+02] [-5.95129350e-03 9.99982282e-01 1.34233636e-04 4.35863333e-01] [ 5.04837801e-03 -1.04189392e-04 9.99987251e-01 1.84951396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:351.53, Y:0.44, Z:1.85 [[ 9.99971168e-01 5.67306017e-03 -5.04767928e-03 3.51534439e+02] [-5.67245688e-03 9.99983903e-01 1.33827085e-04 4.35019400e-01] [ 5.04835723e-03 -1.05190484e-04 9.99987251e-01 1.84789800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:351.56, Y:0.43, Z:1.85 [[ 9.99977672e-01 4.37916871e-03 -5.04769259e-03 3.51562909e+02] [-4.37855149e-03 9.99990405e-01 1.33323025e-04 4.34145326e-01] [ 5.04822800e-03 -1.11218466e-04 9.99987251e-01 1.84753359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:351.59, Y:0.43, Z:1.85 [[ 9.99981163e-01 3.49207177e-03 -5.04770299e-03 3.51591679e+02] [-3.49144524e-03 9.99993896e-01 1.32928061e-04 4.33222491e-01] [ 5.04813638e-03 -1.15301778e-04 9.99987251e-01 1.84771006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884391418 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:351.62, Y:0.43, Z:1.85 [[ 9.99984887e-01 2.17871828e-03 -5.04771343e-03 3.51620876e+02] [-2.17807704e-03 9.99997619e-01 1.32530677e-04 4.32224555e-01] [ 5.04799016e-03 -1.21534365e-04 9.99987251e-01 1.84778390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914391418 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:351.65, Y:0.43, Z:1.85 [[ 9.99985055e-01 2.10019256e-03 -5.04772380e-03 3.51650169e+02] [-2.09955231e-03 9.99997787e-01 1.32134527e-04 4.31536138e-01] [ 5.04799014e-03 -1.21534592e-04 9.99987251e-01 1.84793198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:351.68, Y:0.43, Z:1.85 [[ 9.99987052e-01 6.44400224e-04 -5.04773414e-03 3.51678510e+02] [-6.43743441e-04 9.99999784e-01 1.31738149e-04 4.30318132e-01] [ 5.04781794e-03 -1.28486998e-04 9.99987251e-01 1.84773872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:351.71, Y:0.43, Z:1.85 [[ 9.99981150e-01 -3.49565815e-03 -5.04774439e-03 3.51706860e+02] [ 3.49636565e-03 9.99993879e-01 1.31344134e-04 4.28460402e-01] [ 5.04725436e-03 -1.48990419e-04 9.99987251e-01 1.84799681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:351.74, Y:0.43, Z:1.85 [[ 9.99970769e-01 -5.74300497e-03 -5.04775467e-03 3.51736697e+02] [ 5.74373908e-03 9.99983496e-01 1.30947938e-04 4.27037508e-01] [ 5.04691933e-03 -1.59937096e-04 9.99987251e-01 1.84743025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:351.77, Y:0.42, Z:1.85 [[ 9.99934115e-01 -1.03095095e-02 -5.04775722e-03 3.51767134e+02] [ 1.03103012e-02 9.99946839e-01 1.30849621e-04 4.24659897e-01] [ 5.04613988e-03 -1.82884898e-04 9.99987251e-01 1.84724888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:351.80, Y:0.42, Z:1.85 [[ 9.99909732e-01 -1.24518223e-02 -5.04775722e-03 3.51798732e+02] [ 1.24526413e-02 9.99922454e-01 1.30849621e-04 4.23356486e-01] [ 5.04573647e-03 -1.93695720e-04 9.99987251e-01 1.84669857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094391418 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:351.83, Y:0.42, Z:1.85 [[ 9.99881217e-01 -1.45626835e-02 -5.04774965e-03 3.51831297e+02] [ 1.45635308e-02 9.99893938e-01 1.31140883e-04 4.22350447e-01] [ 5.04530451e-03 -2.04638364e-04 9.99987251e-01 1.84733355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:351.86, Y:0.42, Z:1.85 [[ 9.99813618e-01 -1.86346377e-02 -5.04773955e-03 3.51862119e+02] [ 1.86355388e-02 9.99826335e-01 1.31528633e-04 4.20958239e-01] [ 5.04441194e-03 -2.25571465e-04 9.99987251e-01 1.84676509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:351.89, Y:0.42, Z:1.85 [[ 9.99774399e-01 -2.06317900e-02 -5.04773201e-03 3.51894209e+02] [ 2.06327179e-02 9.99787114e-01 1.31817478e-04 4.19462045e-01] [ 5.04393779e-03 -2.35936170e-04 9.99987251e-01 1.84654645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:351.93, Y:0.42, Z:1.85 [[ 9.99730071e-01 -2.26783035e-02 -5.04772207e-03 3.51926844e+02] [ 2.26792593e-02 9.99742784e-01 1.32197044e-04 4.18002566e-01] [ 5.04342571e-03 -2.46639958e-04 9.99987251e-01 1.84717157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:351.96, Y:0.42, Z:1.85 [[ 9.99651083e-01 -2.59274570e-02 -5.04771174e-03 3.51959314e+02] [ 2.59284562e-02 9.99663792e-01 1.32590338e-04 4.16408542e-01] [ 5.04257693e-03 -2.63423448e-04 9.99987251e-01 1.84761816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:351.99, Y:0.42, Z:1.85 [[ 9.99608341e-01 -2.75260741e-02 -5.04770145e-03 3.51990090e+02] [ 2.75270955e-02 9.99621049e-01 1.32980950e-04 4.15217531e-01] [ 5.04212817e-03 -2.71877427e-04 9.99987251e-01 1.84628765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:352.02, Y:0.41, Z:1.85 [[ 9.99544006e-01 -2.97708148e-02 -5.04769376e-03 3.52022100e+02] [ 2.97718662e-02 9.99556711e-01 1.33272044e-04 4.14785177e-01] [ 5.04148855e-03 -2.83490536e-04 9.99987251e-01 1.84999363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.304391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:352.05, Y:0.41, Z:1.85 [[ 9.99425073e-01 -3.35267779e-02 -5.04768262e-03 3.52053549e+02] [ 3.35278792e-02 9.99437774e-01 1.33692740e-04 4.13662925e-01] [ 5.04036239e-03 -3.02853970e-04 9.99987251e-01 1.84886991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:352.09, Y:0.41, Z:1.85 [[ 9.99356310e-01 -3.55174174e-02 -5.04767430e-03 3.52085982e+02] [ 3.55185455e-02 9.99369008e-01 1.34005907e-04 4.12126947e-01] [ 5.03972972e-03 -3.13205699e-04 9.99987251e-01 1.84937172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.364391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:352.12, Y:0.41, Z:1.85 [[ 9.99274909e-01 -3.77382797e-02 -5.04766324e-03 3.52118805e+02] [ 3.77394382e-02 9.99287605e-01 1.34421260e-04 4.10459450e-01] [ 5.03899448e-03 -3.24819768e-04 9.99987251e-01 1.84917252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:352.15, Y:0.41, Z:1.85 [[ 9.99100788e-01 -4.20967583e-02 -5.04764640e-03 3.52151479e+02] [ 4.20979753e-02 9.99113478e-01 1.35050647e-04 4.08686190e-01] [ 5.03748636e-03 -3.47424902e-04 9.99987251e-01 1.84835792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:352.18, Y:0.41, Z:1.85 [[ 9.99028814e-01 -4.37715596e-02 -5.04763250e-03 3.52184780e+02] [ 4.37728004e-02 9.99041502e-01 1.35568195e-04 4.07774481e-01] [ 5.03686033e-03 -3.56385543e-04 9.99987251e-01 1.84902420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:352.22, Y:0.41, Z:1.85 [[ 9.98881031e-01 -4.70234785e-02 -5.04761524e-03 3.52215544e+02] [ 4.70247639e-02 9.98893715e-01 1.36207730e-04 4.07608213e-01] [ 5.03562618e-03 -3.73418233e-04 9.99987251e-01 1.84812718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:352.25, Y:0.41, Z:1.85 [[ 9.98817024e-01 -4.83639666e-02 -5.04760671e-03 3.52247420e+02] [ 4.83652706e-02 9.98829706e-01 1.36523428e-04 4.06601479e-01] [ 5.03509671e-03 -3.80490789e-04 9.99987251e-01 1.84891352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:352.28, Y:0.40, Z:1.85 [[ 9.98770807e-01 -4.93091879e-02 -5.04759531e-03 3.52279863e+02] [ 4.93105060e-02 9.98783488e-01 1.36943449e-04 4.04797454e-01] [ 5.03470228e-03 -3.85674598e-04 9.99987251e-01 1.84867350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:352.31, Y:0.40, Z:1.85 [[ 9.98698876e-01 -5.07452213e-02 -5.04758105e-03 3.52313190e+02] [ 5.07465603e-02 9.98711554e-01 1.37467023e-04 4.03734153e-01] [ 5.03410172e-03 -3.93435538e-04 9.99987251e-01 1.84931451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:352.34, Y:0.40, Z:1.85 [[ 9.98700706e-01 -5.07091878e-02 -5.04756428e-03 3.52344640e+02] [ 5.07105294e-02 9.98713384e-01 1.38080230e-04 4.03340054e-01] [ 5.03406806e-03 -3.93865480e-04 9.99987251e-01 1.85043125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:352.38, Y:0.40, Z:1.85 [[ 9.98732230e-01 -5.00844866e-02 -5.04755594e-03 3.52376397e+02] [ 5.00858218e-02 9.98744908e-01 1.38384264e-04 4.04274003e-01] [ 5.03428989e-03 -3.91019812e-04 9.99987251e-01 1.85292704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634391418 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:352.41, Y:0.40, Z:1.85 [[ 9.98781412e-01 -4.90939253e-02 -5.04754501e-03 3.52408551e+02] [ 4.90952499e-02 9.98794091e-01 1.38781685e-04 4.03624269e-01] [ 5.03464480e-03 -3.86423051e-04 9.99987251e-01 1.85456356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:352.44, Y:0.40, Z:1.85 [[ 9.98816885e-01 -4.83668575e-02 -5.04759566e-03 3.52440281e+02] [ 4.83681637e-02 9.98829566e-01 1.36949498e-04 4.02564359e-01] [ 5.03506397e-03 -3.80930404e-04 9.99987251e-01 1.85392400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:352.47, Y:0.40, Z:1.85 [[ 9.98839248e-01 -4.79028089e-02 -5.04748807e-03 3.52472035e+02] [ 4.79041286e-02 9.98851928e-01 1.40806302e-04 4.01221614e-01] [ 5.03494817e-03 -3.82438379e-04 9.99987251e-01 1.85328203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:352.50, Y:0.40, Z:1.85 [[ 9.98891904e-01 -4.67919629e-02 -5.04747429e-03 3.52503698e+02] [ 4.67932709e-02 9.98904585e-01 1.41298368e-04 3.99610775e-01] [ 5.03533359e-03 -3.77329627e-04 9.99987251e-01 1.85204428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:352.54, Y:0.40, Z:1.85 [[ 9.98935335e-01 -4.58554197e-02 -5.04745284e-03 3.52536496e+02] [ 4.58567197e-02 9.98948017e-01 1.42060798e-04 3.98597723e-01] [ 5.03562875e-03 -3.73369181e-04 9.99987251e-01 1.85423637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:352.57, Y:0.40, Z:1.86 [[ 9.99041649e-01 -4.34776570e-02 -5.04743476e-03 3.52569720e+02] [ 4.34789300e-02 9.99054334e-01 1.42699997e-04 3.98804972e-01] [ 5.03645732e-03 -3.62020303e-04 9.99987251e-01 1.85538122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:352.60, Y:0.40, Z:1.85 [[ 9.99110504e-01 -4.18655451e-02 -5.04741662e-03 3.52600734e+02] [ 4.18668009e-02 9.99123191e-01 1.43338791e-04 3.98395349e-01] [ 5.03699005e-03 -3.54530478e-04 9.99987251e-01 1.85425755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:352.63, Y:0.40, Z:1.86 [[ 9.99155780e-01 -4.07707243e-02 -5.04740765e-03 3.52633180e+02] [ 4.07719677e-02 9.99168467e-01 1.43654128e-04 3.97539402e-01] [ 5.03735368e-03 -3.49325594e-04 9.99987251e-01 1.85529181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:352.66, Y:0.40, Z:1.86 [[ 9.99229630e-01 -3.89187728e-02 -5.04739569e-03 3.52664654e+02] [ 3.89199948e-02 9.99242320e-01 1.44073005e-04 3.96087581e-01] [ 5.03796424e-03 -3.40406630e-04 9.99987251e-01 1.85655406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:352.70, Y:0.39, Z:1.86 [[ 9.99271300e-01 -3.78337447e-02 -5.04737268e-03 3.52696734e+02] [ 3.78349569e-02 9.99283991e-01 1.44874680e-04 3.94835645e-01] [ 5.03827757e-03 -3.35736238e-04 9.99987251e-01 1.85831170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:352.73, Y:0.39, Z:1.86 [[ 9.99315311e-01 -3.66528733e-02 -5.04736078e-03 3.52729057e+02] [ 3.66540726e-02 9.99328003e-01 1.45288110e-04 3.93553106e-01] [ 5.03864374e-03 -3.30194962e-04 9.99987251e-01 1.85941894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:352.76, Y:0.39, Z:1.86 [[ 9.99386536e-01 -3.46565470e-02 -5.04734864e-03 3.52761504e+02] [ 3.46577231e-02 9.99399230e-01 1.45708779e-04 3.91556886e-01] [ 5.03926658e-03 -3.20549004e-04 9.99987251e-01 1.85973662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:352.79, Y:0.39, Z:1.86 [[ 9.99412873e-01 -3.38885569e-02 -5.04731833e-03 3.52794351e+02] [ 3.38897285e-02 9.99425567e-01 1.46751307e-04 3.90157188e-01] [ 5.03944579e-03 -3.17717393e-04 9.99987251e-01 1.86022269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:352.83, Y:0.39, Z:1.86 [[ 9.99469774e-01 -3.21666710e-02 -5.04729983e-03 3.52826318e+02] [ 3.21678239e-02 9.99482471e-01 1.47384759e-04 3.88445518e-01] [ 5.03994683e-03 -3.09667264e-04 9.99987251e-01 1.85993972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.054391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:352.86, Y:0.39, Z:1.86 [[ 9.99511512e-01 -3.08425474e-02 -5.04728736e-03 3.52858599e+02] [ 3.08436856e-02 9.99524209e-01 1.47810373e-04 3.86616952e-01] [ 5.04032706e-03 -3.03415114e-04 9.99987251e-01 1.85933998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:352.89, Y:0.38, Z:1.86 [[ 9.99562909e-01 -2.91292922e-02 -5.04727181e-03 3.52891747e+02] [ 2.91304113e-02 9.99575609e-01 1.48339789e-04 3.84270099e-01] [ 5.04080875e-03 -2.95304054e-04 9.99987251e-01 1.85963660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.114391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:352.92, Y:0.38, Z:1.86 [[ 9.99667436e-01 -2.52891706e-02 -5.04725363e-03 3.52923906e+02] [ 2.52902441e-02 9.99680140e-01 1.48955525e-04 3.81112786e-01] [ 5.04187225e-03 -2.76552264e-04 9.99987251e-01 1.86121975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:352.95, Y:0.38, Z:1.86 [[ 9.99718397e-01 -2.31873470e-02 -5.04724114e-03 3.52954677e+02] [ 2.31883958e-02 9.99731102e-01 1.49377735e-04 3.79600088e-01] [ 5.04242027e-03 -2.66373095e-04 9.99987251e-01 1.86117990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17439141799997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:352.99, Y:0.38, Z:1.86 [[ 9.99790280e-01 -1.98474496e-02 -5.04723182e-03 3.52986281e+02] [ 1.98484576e-02 9.99802989e-01 1.49691867e-04 3.77875552e-01] [ 5.04326646e-03 -2.49840241e-04 9.99987251e-01 1.86284056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:353.02, Y:0.38, Z:1.86 [[ 9.99905842e-01 -1.27604043e-02 -5.04763758e-03 3.53018154e+02] [ 1.27612531e-02 9.99918563e-01 1.35977087e-04 3.76531716e-01] [ 5.04549139e-03 -2.00378464e-04 9.99987251e-01 1.86388668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:353.05, Y:0.38, Z:1.87 [[ 9.99953688e-01 -8.19436994e-03 -5.04722936e-03 3.53049551e+02] [ 8.19522997e-03 9.99966407e-01 1.49736855e-04 3.75093825e-01] [ 5.04583282e-03 -1.91093126e-04 9.99987251e-01 1.86596208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:353.08, Y:0.37, Z:1.87 [[ 9.99986024e-01 1.57387691e-03 -5.04722321e-03 3.53080501e+02] [-1.57314013e-03 9.99998751e-01 1.49944040e-04 3.72606768e-01] [ 5.04745290e-03 -1.42001955e-04 9.99987251e-01 1.86638461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:353.11, Y:0.37, Z:1.87 [[ 9.99968106e-01 6.18978136e-03 -5.04721699e-03 3.53108725e+02] [-6.18910229e-03 9.99980836e-01 1.50152965e-04 3.71073284e-01] [ 5.04804968e-03 -1.18910433e-04 9.99987251e-01 1.86626608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:353.14, Y:0.37, Z:1.87 [[ 9.99930523e-01 1.06524560e-02 -5.04724098e-03 3.53136526e+02] [-1.06518378e-02 9.99943256e-01 1.49342402e-04 3.69928385e-01] [ 5.04854544e-03 -9.55696343e-05 9.99987251e-01 1.86622652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:353.16, Y:0.37, Z:1.87 [[ 9.99878906e-01 1.47206507e-02 -5.04728922e-03 3.53163743e+02] [-1.47200926e-02 9.99891643e-01 1.47693672e-04 3.69230407e-01] [ 5.04891646e-03 -7.33792222e-05 9.99987251e-01 1.86611239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384391418 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:353.19, Y:0.37, Z:1.87 [[ 9.99760643e-01 2.12880560e-02 -5.04730998e-03 3.53191664e+02] [-2.12875852e-02 9.99773383e-01 1.46980731e-04 3.67378714e-01] [ 5.04929511e-03 -3.95005089e-05 9.99987251e-01 1.86655479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:353.22, Y:0.37, Z:1.87 [[ 9.99712118e-01 2.34564521e-02 -5.04735821e-03 3.53220710e+02] [-2.34560174e-02 9.99724859e-01 1.45305368e-04 3.65116501e-01] [ 5.04937783e-03 -2.68726151e-05 9.99987251e-01 1.86618228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:353.25, Y:0.36, Z:1.87 [[ 9.99664067e-01 2.54219649e-02 -5.04737020e-03 3.53247591e+02] [-2.54215574e-02 9.99676810e-01 1.44887925e-04 3.61029840e-01] [ 5.04942227e-03 -1.65272412e-05 9.99987251e-01 1.86585802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:353.28, Y:0.36, Z:1.87 [[ 9.99658004e-01 2.56592824e-02 -5.04739802e-03 3.53275579e+02] [-2.56588828e-02 9.99670746e-01 1.43912059e-04 3.59010247e-01] [ 5.04942883e-03 -1.43522470e-05 9.99987251e-01 1.86627746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:353.30, Y:0.36, Z:1.87 [[ 9.99669238e-01 2.52178306e-02 -5.04741538e-03 3.53303295e+02] [-2.52174285e-02 9.99681980e-01 1.43300713e-04 3.57393426e-01] [ 5.04942393e-03 -1.59704784e-05 9.99987251e-01 1.86663830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:353.33, Y:0.35, Z:1.87 [[ 9.99723322e-01 2.29739580e-02 -5.04743256e-03 3.53331319e+02] [-2.29735303e-02 9.99736063e-01 1.42693045e-04 3.54178669e-01] [ 5.04937858e-03 -2.66962202e-05 9.99987251e-01 1.86772907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:353.36, Y:0.35, Z:1.87 [[ 9.99757827e-01 2.14198732e-02 -5.04744670e-03 3.53360365e+02] [-2.14194283e-02 9.99770568e-01 1.42191014e-04 3.51578019e-01] [ 5.04933437e-03 -3.40431568e-05 9.99987251e-01 1.86854720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:353.39, Y:0.35, Z:1.87 [[ 9.99803960e-01 1.91458908e-02 -5.04745818e-03 3.53387208e+02] [-1.91454190e-02 9.99816700e-01 1.41782401e-04 3.49144617e-01] [ 5.04924753e-03 -4.51189043e-05 9.99987251e-01 1.86866814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:353.42, Y:0.34, Z:1.87 [[ 9.99897515e-01 1.33971271e-02 -5.04747797e-03 3.53415285e+02] [-1.33965856e-02 9.99910252e-01 1.41074141e-04 3.44377089e-01] [ 5.04891496e-03 -7.34407122e-05 9.99987251e-01 1.86807687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:353.44, Y:0.34, Z:1.87 [[ 9.99937512e-01 9.97469569e-03 -5.04749543e-03 3.53444102e+02] [-9.97411378e-03 9.99950247e-01 1.40446632e-04 3.41741473e-01] [ 5.04864522e-03 -9.00935624e-05 9.99987251e-01 1.86778872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:353.47, Y:0.34, Z:1.87 [[ 9.99968924e-01 6.05582884e-03 -5.04750720e-03 3.53471777e+02] [-6.05519917e-03 9.99981657e-01 1.40022478e-04 3.39464470e-01] [ 5.04826257e-03 -1.09454465e-04 9.99987251e-01 1.86686221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:353.50, Y:0.33, Z:1.87 [[ 9.99985919e-01 -1.63841351e-03 -5.04752174e-03 3.53500113e+02] [ 1.63913849e-03 9.99998647e-01 1.39496519e-04 3.34686964e-01] [ 5.04728635e-03 -1.47768142e-04 9.99987251e-01 1.86558688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:353.53, Y:0.33, Z:1.86 [[ 9.99971222e-01 -5.66362262e-03 -5.04753305e-03 3.53529063e+02] [ 5.66439675e-03 9.99983948e-01 1.39085751e-04 3.32038172e-01] [ 5.04666430e-03 -1.67672978e-04 9.99987251e-01 1.86448632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:353.56, Y:0.33, Z:1.86 [[ 9.99903224e-01 -1.29639907e-02 -5.04754449e-03 3.53558344e+02] [ 1.29648556e-02 9.99915943e-01 1.38669657e-04 3.26916475e-01] [ 5.04532249e-03 -2.04096923e-04 9.99987251e-01 1.86202977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.804391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:353.59, Y:0.32, Z:1.86 [[ 9.99858144e-01 -1.60690221e-02 -5.04754154e-03 3.53589608e+02] [ 1.60699270e-02 9.99870861e-01 1.38776782e-04 3.24122843e-01] [ 5.04465970e-03 -2.19870720e-04 9.99987251e-01 1.86142785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:353.62, Y:0.32, Z:1.86 [[ 9.99859337e-01 -1.59946174e-02 -5.04753337e-03 3.53622283e+02] [ 1.59955229e-02 9.99872054e-01 1.39073395e-04 3.23138877e-01] [ 5.04466313e-03 -2.19791769e-04 9.99987251e-01 1.86159284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.864391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:353.65, Y:0.32, Z:1.86 [[ 9.99818104e-01 -1.83924339e-02 -5.04752299e-03 3.53654502e+02] [ 1.83933718e-02 9.99830818e-01 1.39449005e-04 3.20628693e-01] [ 5.04410423e-03 -2.32264606e-04 9.99987251e-01 1.86271760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:353.69, Y:0.32, Z:1.86 [[ 9.99782102e-01 -2.02551713e-02 -5.04751158e-03 3.53687023e+02] [ 2.02561349e-02 9.99794814e-01 1.39860910e-04 3.18468751e-01] [ 5.04364299e-03 -2.42073510e-04 9.99987251e-01 1.86316991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:353.72, Y:0.31, Z:1.86 [[ 9.99735834e-01 -2.24228475e-02 -5.04750019e-03 3.53719075e+02] [ 2.24238407e-02 9.99748544e-01 1.40270651e-04 3.14778139e-01] [ 5.04308570e-03 -2.53417937e-04 9.99987251e-01 1.86454049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:353.75, Y:0.31, Z:1.86 [[ 9.99717519e-01 -2.32250931e-02 -5.04748857e-03 3.53750513e+02] [ 2.32260987e-02 9.99730228e-01 1.40687755e-04 3.12264245e-01] [ 5.04285941e-03 -2.57881481e-04 9.99987251e-01 1.86389870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:353.78, Y:0.31, Z:1.86 [[ 9.99707100e-01 -2.36693160e-02 -5.04746997e-03 3.53782689e+02] [ 2.36703305e-02 9.99719808e-01 1.41351800e-04 3.09172028e-01] [ 5.04271001e-03 -2.60785680e-04 9.99987251e-01 1.86283432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:353.81, Y:0.31, Z:1.86 [[ 9.99718389e-01 -2.31876397e-02 -5.04745824e-03 3.53814562e+02] [ 2.31886502e-02 9.99731097e-01 1.41769358e-04 3.08120332e-01] [ 5.04281367e-03 -2.58773178e-04 9.99987251e-01 1.86293953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:353.85, Y:0.31, Z:1.86 [[ 9.99796520e-01 -1.95305555e-02 -5.04744639e-03 3.53845806e+02] [ 1.95315217e-02 9.99809232e-01 1.42189982e-04 3.07759358e-01] [ 5.04370645e-03 -2.40745357e-04 9.99987251e-01 1.86247975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074391418 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:353.88, Y:0.31, Z:1.86 [[ 9.99829051e-01 -1.77873068e-02 -5.04787538e-03 3.53878479e+02] [ 1.77881740e-02 9.99841770e-01 1.26944544e-04 3.06748281e-01] [ 5.04481865e-03 -2.16715328e-04 9.99987251e-01 1.86245417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:353.91, Y:0.31, Z:1.86 [[ 9.99873909e-01 -1.50562333e-02 -5.04744360e-03 3.53910509e+02] [ 1.50571429e-02 9.99886625e-01 1.42263904e-04 3.05659767e-01] [ 5.04472938e-03 -2.18246045e-04 9.99987251e-01 1.86234629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:353.94, Y:0.30, Z:1.86 [[ 9.99913153e-01 -1.21741771e-02 -5.04743166e-03 3.53940471e+02] [ 1.21750522e-02 9.99925871e-01 1.42686337e-04 3.04625342e-01] [ 5.04532041e-03 -2.04126689e-04 9.99987251e-01 1.86203490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:353.97, Y:0.30, Z:1.86 [[ 9.99966033e-01 -6.51581636e-03 -5.04742157e-03 3.53971341e+02] [ 6.51662128e-03 9.99978756e-01 1.43042109e-04 3.04970044e-01] [ 5.04638231e-03 -1.75929385e-04 9.99987251e-01 1.86126572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:354.00, Y:0.31, Z:1.86 [[ 9.99987258e-01 8.08778882e-05 -5.04741574e-03 3.54001731e+02] [-8.01558772e-05 9.99999987e-01 1.43247813e-04 3.06335097e-01] [ 5.04742725e-03 -1.42841408e-04 9.99987251e-01 1.86155879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:354.03, Y:0.31, Z:1.86 [[ 9.99981004e-01 3.53772619e-03 -5.04741574e-03 3.54029824e+02] [-3.53704819e-03 9.99993734e-01 1.43247813e-04 3.06631278e-01] [ 5.04789088e-03 -1.25392139e-04 9.99987251e-01 1.86181597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:354.06, Y:0.31, Z:1.86 [[ 9.99972506e-01 5.43211487e-03 -5.04773896e-03 3.54058548e+02] [-5.43151909e-03 9.99985241e-01 1.31730535e-04 3.07339524e-01] [ 5.04838003e-03 -1.04310023e-04 9.99987251e-01 1.86190712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:354.09, Y:0.31, Z:1.86 [[ 9.99945017e-01 9.19161225e-03 -5.04750011e-03 3.54085314e+02] [-9.19102099e-03 9.99957752e-01 1.40322222e-04 3.08501868e-01] [ 5.04857665e-03 -9.39228274e-05 9.99987251e-01 1.86229588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:354.11, Y:0.31, Z:1.86 [[ 9.99935298e-01 1.01942552e-02 -5.04751973e-03 3.54112689e+02] [-1.01936802e-02 9.99948033e-01 1.39612870e-04 3.08246768e-01] [ 5.04868067e-03 -8.81510345e-05 9.99987251e-01 1.86239918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:354.14, Y:0.31, Z:1.86 [[ 9.99931356e-01 1.05738058e-02 -5.04753343e-03 3.54141073e+02] [-1.05732382e-02 9.99944092e-01 1.39115884e-04 3.07761359e-01] [ 5.04872221e-03 -8.57375616e-05 9.99987251e-01 1.86327019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:354.17, Y:0.31, Z:1.87 [[ 9.99942998e-01 9.40869434e-03 -5.04754410e-03 3.54169624e+02] [-9.40811390e-03 9.99955733e-01 1.38727673e-04 3.08694469e-01] [ 5.04862590e-03 -9.12318954e-05 9.99987251e-01 1.86501456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:354.20, Y:0.31, Z:1.87 [[ 9.99954530e-01 8.09071460e-03 -5.04755469e-03 3.54198256e+02] [-8.09011932e-03 9.99967265e-01 1.38340989e-04 3.09236425e-01] [ 5.04850874e-03 -9.74993794e-05 9.99987251e-01 1.86591121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:354.23, Y:0.31, Z:1.87 [[ 9.99978621e-01 4.15699615e-03 -5.04756535e-03 3.54226245e+02] [-4.15635274e-03 9.99991353e-01 1.37951058e-04 3.10422606e-01] [ 5.04809517e-03 -1.16968647e-04 9.99987251e-01 1.86530574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:354.26, Y:0.31, Z:1.86 [[ 9.99987086e-01 5.91799499e-04 -5.04757854e-03 3.54257615e+02] [-5.91113150e-04 9.99999816e-01 1.37466734e-04 3.10473007e-01] [ 5.04765896e-03 -1.34481269e-04 9.99987251e-01 1.86328546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:354.28, Y:0.31, Z:1.86 [[ 9.99987258e-01 1.31244502e-04 -5.04641215e-03 3.54284760e+02] [-1.30338524e-04 9.99999975e-01 1.79857619e-04 3.09511304e-01] [ 5.04643563e-03 -1.79197586e-04 9.99987251e-01 1.86424749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:354.31, Y:0.31, Z:1.86 [[ 9.99983903e-01 -2.59143443e-03 -5.04755405e-03 3.54313648e+02] [ 2.59216464e-03 9.99996631e-01 1.38130670e-04 3.09486547e-01] [ 5.04717909e-03 -1.51212538e-04 9.99987251e-01 1.86460566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.554391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:354.34, Y:0.31, Z:1.87 [[ 9.99961652e-01 -7.15664205e-03 -5.04756443e-03 3.54342928e+02] [ 7.15742844e-03 9.99974376e-01 1.37750280e-04 3.10096752e-01] [ 5.04644926e-03 -1.73872579e-04 9.99987251e-01 1.86703239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:354.37, Y:0.31, Z:1.87 [[ 9.99946501e-01 -9.02871428e-03 -5.04756998e-03 3.54373166e+02] [ 9.02952347e-03 9.99959224e-01 1.37546488e-04 3.08809385e-01] [ 5.04612229e-03 -1.83116281e-04 9.99987251e-01 1.86771723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.614391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:354.40, Y:0.31, Z:1.87 [[ 9.99895342e-01 -1.35586413e-02 -5.04663300e-03 3.54402248e+02] [ 1.35596809e-02 9.99908049e-01 1.71842423e-04 3.10672724e-01] [ 5.04383901e-03 -2.40255171e-04 9.99987251e-01 1.86943625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:354.43, Y:0.31, Z:1.87 [[ 9.99869521e-01 -1.53447871e-02 -5.04756985e-03 3.54434115e+02] [ 1.53456760e-02 9.99882239e-01 1.37435028e-04 3.10651791e-01] [ 5.04486653e-03 -2.14875468e-04 9.99987251e-01 1.87002089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67439141799997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:354.47, Y:0.31, Z:1.87 [[ 9.99853201e-01 -1.63736907e-02 -5.04755873e-03 3.54466702e+02] [ 1.63745948e-02 9.99865918e-01 1.37842299e-04 3.08756297e-01] [ 5.04462495e-03 -2.20473793e-04 9.99987251e-01 1.87051435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:354.50, Y:0.31, Z:1.87 [[ 9.99825896e-01 -1.79642589e-02 -5.04619426e-03 3.54495878e+02] [ 1.79654341e-02 9.99838591e-01 1.87654263e-04 3.11785945e-01] [ 5.04200869e-03 -2.78278662e-04 9.99987250e-01 1.87182844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:354.53, Y:0.31, Z:1.87 [[ 9.99831710e-01 -1.76372610e-02 -5.04757119e-03 3.54527939e+02] [ 1.76381763e-02 9.99844426e-01 1.36878768e-04 3.10011453e-01] [ 5.04437175e-03 -2.25885683e-04 9.99987252e-01 1.87093476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:354.55, Y:0.31, Z:1.87 [[ 9.99864651e-01 -1.56594358e-02 -5.04600700e-03 3.54553635e+02] [ 1.56606110e-02 9.99877346e-01 1.93467197e-04 3.11917877e-01] [ 5.04235850e-03 -2.72464564e-04 9.99987250e-01 1.86851847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:354.59, Y:0.31, Z:1.87 [[ 9.99862888e-01 -1.57708310e-02 -5.04839792e-03 3.54586162e+02] [ 1.57715683e-02 9.99875615e-01 1.06274535e-04 3.14383560e-01] [ 5.04609394e-03 -1.85881116e-04 9.99987251e-01 1.87162046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:354.62, Y:0.32, Z:1.87 [[ 9.99883818e-01 -1.43830870e-02 -5.04749267e-03 3.54617952e+02] [ 1.43839722e-02 9.99896536e-01 1.39118790e-04 3.15153954e-01] [ 5.04496948e-03 -2.11705621e-04 9.99987252e-01 1.87389561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:354.65, Y:0.32, Z:1.88 [[ 9.99917302e-01 -1.18284118e-02 -5.04748111e-03 3.54648837e+02] [ 1.18292666e-02 9.99930022e-01 1.39536958e-04 3.18270863e-01] [ 5.04547740e-03 -1.99233418e-04 9.99987252e-01 1.87534765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:354.68, Y:0.32, Z:1.87 [[ 9.99929598e-01 -1.07388034e-02 -5.04747249e-03 3.54680522e+02] [ 1.07396459e-02 9.99942319e-01 1.39847997e-04 3.19273790e-01] [ 5.04567955e-03 -1.94046219e-04 9.99987252e-01 1.87406781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:354.71, Y:0.32, Z:1.88 [[ 9.99944296e-01 -9.26972191e-03 -5.04746409e-03 3.54711534e+02] [ 9.27054729e-03 9.99957018e-01 1.40150632e-04 3.19858626e-01] [ 5.04594798e-03 -1.86935580e-04 9.99987252e-01 1.87699311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:354.74, Y:0.32, Z:1.88 [[ 9.99959606e-01 -7.43709194e-03 -5.04745847e-03 3.54743426e+02] [ 7.43789502e-03 9.99972329e-01 1.40352874e-04 3.21536483e-01] [ 5.04627498e-03 -1.77889671e-04 9.99987252e-01 1.87790393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:354.77, Y:0.32, Z:1.88 [[ 9.99963057e-01 -6.95854782e-03 -5.04616253e-03 3.54773765e+02] [ 6.95957820e-03 9.99975764e-01 1.86657998e-04 3.22812095e-01] [ 5.04474136e-03 -2.21770265e-04 9.99987251e-01 1.87834356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:354.80, Y:0.32, Z:1.88 [[ 9.99967162e-01 -6.34121521e-03 -5.04623051e-03 3.54803424e+02] [ 6.34222544e-03 9.99979871e-01 1.84217223e-04 3.24830346e-01] [ 5.04496077e-03 -2.16215505e-04 9.99987251e-01 1.88044950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:354.83, Y:0.33, Z:1.88 [[ 9.99969557e-01 -5.95050979e-03 -5.04746351e-03 3.54833879e+02] [ 5.95129043e-03 9.99982281e-01 1.39653495e-04 3.26906560e-01] [ 5.04654306e-03 -1.69688165e-04 9.99987252e-01 1.88102265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:354.86, Y:0.33, Z:1.88 [[ 9.99968866e-01 -6.06554035e-03 -5.04746068e-03 3.54864408e+02] [ 6.06632296e-03 9.99981590e-01 1.39755585e-04 3.27190638e-01] [ 5.04652006e-03 -1.70370760e-04 9.99987252e-01 1.88138291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:354.89, Y:0.33, Z:1.88 [[ 9.99962170e-01 -7.08395009e-03 -5.04746068e-03 3.54894985e+02] [ 7.08474566e-03 9.99974893e-01 1.39755585e-04 3.28981033e-01] [ 5.04634393e-03 -1.75510273e-04 9.99987252e-01 1.88186728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:354.93, Y:0.33, Z:1.88 [[ 9.99958999e-01 -7.51817716e-03 -5.04746068e-03 3.54925379e+02] [ 7.51897826e-03 9.99971722e-01 1.39755585e-04 3.29538097e-01] [ 5.04626724e-03 -1.77701602e-04 9.99987252e-01 1.88146591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:354.96, Y:0.33, Z:1.88 [[ 9.99955040e-01 -8.02755420e-03 -5.04745094e-03 3.54956247e+02] [ 8.02836354e-03 9.99967762e-01 1.40106354e-04 3.30358595e-01] [ 5.04616351e-03 -1.80622826e-04 9.99987252e-01 1.88280105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:354.99, Y:0.33, Z:1.88 [[ 9.99954516e-01 -8.09255193e-03 -5.04745094e-03 3.54987697e+02] [ 8.09336211e-03 9.99967238e-01 1.40106354e-04 3.32300222e-01] [ 5.04615176e-03 -1.80950830e-04 9.99987252e-01 1.88379450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:355.02, Y:0.33, Z:1.88 [[ 9.99959653e-01 -7.43075846e-03 -5.04744512e-03 3.55018792e+02] [ 7.43156127e-03 9.99972376e-01 1.40315619e-04 3.32813736e-01] [ 5.04626304e-03 -1.77820355e-04 9.99987252e-01 1.88369625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:355.05, Y:0.33, Z:1.88 [[ 9.99972994e-01 -5.34184768e-03 -5.04743934e-03 3.55049227e+02] [ 5.34262495e-03 9.99985718e-01 1.40523239e-04 3.34916673e-01] [ 5.04661660e-03 -1.67486019e-04 9.99987252e-01 1.88422785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:355.08, Y:0.34, Z:1.88 [[ 9.99980525e-01 -3.67067831e-03 -5.04743648e-03 3.55078572e+02] [ 3.67143484e-03 9.99993250e-01 1.40625963e-04 3.35832069e-01] [ 5.04688622e-03 -1.59154558e-04 9.99987252e-01 1.88429204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.304391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:355.11, Y:0.34, Z:1.89 [[ 9.99985440e-01 -1.90888852e-03 -5.04743930e-03 3.55108288e+02] [ 1.90962212e-03 9.99998167e-01 1.40524648e-04 3.36871037e-01] [ 5.04716180e-03 -1.50161303e-04 9.99987252e-01 1.88567096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:355.14, Y:0.34, Z:1.89 [[ 9.99985769e-01 1.72752862e-03 -5.04744493e-03 3.55138370e+02] [-1.72684233e-03 9.99998499e-01 1.40322325e-04 3.39709011e-01] [ 5.04767976e-03 -1.31604186e-04 9.99987252e-01 1.88800616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.364391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:355.17, Y:0.34, Z:1.89 [[ 9.99981428e-01 3.41557260e-03 -5.04745065e-03 3.55167390e+02] [-3.41490885e-03 9.99994159e-01 1.40116016e-04 3.40843211e-01] [ 5.04789975e-03 -1.22876830e-04 9.99987252e-01 1.88880417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:355.20, Y:0.34, Z:1.89 [[ 9.99975739e-01 4.80045216e-03 -5.04749052e-03 3.55195348e+02] [-4.79981336e-03 9.99988471e-01 1.38664831e-04 3.41929441e-01] [ 5.04809798e-03 -1.14434455e-04 9.99987252e-01 1.88938757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:355.22, Y:0.34, Z:1.89 [[ 9.99954948e-01 8.03897047e-03 -5.04753577e-03 3.55223178e+02] [-8.03838131e-03 9.99967682e-01 1.36997819e-04 3.44183387e-01] [ 5.04847396e-03 -9.64176301e-05 9.99987252e-01 1.88955221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:355.25, Y:0.34, Z:1.89 [[ 9.99940173e-01 9.70428315e-03 -5.04758009e-03 3.55251618e+02] [-9.70372355e-03 9.99952909e-01 1.35344782e-04 3.44802858e-01] [ 5.04865582e-03 -8.63563628e-05 9.99987252e-01 1.89033308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:355.28, Y:0.35, Z:1.89 [[ 9.99906870e-01 1.26796099e-02 -5.04759112e-03 3.55279499e+02] [-1.26790902e-02 9.99919608e-01 1.34932085e-04 3.47473288e-01] [ 5.04889622e-03 -7.09206556e-05 9.99987252e-01 1.89122156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:355.31, Y:0.35, Z:1.89 [[ 9.99892477e-01 1.37679259e-02 -5.04760474e-03 3.55307013e+02] [-1.37674227e-02 9.99905216e-01 1.34420713e-04 3.48604584e-01] [ 5.04897700e-03 -6.49137512e-05 9.99987252e-01 1.89166475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:355.34, Y:0.35, Z:1.89 [[ 9.99877725e-01 1.48005638e-02 -5.04762119e-03 3.55335427e+02] [-1.48000769e-02 9.99890464e-01 1.33800075e-04 3.49362047e-01] [ 5.04904861e-03 -5.90785326e-05 9.99987252e-01 1.89194011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:355.36, Y:0.35, Z:1.89 [[ 9.99851248e-01 1.64925212e-02 -5.04763172e-03 3.55364226e+02] [-1.64920579e-02 9.99863988e-01 1.33401914e-04 3.51787797e-01] [ 5.04914531e-03 -5.01362354e-05 9.99987252e-01 1.89176334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:355.39, Y:0.35, Z:1.89 [[ 9.99843507e-01 1.69552997e-02 -5.04764214e-03 3.55391025e+02] [-1.69548443e-02 9.99856247e-01 1.33006319e-04 3.52503788e-01] [ 5.04917169e-03 -4.74035182e-05 9.99987252e-01 1.89183101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634391418 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:355.42, Y:0.35, Z:1.89 [[ 9.99843794e-01 1.69383607e-02 -5.04766013e-03 3.55419528e+02] [-1.69379085e-02 9.99856535e-01 1.32320103e-04 3.53195660e-01] [ 5.04917725e-03 -4.68026286e-05 9.99987252e-01 1.89312585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:355.45, Y:0.36, Z:1.89 [[ 9.99833548e-01 1.75327629e-02 -5.04767064e-03 3.55446960e+02] [-1.75323204e-02 9.99846288e-01 1.31917929e-04 3.55050710e-01] [ 5.04920764e-03 -4.33985924e-05 9.99987252e-01 1.89305472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:355.48, Y:0.36, Z:1.89 [[ 9.99850286e-01 1.65507031e-02 -5.04768360e-03 3.55475421e+02] [-1.65502505e-02 9.99863027e-01 1.31420180e-04 3.55984403e-01] [ 5.04916730e-03 -4.78600769e-05 9.99987252e-01 1.89497187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:355.50, Y:0.36, Z:1.90 [[ 9.99852164e-01 1.64369042e-02 -5.04769354e-03 3.55503865e+02] [-1.64364521e-02 9.99864904e-01 1.31037235e-04 3.55366049e-01] [ 5.04916546e-03 -4.80516904e-05 9.99987252e-01 1.89511567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:355.53, Y:0.36, Z:1.90 [[ 9.99870150e-01 1.53036905e-02 -5.04770839e-03 3.55532915e+02] [-1.53032268e-02 9.99882890e-01 1.30462729e-04 3.57455269e-01] [ 5.04911381e-03 -5.31995617e-05 9.99987252e-01 1.89799800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:355.56, Y:0.36, Z:1.90 [[ 9.99879942e-01 1.46499571e-02 -5.04771848e-03 3.55562041e+02] [-1.46494871e-02 9.99892682e-01 1.30071052e-04 3.57889564e-01] [ 5.04908231e-03 -5.61089488e-05 9.99987252e-01 1.89818712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:355.59, Y:0.36, Z:1.90 [[ 9.99891846e-01 1.38136724e-02 -5.04772847e-03 3.55589799e+02] [-1.38131937e-02 9.99904585e-01 1.29682078e-04 3.58610717e-01] [ 5.04903823e-03 -5.99428011e-05 9.99987252e-01 1.89819373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:355.62, Y:0.36, Z:1.90 [[ 9.99895110e-01 1.35753549e-02 -5.04774341e-03 3.55618273e+02] [-1.35748761e-02 9.99907849e-01 1.29097995e-04 3.58995231e-01] [ 5.04903081e-03 -6.05619625e-05 9.99987252e-01 1.89812292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:355.65, Y:0.36, Z:1.90 [[ 9.99893491e-01 1.36940500e-02 -5.04775357e-03 3.55646870e+02] [-1.36935748e-02 9.99906230e-01 1.28699594e-04 3.60675383e-01] [ 5.04904266e-03 -5.95640957e-05 9.99987252e-01 1.89680244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:355.68, Y:0.36, Z:1.90 [[ 9.99883042e-01 1.44368233e-02 -5.04776367e-03 3.55675000e+02] [-1.44363595e-02 9.99895782e-01 1.28302435e-04 3.61297072e-01] [ 5.04908988e-03 -5.54160978e-05 9.99987252e-01 1.89624324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:355.70, Y:0.36, Z:1.90 [[ 9.99848444e-01 1.66616137e-02 -5.04777834e-03 3.55704267e+02] [-1.66611812e-02 9.99861185e-01 1.27722446e-04 3.63712259e-01] [ 5.04920569e-03 -4.36011395e-05 9.99987252e-01 1.89689455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:355.73, Y:0.37, Z:1.90 [[ 9.99828898e-01 1.77959308e-02 -5.04778829e-03 3.55732401e+02] [-1.77955148e-02 9.99841639e-01 1.27328022e-04 3.65038725e-01] [ 5.04925484e-03 -3.74782445e-05 9.99987252e-01 1.89721750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:355.76, Y:0.37, Z:1.90 [[ 9.99799730e-01 1.93654369e-02 -5.04780303e-03 3.55760718e+02] [-1.93650438e-02 9.99812472e-01 1.26741006e-04 3.65980564e-01] [ 5.04931082e-03 -2.89646966e-05 9.99987252e-01 1.89778528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:355.79, Y:0.37, Z:1.90 [[ 9.99735799e-01 2.24243709e-02 -5.04781539e-03 3.55788899e+02] [-2.24240193e-02 9.99748542e-01 1.26246738e-04 3.68694249e-01] [ 5.04937708e-03 -1.30210733e-05 9.99987252e-01 1.89874305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.054391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:355.82, Y:0.37, Z:1.90 [[ 9.99696087e-01 2.41299237e-02 -5.04782759e-03 3.55817209e+02] [-2.41295963e-02 9.99708831e-01 1.25757090e-04 3.69334667e-01] [ 5.04939233e-03 -3.91682859e-06 9.99987252e-01 1.89977005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:355.85, Y:0.37, Z:1.90 [[ 9.99668253e-01 2.52567469e-02 -5.04783973e-03 3.55846207e+02] [-2.52564364e-02 9.99680997e-01 1.25267665e-04 3.70260499e-01] [ 5.04939331e-03 2.26433523e-06 9.99987252e-01 1.90101911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.114391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:355.87, Y:0.37, Z:1.90 [[ 9.99615965e-01 2.72477825e-02 -5.04784964e-03 3.55873787e+02] [-2.72474993e-02 9.99628710e-01 1.24867260e-04 3.72604631e-01] [ 5.04937778e-03 1.27219735e-05 9.99987252e-01 1.90163425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:355.90, Y:0.37, Z:1.90 [[ 9.99606097e-01 2.76074382e-02 -5.04786754e-03 3.55900757e+02] [-2.76071633e-02 9.99618842e-01 1.24139566e-04 3.73475562e-01] [ 5.04937068e-03 1.52666364e-05 9.99987252e-01 1.90063154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17439141799997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:355.93, Y:0.38, Z:1.90 [[ 9.99623286e-01 2.69778682e-02 -5.04788414e-03 3.55929261e+02] [-2.69775888e-02 9.99636031e-01 1.23460447e-04 3.75235582e-01] [ 5.04937757e-03 1.27658044e-05 9.99987252e-01 1.90215759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:355.96, Y:0.38, Z:1.90 [[ 9.99654258e-01 2.58047215e-02 -5.04789356e-03 3.55957135e+02] [-2.58044290e-02 9.99667003e-01 1.23074129e-04 3.75640377e-01] [ 5.04938852e-03 7.22643414e-06 9.99987252e-01 1.90280226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:355.99, Y:0.38, Z:1.90 [[ 9.99680075e-01 2.47843792e-02 -5.04790804e-03 3.55985430e+02] [-2.47840767e-02 9.99692820e-01 1.22477447e-04 3.75896133e-01] [ 5.04939295e-03 2.66947615e-06 9.99987252e-01 1.90264030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:356.01, Y:0.38, Z:1.90 [[ 9.99733130e-01 2.25430100e-02 -5.04791995e-03 3.56014157e+02] [-2.25426814e-02 9.99745874e-01 1.21984643e-04 3.77071699e-01] [ 5.04938704e-03 -8.15843824e-06 9.99987252e-01 1.90381791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:356.04, Y:0.38, Z:1.90 [[ 9.99767997e-01 2.09396906e-02 -5.04792947e-03 3.56041832e+02] [-2.09393436e-02 9.99780741e-01 1.21589436e-04 3.77757286e-01] [ 5.04936871e-03 -1.58608971e-05 9.99987252e-01 1.90406038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.07, Y:0.38, Z:1.90 [[ 9.99791491e-01 1.97861787e-02 -5.04794360e-03 3.56069797e+02] [-1.97858200e-02 9.99804234e-01 1.20999849e-04 3.77869584e-01] [ 5.04934951e-03 -2.10969161e-05 9.99987252e-01 1.90450423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:356.10, Y:0.38, Z:1.90 [[ 9.99840555e-01 1.71284007e-02 -5.04795756e-03 3.56097919e+02] [-1.71280110e-02 9.99853298e-01 1.20414549e-04 3.78742686e-01] [ 5.04927952e-03 -3.39338767e-05 9.99987252e-01 1.90436034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:356.13, Y:0.38, Z:1.90 [[ 9.99863117e-01 1.57564399e-02 -5.04796906e-03 3.56126165e+02] [-1.57560352e-02 9.99875859e-01 1.19930626e-04 3.78505987e-01] [ 5.04923208e-03 -4.03782311e-05 9.99987252e-01 1.90462307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:356.15, Y:0.38, Z:1.91 [[ 9.99900675e-01 1.31589871e-02 -5.04798311e-03 3.56154788e+02] [-1.31585523e-02 9.99913415e-01 1.19336277e-04 3.78987931e-01] [ 5.04911638e-03 -5.29002736e-05 9.99987252e-01 1.90542736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:356.18, Y:0.38, Z:1.91 [[ 9.99917036e-01 1.18507033e-02 -5.04799274e-03 3.56181578e+02] [-1.18502539e-02 9.99929776e-01 1.18927620e-04 3.79010770e-01] [ 5.04904763e-03 -5.90977578e-05 9.99987252e-01 1.90537624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:356.21, Y:0.38, Z:1.90 [[ 9.99930775e-01 1.06284297e-02 -5.04800935e-03 3.56209624e+02] [-1.06279683e-02 9.99943515e-01 1.18218280e-04 3.78975750e-01] [ 5.04898069e-03 -6.45600126e-05 9.99987252e-01 1.90499423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:356.24, Y:0.38, Z:1.90 [[ 9.99954426e-01 8.10330722e-03 -5.04802330e-03 3.56238653e+02] [-8.10281667e-03 9.99967165e-01 1.17619437e-04 3.78739279e-01] [ 5.04881066e-03 -7.67108692e-05 9.99987252e-01 1.90301932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:356.27, Y:0.38, Z:1.90 [[ 9.99963626e-01 6.87482094e-03 -5.04803273e-03 3.56267023e+02] [-6.87431680e-03 9.99976365e-01 1.17213482e-04 3.78262791e-01] [ 5.04871924e-03 -8.25074421e-05 9.99987252e-01 1.90205757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:356.29, Y:0.38, Z:1.90 [[ 9.99975545e-01 4.84017263e-03 -5.04804208e-03 3.56294862e+02] [-4.83964461e-03 9.99988282e-01 1.16809388e-04 3.78472125e-01] [ 5.04854831e-03 -9.23758016e-05 9.99987252e-01 1.90083987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:356.32, Y:0.38, Z:1.90 [[ 9.99978080e-01 4.28436629e-03 -5.04805436e-03 3.56323726e+02] [-4.28383388e-03 9.99990818e-01 1.16276505e-04 3.78198860e-01] [ 5.04850617e-03 -9.46489297e-05 9.99987252e-01 1.90150875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:356.35, Y:0.38, Z:1.90 [[ 9.99981328e-01 3.44402593e-03 -5.04806353e-03 3.56352218e+02] [-3.44348483e-03 9.99994064e-01 1.15876688e-04 3.77953237e-01] [ 5.04843265e-03 -9.84915943e-05 9.99987252e-01 1.90203989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:356.38, Y:0.38, Z:1.90 [[ 9.99984423e-01 2.38142488e-03 -5.04807269e-03 3.56379820e+02] [-2.38087227e-03 9.99997159e-01 1.15476265e-04 3.77486565e-01] [ 5.04833335e-03 -1.03455650e-04 9.99987252e-01 1.90265411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:356.41, Y:0.38, Z:1.90 [[ 9.99985180e-01 2.03877013e-03 -5.04808399e-03 3.56408674e+02] [-2.03821565e-03 9.99997916e-01 1.14980257e-04 3.77267040e-01] [ 5.04830789e-03 -1.04689470e-04 9.99987252e-01 1.90360452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:356.44, Y:0.38, Z:1.90 [[ 9.99985852e-01 1.67718123e-03 -5.04809295e-03 3.56437124e+02] [-1.67662415e-03 9.99998588e-01 1.14585401e-04 3.77347332e-01] [ 5.04827801e-03 -1.06120026e-04 9.99987252e-01 1.90465554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:356.47, Y:0.38, Z:1.91 [[ 9.99985646e-01 1.79557005e-03 -5.04810186e-03 3.56465894e+02] [-1.79501646e-03 9.99998382e-01 1.14191721e-04 3.78201932e-01] [ 5.04829873e-03 -1.05128656e-04 9.99987252e-01 1.90634112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:356.49, Y:0.38, Z:1.91 [[ 9.99985069e-01 2.09239573e-03 -5.04811071e-03 3.56494227e+02] [-2.09184791e-03 9.99997806e-01 1.13798849e-04 3.77950696e-01] [ 5.04833775e-03 -1.03237270e-04 9.99987252e-01 1.90629663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.804391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:356.52, Y:0.38, Z:1.91 [[ 9.99984098e-01 2.51400938e-03 -5.04811948e-03 3.56522805e+02] [-2.51346889e-03 9.99996835e-01 1.13408697e-04 3.78430999e-01] [ 5.04838861e-03 -1.00718602e-04 9.99987252e-01 1.90542797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:356.55, Y:0.38, Z:1.90 [[ 9.99980860e-01 3.57724354e-03 -5.04812817e-03 3.56551517e+02] [-3.57671855e-03 9.99993597e-01 1.13020617e-04 3.79359431e-01] [ 5.04850015e-03 -9.49627196e-05 9.99987252e-01 1.90499157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.864391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:356.58, Y:0.38, Z:1.91 [[ 9.99981137e-01 3.49883572e-03 -5.04813700e-03 3.56580808e+02] [-3.49831173e-03 9.99993875e-01 1.12624618e-04 3.78783981e-01] [ 5.04850014e-03 -9.49625363e-05 9.99987252e-01 1.90513966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:356.61, Y:0.38, Z:1.90 [[ 9.99973032e-01 5.33397159e-03 -5.04814580e-03 3.56608706e+02] [-5.33347297e-03 9.99985771e-01 1.12228801e-04 3.79507576e-01] [ 5.04867260e-03 -8.53016253e-05 9.99987252e-01 1.90404046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.64, Y:0.38, Z:1.90 [[ 9.99964005e-01 6.81948712e-03 -5.04818055e-03 3.56637012e+02] [-6.81901544e-03 9.99976744e-01 1.10643611e-04 3.79657622e-01] [ 5.04881768e-03 -7.62160077e-05 9.99987252e-01 1.90463318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.67, Y:0.38, Z:1.91 [[ 9.99936657e-01 1.00597436e-02 -5.04819381e-03 3.56665325e+02] [-1.00593163e-02 9.99949398e-01 1.10034988e-04 3.81641222e-01] [ 5.04904529e-03 -5.92466395e-05 9.99987252e-01 1.90603530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:356.69, Y:0.38, Z:1.91 [[ 9.99917456e-01 1.18151105e-02 -5.04821094e-03 3.56693145e+02] [-1.18147095e-02 9.99930198e-01 1.09243553e-04 3.82429151e-01] [ 5.04914929e-03 -4.95913899e-05 9.99987252e-01 1.90621593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:356.72, Y:0.38, Z:1.91 [[ 9.99895976e-01 1.35111728e-02 -5.04822200e-03 3.56721822e+02] [-1.35107960e-02 9.99908719e-01 1.08730038e-04 3.83112572e-01] [ 5.04923026e-03 -4.05132297e-05 9.99987252e-01 1.90727419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:356.75, Y:0.38, Z:1.91 [[ 9.99850103e-01 1.65616115e-02 -5.04823072e-03 3.56749437e+02] [-1.65612757e-02 9.99862847e-01 1.08323635e-04 3.84672039e-01] [ 5.04933235e-03 -2.47022570e-05 9.99987252e-01 1.90839863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:356.78, Y:0.39, Z:1.91 [[ 9.99833586e-01 1.75304015e-02 -5.04824148e-03 3.56776240e+02] [-1.75300806e-02 9.99846331e-01 1.07819994e-04 3.85381487e-01] [ 5.04935584e-03 -1.93059719e-05 9.99987252e-01 1.90825939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:356.80, Y:0.39, Z:1.91 [[ 9.99828728e-01 1.78053205e-02 -5.04825624e-03 3.56804573e+02] [-1.78050066e-02 9.99841473e-01 1.07124486e-04 3.86212271e-01] [ 5.04936333e-03 -1.72219031e-05 9.99987252e-01 1.90938306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:356.83, Y:0.39, Z:1.91 [[ 9.99832375e-01 1.75993411e-02 -5.04826879e-03 3.56832753e+02] [-1.75990276e-02 9.99845119e-01 1.06529487e-04 3.86959735e-01] [ 5.04936176e-03 -1.76670080e-05 9.99987252e-01 1.90884217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.86, Y:0.39, Z:1.91 [[ 9.99849178e-01 1.66173511e-02 -5.04828343e-03 3.56861391e+02] [-1.66170285e-02 9.99861922e-01 1.05831406e-04 3.86518029e-01] [ 5.04934501e-03 -2.19279748e-05 9.99987252e-01 1.90870296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:356.89, Y:0.39, Z:1.91 [[ 9.99895094e-01 1.35762718e-02 -5.04829191e-03 3.56890018e+02] [-1.35759126e-02 9.99907838e-01 1.05425045e-04 3.86185022e-01] [ 5.04925793e-03 -3.68788156e-05 9.99987252e-01 1.90780154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:356.92, Y:0.39, Z:1.91 [[ 9.99915767e-01 1.19571623e-02 -5.04830041e-03 3.56916667e+02] [-1.19567845e-02 9.99928510e-01 1.05016605e-04 3.85999593e-01] [ 5.04919520e-03 -4.46463193e-05 9.99987252e-01 1.90654735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.95, Y:0.39, Z:1.91 [[ 9.99933002e-01 1.04165761e-02 -5.04831504e-03 3.56945014e+02] [-1.04161822e-02 9.99945745e-01 1.04308308e-04 3.85888661e-01] [ 5.04912768e-03 -5.17171504e-05 9.99987252e-01 1.90760868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:356.97, Y:0.39, Z:1.91 [[ 9.99947080e-01 8.96386405e-03 -5.04832751e-03 3.56973958e+02] [-8.96345472e-03 9.99959822e-01 1.03701244e-04 3.85628014e-01] [ 5.04905425e-03 -5.84453016e-05 9.99987252e-01 1.90758199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.00, Y:0.39, Z:1.91 [[ 9.99968035e-01 6.20029470e-03 -5.04833576e-03 3.57001254e+02] [-6.19985219e-03 9.99980775e-01 1.03298169e-04 3.85317345e-01] [ 5.04887919e-03 -7.19959319e-05 9.99987252e-01 1.90743496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.03, Y:0.38, Z:1.91 [[ 9.99975652e-01 4.81757377e-03 -5.04834593e-03 3.57029942e+02] [-4.81711617e-03 9.99988392e-01 1.02798850e-04 3.84578873e-01] [ 5.04878257e-03 -7.84778786e-05 9.99987252e-01 1.90734947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.06, Y:0.38, Z:1.91 [[ 9.99985689e-01 1.77063664e-03 -5.04835395e-03 3.57057718e+02] [-1.77014222e-03 9.99998428e-01 1.02403244e-04 3.84117007e-01] [ 5.04852734e-03 -9.34654743e-05 9.99987252e-01 1.90884061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.09, Y:0.38, Z:1.91 [[ 9.99987188e-01 3.71021275e-04 -5.04836385e-03 3.57086263e+02] [-3.70511501e-04 9.99999926e-01 1.01913042e-04 3.83895945e-01] [ 5.04840129e-03 -1.00041260e-04 9.99987252e-01 1.91001334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.12, Y:0.38, Z:1.91 [[ 9.99986937e-01 -8.00427464e-04 -5.04837170e-03 3.57115349e+02] [ 8.00950191e-04 9.99999674e-01 1.01522693e-04 3.83557274e-01] [ 5.04828879e-03 -1.05564861e-04 9.99987252e-01 1.91141405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.14, Y:0.38, Z:1.91 [[ 9.99984117e-01 -2.50600258e-03 -5.04837978e-03 3.57144395e+02] [ 2.50654499e-03 9.99996854e-01 1.01119379e-04 3.82931717e-01] [ 5.04811049e-03 -1.13771764e-04 9.99987252e-01 1.91079301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.17, Y:0.38, Z:1.91 [[ 9.99982161e-01 -3.19231498e-03 -5.04838577e-03 3.57173635e+02] [ 3.19286463e-03 9.99994898e-01 1.00819343e-04 3.82346942e-01] [ 5.04803816e-03 -1.16936357e-04 9.99987252e-01 1.91091317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.20, Y:0.38, Z:1.91 [[ 9.99980449e-01 -3.69000947e-03 -5.04838984e-03 3.57202649e+02] [ 3.69056442e-03 9.99993185e-01 1.00614887e-04 3.81440082e-01] [ 5.04798417e-03 -1.19244328e-04 9.99987252e-01 1.90977639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.554391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:357.23, Y:0.38, Z:1.91 [[ 9.99977024e-01 -4.52375630e-03 -5.04839186e-03 3.57232907e+02] [ 4.52432136e-03 9.99989760e-01 1.00513553e-04 3.80653997e-01] [ 5.04788547e-03 -1.23351791e-04 9.99987252e-01 1.90912233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:357.26, Y:0.38, Z:1.91 [[ 9.99976668e-01 -4.60193736e-03 -5.04839186e-03 3.57263397e+02] [ 4.60250341e-03 9.99989403e-01 1.00513553e-04 3.80253494e-01] [ 5.04787581e-03 -1.23746449e-04 9.99987252e-01 1.90891146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.614391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.29, Y:0.38, Z:1.91 [[ 9.99977468e-01 -4.42453927e-03 -5.04838989e-03 3.57293813e+02] [ 4.42510356e-03 9.99990204e-01 1.00612544e-04 3.80063952e-01] [ 5.04789527e-03 -1.22949925e-04 9.99987252e-01 1.90950565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.32, Y:0.38, Z:1.91 [[ 9.99977468e-01 -4.42453927e-03 -5.04838989e-03 3.57324803e+02] [ 4.42510356e-03 9.99990204e-01 1.00612544e-04 3.79446344e-01] [ 5.04789527e-03 -1.22949925e-04 9.99987252e-01 1.90966216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.36, Y:0.38, Z:1.91 [[ 9.99979325e-01 -3.98286170e-03 -5.04838989e-03 3.57355440e+02] [ 3.98342037e-03 9.99992061e-01 1.00612544e-04 3.78462784e-01] [ 5.04794908e-03 -1.20720323e-04 9.99987252e-01 1.91059385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.39, Y:0.38, Z:1.91 [[ 9.99980427e-01 -3.69576308e-03 -5.04838989e-03 3.57385557e+02] [ 3.69631809e-03 9.99993164e-01 1.00612544e-04 3.77592341e-01] [ 5.04798354e-03 -1.19271029e-04 9.99987252e-01 1.91109757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:357.42, Y:0.38, Z:1.91 [[ 9.99982936e-01 -2.93954122e-03 -5.04838989e-03 3.57416148e+02] [ 2.94008660e-03 9.99995673e-01 1.00612544e-04 3.76505597e-01] [ 5.04807229e-03 -1.15453530e-04 9.99987252e-01 1.91226865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.45, Y:0.38, Z:1.91 [[ 9.99984889e-01 -2.17604699e-03 -5.04838989e-03 3.57445336e+02] [ 2.17658264e-03 9.99997626e-01 1.00612544e-04 3.76132664e-01] [ 5.04815897e-03 -1.11599261e-04 9.99987252e-01 1.91232318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.47, Y:0.38, Z:1.91 [[ 9.99987209e-01 -3.09180203e-04 -5.04839191e-03 3.57474894e+02] [ 3.09691566e-04 9.99999947e-01 1.00510838e-04 3.75646955e-01] [ 5.04836057e-03 -1.02072997e-04 9.99987252e-01 1.91346598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.50, Y:0.37, Z:1.91 [[ 9.99987243e-01 1.64900213e-04 -5.04839388e-03 3.57504013e+02] [-1.64395388e-04 9.99999981e-01 1.00411920e-04 3.74734204e-01] [ 5.04841035e-03 -9.95807060e-05 9.99987252e-01 1.91455271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.53, Y:0.37, Z:1.91 [[ 9.99987130e-01 5.02370583e-04 -5.04842138e-03 3.57532351e+02] [-5.01877132e-04 9.99999869e-01 9.90099507e-05 3.73672895e-01] [ 5.04847046e-03 -9.64749892e-05 9.99987252e-01 1.91453284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.56, Y:0.37, Z:1.91 [[ 9.99987155e-01 4.50045618e-04 -5.04842719e-03 3.57559687e+02] [-4.49553001e-04 9.99999894e-01 9.87126123e-05 3.72253123e-01] [ 5.04847108e-03 -9.64418088e-05 9.99987252e-01 1.91461154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.59, Y:0.37, Z:1.92 [[ 9.99987255e-01 -6.00472293e-05 -5.04843669e-03 3.57588055e+02] [ 6.05438810e-05 9.99999993e-01 9.82245754e-05 3.71427686e-01] [ 5.04843075e-03 -9.85289755e-05 9.99987252e-01 1.91502161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.62, Y:0.37, Z:1.92 [[ 9.99985548e-01 -1.84832219e-03 -5.04844415e-03 3.57616424e+02] [ 1.84883968e-03 9.99998286e-01 9.78394725e-05 3.70477188e-01] [ 5.04825466e-03 -1.07171822e-04 9.99987252e-01 1.91703087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.64, Y:0.37, Z:1.92 [[ 9.99982574e-01 -3.06024963e-03 -5.04845195e-03 3.57644742e+02] [ 3.06078052e-03 9.99995311e-01 9.74351550e-05 3.69079663e-01] [ 5.04813010e-03 -1.12885660e-04 9.99987252e-01 1.91668388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.67, Y:0.37, Z:1.92 [[ 9.99977453e-01 -4.42785881e-03 -5.04845773e-03 3.57674208e+02] [ 4.42840560e-03 9.99990190e-01 9.71346598e-05 3.67461221e-01] [ 5.04797811e-03 -1.19489088e-04 9.99987252e-01 1.91656563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.70, Y:0.36, Z:1.91 [[ 9.99957174e-01 -7.75652163e-03 -5.04846164e-03 3.57703307e+02] [ 7.75710978e-03 9.99969908e-01 9.69314590e-05 3.64900936e-01] [ 5.04755787e-03 -1.36088779e-04 9.99987252e-01 1.91497522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.73, Y:0.36, Z:1.91 [[ 9.99946044e-01 -9.07860929e-03 -5.04846357e-03 3.57734540e+02] [ 9.07921378e-03 9.99958778e-01 9.68305875e-05 3.63856191e-01] [ 5.04737638e-03 -1.42661443e-04 9.99987252e-01 1.91465867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.77, Y:0.36, Z:1.91 [[ 9.99935520e-01 -1.01719433e-02 -5.04845974e-03 3.57766210e+02] [ 1.01725627e-02 9.99948253e-01 9.70297278e-05 3.62935882e-01] [ 5.04721152e-03 -1.48379245e-04 9.99987252e-01 1.91490127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.80, Y:0.36, Z:1.91 [[ 9.99915807e-01 -1.19537493e-02 -5.04845389e-03 3.57797020e+02] [ 1.19543929e-02 9.99928539e-01 9.73330653e-05 3.61904033e-01] [ 5.04692963e-03 -1.57676072e-04 9.99987252e-01 1.91456366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.83, Y:0.36, Z:1.92 [[ 9.99910394e-01 -1.23982350e-02 -5.04844808e-03 3.57829223e+02] [ 1.23988858e-02 9.99923126e-01 9.76335035e-05 3.61086654e-01] [ 5.04684951e-03 -1.60219886e-04 9.99987252e-01 1.91548697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.86, Y:0.36, Z:1.92 [[ 9.99919938e-01 -1.16030201e-02 -5.04844026e-03 3.57859933e+02] [ 1.16036628e-02 9.99932670e-01 9.80364981e-05 3.61045538e-01] [ 5.04696283e-03 -1.56609048e-04 9.99987252e-01 1.91706731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.89, Y:0.36, Z:1.92 [[ 9.99925981e-01 -1.10700420e-02 -5.04842661e-03 3.57891762e+02] [ 1.10706814e-02 9.99938713e-01 9.87343072e-05 3.61072734e-01] [ 5.04702422e-03 -1.54616522e-04 9.99987252e-01 1.91834524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.92, Y:0.36, Z:1.92 [[ 9.99937557e-01 -9.96975741e-03 -5.04841859e-03 3.57923400e+02] [ 9.97038491e-03 9.99950290e-01 9.91429067e-05 3.61590464e-01] [ 5.04717920e-03 -1.49471392e-04 9.99987252e-01 1.91890917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.95, Y:0.36, Z:1.92 [[ 9.99966261e-01 -6.47994572e-03 -5.04841260e-03 3.57954706e+02] [ 6.48053031e-03 9.99978996e-01 9.94470299e-05 3.63976810e-01] [ 5.04766215e-03 -1.32160066e-04 9.99987252e-01 1.92070849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.99, Y:0.36, Z:1.92 [[ 9.99975240e-01 -4.90240561e-03 -5.04840863e-03 3.57985401e+02] [ 4.90297113e-03 9.99987975e-01 9.96480794e-05 3.64514170e-01] [ 5.04785941e-03 -1.24397814e-04 9.99987252e-01 1.92135490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.02, Y:0.37, Z:1.92 [[ 9.99983276e-01 -2.82147430e-03 -5.04840466e-03 3.58016280e+02] [ 2.82201432e-03 9.99996013e-01 9.98489228e-05 3.66446496e-01] [ 5.04810281e-03 -1.14093923e-04 9.99987252e-01 1.92227386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.05, Y:0.37, Z:1.92 [[ 9.99985658e-01 -1.78787319e-03 -5.04840466e-03 3.58046397e+02] [ 1.78840004e-03 9.99998396e-01 9.98489228e-05 3.67298772e-01] [ 5.04821804e-03 -1.08876058e-04 9.99987252e-01 1.92257944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.08, Y:0.37, Z:1.92 [[ 9.99987018e-01 -6.91588960e-04 -5.04840863e-03 3.58075704e+02] [ 6.92100838e-04 9.99999756e-01 9.96476042e-05 3.68436759e-01] [ 5.04833848e-03 -1.03140318e-04 9.99987252e-01 1.92295642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.10, Y:0.37, Z:1.92 [[ 9.99987119e-01 5.23910010e-04 -5.04841260e-03 3.58104054e+02] [-5.23414633e-04 9.99999858e-01 9.94459555e-05 3.70465638e-01] [ 5.04846399e-03 -9.68022616e-05 9.99987252e-01 1.92293189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.13, Y:0.37, Z:1.92 [[ 9.99986731e-01 1.02568115e-03 -5.04842005e-03 3.58132379e+02] [-1.02519408e-03 9.99999470e-01 9.90662123e-05 3.71443757e-01] [ 5.04851899e-03 -9.38892874e-05 9.99987252e-01 1.92408201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.16, Y:0.37, Z:1.92 [[ 9.99984918e-01 2.16259925e-03 -5.04844731e-03 3.58161544e+02] [-2.16213377e-03 9.99997658e-01 9.76571228e-05 3.72329375e-01] [ 5.04864668e-03 -8.67402315e-05 9.99987252e-01 1.92490475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.19, Y:0.37, Z:1.93 [[ 9.99974263e-01 5.09774555e-03 -5.04847478e-03 3.58188905e+02] [-5.09732475e-03 9.99987004e-01 9.62158233e-05 3.74732686e-01] [ 5.04889965e-03 -7.04796315e-05 9.99987252e-01 1.92539829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.22, Y:0.38, Z:1.92 [[ 9.99974618e-01 5.02760803e-03 -5.04848444e-03 3.58217342e+02] [-5.02718891e-03 9.99987359e-01 9.57064837e-05 3.79031074e-01] [ 5.04890179e-03 -7.03243695e-05 9.99987252e-01 1.92479608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.25, Y:0.38, Z:1.93 [[ 9.99961227e-01 7.21494999e-03 -5.04873776e-03 3.58245748e+02] [-7.21462634e-03 9.99973971e-01 8.23145272e-05 3.77219662e-01] [ 5.04920024e-03 -4.58865792e-05 9.99987252e-01 1.92684423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.27, Y:0.38, Z:1.93 [[ 9.99959447e-01 7.45765097e-03 -5.04850108e-03 3.58273767e+02] [-7.45726685e-03 9.99972190e-01 9.49046800e-05 3.80721622e-01] [ 5.04906845e-03 -5.72528116e-05 9.99987252e-01 1.92859257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.30, Y:0.38, Z:1.93 [[ 9.99965240e-01 6.63558594e-03 -5.04851027e-03 3.58301815e+02] [-6.63519383e-03 9.99977982e-01 9.44132846e-05 3.81901148e-01] [ 5.04902560e-03 -6.09121586e-05 9.99987252e-01 1.92932559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.33, Y:0.38, Z:1.93 [[ 9.99980803e-01 3.59244009e-03 -5.04851933e-03 3.58331136e+02] [-3.59201166e-03 9.99993544e-01 9.39266772e-05 3.83375361e-01] [ 5.04882416e-03 -7.57905339e-05 9.99987252e-01 1.92905252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.36, Y:0.38, Z:1.93 [[ 9.99985962e-01 1.60855327e-03 -5.04852678e-03 3.58360143e+02] [-1.60810160e-03 9.99998703e-01 9.35243897e-05 3.84014946e-01] [ 5.04867067e-03 -8.54045329e-05 9.99987252e-01 1.92856683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.39, Y:0.39, Z:1.93 [[ 9.99987248e-01 -1.30502790e-04 -5.04853422e-03 3.58387778e+02] [ 1.30974583e-04 9.99999987e-01 9.31211090e-05 3.85029358e-01] [ 5.04852200e-03 -9.37811511e-05 9.99987252e-01 1.92821658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.42, Y:0.39, Z:1.93 [[ 9.99986918e-01 -8.22561040e-04 -5.04854339e-03 3.58416872e+02] [ 8.23039128e-04 9.99999657e-01 9.26213042e-05 3.86574119e-01] [ 5.04846547e-03 -9.67752413e-05 9.99987252e-01 1.92821756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.45, Y:0.39, Z:1.93 [[ 9.99986114e-01 -1.51109274e-03 -5.04854868e-03 3.58446152e+02] [ 1.51157813e-03 9.99998853e-01 9.23319059e-05 3.91921562e-01] [ 5.04840337e-03 -9.99618996e-05 9.99987252e-01 1.92946668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.48, Y:0.39, Z:1.93 [[ 9.99985531e-01 -1.85722455e-03 -5.04855227e-03 3.58475984e+02] [ 1.85771336e-03 9.99998270e-01 9.21349667e-05 3.93930244e-01] [ 5.04837242e-03 -1.01512397e-04 9.99987252e-01 1.92997926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.51, Y:0.40, Z:1.93 [[ 9.99979212e-01 -4.01104266e-03 -5.04855585e-03 3.58505935e+02] [ 4.01155792e-03 9.99991949e-01 9.19383421e-05 3.98147950e-01] [ 5.04814644e-03 -1.12189005e-04 9.99987252e-01 1.93141741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:0.40, Z:1.93 [[ 9.99968424e-01 -6.13698520e-03 -5.04855388e-03 3.58533037e+02] [ 6.13752808e-03 9.99981161e-01 9.20467477e-05 4.03041786e-01] [ 5.04789388e-03 -1.23029482e-04 9.99987252e-01 1.93200082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.57, Y:0.40, Z:1.93 [[ 9.99964477e-01 -6.74855978e-03 -5.04996156e-03 3.58566922e+02] [ 6.74871755e-03 9.99977227e-01 1.42020492e-05 4.01013343e-01] [ 5.04975072e-03 -4.82823089e-05 9.99987249e-01 1.93316052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.60, Y:0.40, Z:1.93 [[ 9.99944237e-01 -9.27548581e-03 -5.04851271e-03 3.58597858e+02] [ 9.27607308e-03 9.99956972e-01 9.29209400e-05 4.04720773e-01] [ 5.04743360e-03 -1.39746131e-04 9.99987252e-01 1.93369130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.63, Y:0.41, Z:1.93 [[ 9.99930214e-01 -1.06807868e-02 -5.04850725e-03 3.58630171e+02] [ 1.06813934e-02 9.99942948e-01 9.32164554e-05 4.06365547e-01] [ 5.04722360e-03 -1.47135042e-04 9.99987252e-01 1.93362321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.66, Y:0.41, Z:1.93 [[ 9.99918733e-01 -1.17064343e-02 -5.04850002e-03 3.58662794e+02] [ 1.17070560e-02 9.99931466e-01 9.36065527e-05 4.07765677e-01] [ 5.04705823e-03 -1.52702018e-04 9.99987252e-01 1.93287658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.70, Y:0.41, Z:1.93 [[ 9.99906437e-01 -1.27134014e-02 -5.04849281e-03 3.58695457e+02] [ 1.27140378e-02 9.99919169e-01 9.39937920e-05 4.11520947e-01] [ 5.04688976e-03 -1.58171726e-04 9.99987252e-01 1.93135351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.73, Y:0.41, Z:1.93 [[ 9.99897026e-01 -1.34332076e-02 -5.04848530e-03 3.58727025e+02] [ 1.34338553e-02 9.99909757e-01 9.43955651e-05 4.11842123e-01] [ 5.04676167e-03 -1.62206466e-04 9.99987252e-01 1.92956630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.76, Y:0.41, Z:1.93 [[ 9.99852664e-01 -1.64062147e-02 -5.04847969e-03 3.58759651e+02] [ 1.64069017e-02 9.99865393e-01 9.46946455e-05 4.10289374e-01] [ 5.04624655e-03 -1.77510604e-04 9.99987252e-01 1.93062388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.79, Y:0.41, Z:1.93 [[ 9.99842184e-01 -1.70329205e-02 -5.04846822e-03 3.58791711e+02] [ 1.70336186e-02 9.99854913e-01 9.53019594e-05 4.10328216e-01] [ 5.04611249e-03 -1.81280601e-04 9.99987252e-01 1.93176579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.82, Y:0.41, Z:1.93 [[ 9.99830167e-01 -1.77243119e-02 -5.04845868e-03 3.58824743e+02] [ 1.77250213e-02 9.99842895e-01 9.58046690e-05 4.10039641e-01] [ 5.04596747e-03 -1.85272436e-04 9.99987252e-01 1.93256176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.86, Y:0.41, Z:1.93 [[ 9.99828810e-01 -1.78006590e-02 -5.04844720e-03 3.58857875e+02] [ 1.78013724e-02 9.99841538e-01 9.64061718e-05 4.09326775e-01] [ 5.04593112e-03 -1.86258957e-04 9.99987252e-01 1.93247310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.89, Y:0.41, Z:1.93 [[ 9.99834214e-01 -1.74945050e-02 -5.04843575e-03 3.58890478e+02] [ 1.74952175e-02 9.99846942e-01 9.70019747e-05 4.08858074e-01] [ 5.04596605e-03 -1.85309375e-04 9.99987252e-01 1.93243442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.92, Y:0.41, Z:1.93 [[ 9.99845767e-01 -1.68212719e-02 -5.04842426e-03 3.58921865e+02] [ 1.68219789e-02 9.99858496e-01 9.75962626e-05 4.07995140e-01] [ 5.04606820e-03 -1.82505696e-04 9.99987252e-01 1.93152498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.95, Y:0.41, Z:1.93 [[ 9.99861204e-01 -1.58772517e-02 -5.04841856e-03 3.58953581e+02] [ 1.58779481e-02 9.99873933e-01 9.78904572e-05 4.06296504e-01] [ 5.04622789e-03 -1.78035398e-04 9.99987252e-01 1.93110215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.99, Y:0.41, Z:1.93 [[ 9.99870444e-01 -1.52842541e-02 -5.04841098e-03 3.58985468e+02] [ 1.52849449e-02 9.99883174e-01 9.82797511e-05 4.05301281e-01] [ 5.04631906e-03 -1.75431702e-04 9.99987252e-01 1.93165753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.02, Y:0.40, Z:1.93 [[ 9.99906037e-01 -1.27447992e-02 -5.04840326e-03 3.59016362e+02] [ 1.27454597e-02 9.99918768e-01 9.86748635e-05 4.03846988e-01] [ 5.04673558e-03 -1.63009812e-04 9.99987252e-01 1.93048265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.05, Y:0.40, Z:1.93 [[ 9.99931651e-01 -1.05454982e-02 -5.04839749e-03 3.59048861e+02] [ 1.05461321e-02 9.99944383e-01 9.89690212e-05 4.02952625e-01] [ 5.04707304e-03 -1.52203324e-04 9.99987252e-01 1.93010321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.09, Y:0.40, Z:1.93 [[ 9.99971761e-01 -5.56693746e-03 -5.04838963e-03 3.59085467e+02] [ 5.56751002e-03 9.99984496e-01 9.93681256e-05 3.98426211e-01] [ 5.04775819e-03 -1.27472279e-04 9.99987252e-01 1.92933311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.11, Y:0.40, Z:1.93 [[ 9.99980451e-01 -3.69328315e-03 -5.04543235e-03 3.59107190e+02] [ 3.69457020e-03 9.99993145e-01 2.45795486e-04 4.02256100e-01] [ 5.04448997e-03 -2.64431385e-04 9.99987242e-01 1.92830543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.14, Y:0.40, Z:1.93 [[ 9.99986634e-01 -1.11613010e-03 -5.04829386e-03 3.59137212e+02] [ 1.11663522e-03 9.99999372e-01 9.72392675e-05 4.00927451e-01] [ 5.04818216e-03 -1.02875071e-04 9.99987253e-01 1.92869030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.17, Y:0.40, Z:1.93 [[ 9.99986897e-01 8.48881234e-04 -5.04829386e-03 3.59167274e+02] [-8.48401149e-04 9.99999635e-01 9.72392675e-05 3.99991729e-01] [ 5.04837457e-03 -9.29550151e-05 9.99987253e-01 1.92920515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.20, Y:0.40, Z:1.93 [[ 9.99978731e-01 4.12939315e-03 -5.04829767e-03 3.59196170e+02] [-4.12895585e-03 9.99991471e-01 9.70414539e-05 3.99048510e-01] [ 5.04865533e-03 -7.61951918e-05 9.99987253e-01 1.93038460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.23, Y:0.40, Z:1.93 [[ 9.99979053e-01 4.05070845e-03 -5.04832405e-03 3.59225456e+02] [-4.05027718e-03 9.99991793e-01 9.56490145e-05 3.98571561e-01] [ 5.04867006e-03 -7.51998993e-05 9.99987253e-01 1.93053315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.25, Y:0.40, Z:1.93 [[ 9.99972511e-01 5.43059511e-03 -5.04833154e-03 3.59252640e+02] [-5.43018343e-03 9.99985252e-01 9.52518101e-05 3.97914401e-01] [ 5.04877436e-03 -6.78358255e-05 9.99987253e-01 1.93020766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.28, Y:0.40, Z:1.93 [[ 9.99946871e-01 8.98717903e-03 -5.04834445e-03 3.59280119e+02] [-8.98681614e-03 9.99959613e-01 9.45628251e-05 3.96658783e-01] [ 5.04899041e-03 -4.91892577e-05 9.99987253e-01 1.93009806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.31, Y:0.40, Z:1.93 [[ 9.99931579e-01 1.05522818e-02 -5.04837404e-03 3.59308459e+02] [-1.05519470e-02 9.99944322e-01 9.29558902e-05 3.95992617e-01] [ 5.04907385e-03 -3.96793549e-05 9.99987253e-01 1.93012319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.34, Y:0.40, Z:1.93 [[ 9.99919832e-01 1.16121709e-02 -5.04838149e-03 3.59336609e+02] [-1.16118516e-02 9.99932576e-01 9.25492824e-05 3.95437411e-01] [ 5.04911581e-03 -3.39208062e-05 9.99987253e-01 1.92908774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.36, Y:0.40, Z:1.93 [[ 9.99915683e-01 1.19641204e-02 -5.04839067e-03 3.59364399e+02] [-1.19638082e-02 9.99928427e-01 9.20456269e-05 3.95023289e-01] [ 5.04913059e-03 -3.16398884e-05 9.99987253e-01 1.92927487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.39, Y:0.39, Z:1.93 [[ 9.99907114e-01 1.26600641e-02 -5.04840131e-03 3.59393354e+02] [-1.26597637e-02 9.99919858e-01 9.14585417e-05 3.94395264e-01] [ 5.04915459e-03 -2.75384791e-05 9.99987253e-01 1.93064283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.43, Y:0.39, Z:1.93 [[ 9.99912738e-01 1.22078033e-02 -5.04840860e-03 3.59428334e+02] [-1.22074991e-02 9.99925482e-01 9.10540367e-05 3.91402953e-01] [ 5.04914397e-03 -2.94176475e-05 9.99987253e-01 1.93176675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.45, Y:0.39, Z:1.93 [[ 9.99891270e-01 1.38557324e-02 -5.04652188e-03 3.59451149e+02] [-1.38549296e-02 9.99903997e-01 1.93996396e-04 3.93136325e-01] [ 5.04872536e-03 -1.24056098e-04 9.99987247e-01 1.93064351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.48, Y:0.39, Z:1.93 [[ 9.99879916e-01 1.46515707e-02 -5.04837308e-03 3.59478177e+02] [-1.46513078e-02 9.99892660e-01 8.90481799e-05 3.93162139e-01] [ 5.04913589e-03 -1.50722185e-05 9.99987253e-01 1.93082096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.52, Y:0.39, Z:1.93 [[ 9.99914561e-01 1.20575438e-02 -5.04838975e-03 3.59515497e+02] [-1.20572527e-02 9.99927305e-01 8.80928131e-05 3.89721150e-01] [ 5.04908494e-03 -2.72155755e-05 9.99987253e-01 1.93263112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.54, Y:0.39, Z:1.93 [[ 9.99910023e-01 1.24292186e-02 -5.04591467e-03 3.59542798e+02] [-1.24282226e-02 9.99922741e-01 2.28699869e-04 3.87615145e-01] [ 5.04836738e-03 -1.65967540e-04 9.99987243e-01 1.92990867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.57, Y:0.39, Z:1.93 [[ 9.99915691e-01 1.19642940e-02 -5.04647309e-03 3.59569804e+02] [-1.19634568e-02 9.99928416e-01 1.96050547e-04 3.86336258e-01] [ 5.04845745e-03 -1.35660755e-04 9.99987247e-01 1.92848629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.59, Y:0.39, Z:1.93 [[ 9.99934264e-01 1.02955787e-02 -5.04659244e-03 3.59593346e+02] [-1.02947566e-02 9.99946990e-01 1.88870379e-04 3.89941685e-01] [ 5.04826945e-03 -1.36904523e-04 9.99987248e-01 1.93096770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.62, Y:0.39, Z:1.93 [[ 9.99943839e-01 9.31846692e-03 -5.04831893e-03 3.59620654e+02] [-9.31818071e-03 9.99956582e-01 8.02134297e-05 3.88642987e-01] [ 5.04884721e-03 -3.31677768e-05 9.99987254e-01 1.93002895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.66, Y:0.38, Z:1.93 [[ 9.99982614e-01 3.04739448e-03 -5.04832664e-03 3.59664232e+02] [-3.04703083e-03 9.99995355e-01 7.97251809e-05 3.83154786e-01] [ 5.04854615e-03 -6.43413878e-05 9.99987254e-01 1.92914449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.70, Y:0.38, Z:1.93 [[ 9.99983871e-01 2.60947196e-03 -5.04458362e-03 3.59696177e+02] [-2.60799924e-03 9.99996555e-01 2.98498107e-04 3.80739469e-01] [ 5.04534516e-03 -2.85337022e-04 9.99987231e-01 1.92952696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.72, Y:0.38, Z:1.93 [[ 9.99960752e-01 7.28342609e-03 -5.04444894e-03 3.59718500e+02] [-7.28196946e-03 9.99973439e-01 3.07066752e-04 3.78923015e-01] [ 5.04655146e-03 -2.70321177e-04 9.99987230e-01 1.93128090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.76, Y:0.38, Z:1.93 [[ 9.99987000e-01 -7.32381540e-04 -5.04617073e-03 3.59755674e+02] [ 7.33301651e-04 9.99999715e-01 1.80490626e-04 3.79022798e-01] [ 5.04603710e-03 -1.84188645e-04 9.99987252e-01 1.93323851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.79, Y:0.38, Z:1.94 [[ 9.99986679e-01 1.09400509e-03 -5.04436829e-03 3.59788381e+02] [-1.09246721e-03 9.99999356e-01 3.07615421e-04 3.77224048e-01] [ 5.04470158e-03 -3.02100517e-04 9.99987230e-01 1.93624447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.82, Y:0.38, Z:1.93 [[ 9.99987071e-01 -6.47216487e-04 -5.04368979e-03 3.59815669e+02] [ 6.49030927e-04 9.99999725e-01 3.58116162e-04 3.78595941e-01] [ 5.04345663e-03 -3.61385042e-04 9.99987216e-01 1.93381705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.84, Y:0.38, Z:1.93 [[ 9.99985503e-01 1.88347507e-03 -5.04439722e-03 3.59842638e+02] [-1.88196065e-03 9.99998183e-01 3.04947707e-04 3.77860928e-01] [ 5.04496241e-03 -2.95449929e-04 9.99987230e-01 1.93314180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.88, Y:0.38, Z:1.93 [[ 9.99982286e-01 3.15787171e-03 -5.04530192e-03 3.59875954e+02] [-3.15665398e-03 9.99994987e-01 2.49304572e-04 3.75757440e-01] [ 5.04606390e-03 -2.33373884e-04 9.99987241e-01 1.93205948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.90, Y:0.38, Z:1.94 [[ 9.99974398e-01 5.07488054e-03 -5.04470740e-03 3.59900990e+02] [-5.07349309e-03 9.99987088e-01 2.87789340e-04 3.76331946e-01] [ 5.04610276e-03 -2.62187684e-04 9.99987234e-01 1.93935776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.93, Y:0.38, Z:1.93 [[ 9.99975661e-01 4.81880580e-03 -5.04551015e-03 3.59932885e+02] [-4.81769979e-03 9.99988368e-01 2.31336979e-04 3.75053451e-01] [ 5.04656623e-03 -2.07023596e-04 9.99987245e-01 1.93370816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:0.38, Z:1.94 [[ 9.99957394e-01 7.73026861e-03 -5.04507318e-03 3.59957592e+02] [-7.72903816e-03 9.99970096e-01 2.63341956e-04 3.76055152e-01] [ 5.04695802e-03 -2.24337173e-04 9.99987239e-01 1.93868902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.98, Y:0.38, Z:1.94 [[ 9.99931917e-01 1.05215251e-02 -5.04576914e-03 3.59983462e+02] [-1.05206651e-02 9.99944637e-01 1.96954560e-04 3.75217240e-01] [ 5.04756205e-03 -1.43856303e-04 9.99987251e-01 1.93854217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:0.37, Z:1.94 [[ 9.99939502e-01 9.77393626e-03 -5.04595273e-03 3.60017352e+02] [-9.77315464e-03 9.99952225e-01 1.79534667e-04 3.74115680e-01] [ 5.04746643e-03 -1.30208929e-04 9.99987253e-01 1.93730142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.04, Y:0.37, Z:1.94 [[ 9.99935246e-01 1.02003708e-02 -5.04534991e-03 3.60043511e+02] [-1.01992906e-02 9.99947957e-01 2.39784460e-04 3.74723501e-01] [ 5.04753323e-03 -1.88309943e-04 9.99987243e-01 1.94046444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.08, Y:0.38, Z:1.94 [[ 9.99969667e-01 5.93351158e-03 -5.04557910e-03 3.60075985e+02] [-5.93251700e-03 9.99982380e-01 2.12063550e-04 3.76331145e-01] [ 5.04674848e-03 -1.82124133e-04 9.99987248e-01 1.94057246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.10, Y:0.37, Z:1.94 [[ 9.99931990e-01 1.05148528e-02 -5.04503510e-03 3.60101622e+02] [-1.05135805e-02 9.99944692e-01 2.78638799e-04 3.74557418e-01] [ 5.04768591e-03 -2.25578466e-04 9.99987235e-01 1.93914909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.13, Y:0.37, Z:1.94 [[ 9.99906639e-01 1.26986053e-02 -5.04568185e-03 3.60132915e+02] [-1.26977800e-02 9.99919361e-01 1.95567983e-04 3.72314421e-01] [ 5.04775842e-03 -1.31480766e-04 9.99987251e-01 1.93599552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.16, Y:0.37, Z:1.94 [[ 9.99915438e-01 1.19857772e-02 -5.04549931e-03 3.60161453e+02] [-1.19848231e-02 9.99928155e-01 2.19292459e-04 3.71813030e-01] [ 5.04776520e-03 -1.58804499e-04 9.99987247e-01 1.93646671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.18, Y:0.37, Z:1.94 [[ 9.99854715e-01 1.62816522e-02 -5.04543589e-03 3.60177955e+02] [-1.62807091e-02 9.99867435e-01 2.27938500e-04 3.70607523e-01] [ 5.04847825e-03 -1.45762110e-04 9.99987246e-01 1.93875084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.21, Y:0.37, Z:1.94 [[ 9.99878755e-01 1.47311646e-02 -5.04660521e-03 3.60206680e+02] [-1.47312019e-02 9.99891490e-01 2.97768057e-05 3.68959192e-01] [ 5.04649625e-03 4.45693649e-05 9.99987265e-01 1.93987783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.24, Y:0.37, Z:1.94 [[ 9.99917085e-01 1.18471598e-02 -5.04660744e-03 3.60235272e+02] [-1.18471623e-02 9.99929819e-01 2.93939433e-05 3.65219773e-01] [ 5.04660150e-03 3.03964714e-05 9.99987265e-01 1.94125353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.26, Y:0.36, Z:1.94 [[ 9.99930721e-01 1.06341303e-02 -5.04660964e-03 3.60263280e+02] [-1.06341193e-02 9.99943456e-01 2.90123165e-05 3.63172332e-01] [ 5.04663280e-03 2.46559424e-05 9.99987265e-01 1.94197459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.29, Y:0.36, Z:1.94 [[ 9.99943376e-01 9.36891815e-03 -5.04661288e-03 3.60291694e+02] [-9.36889395e-03 9.99956111e-01 2.84371009e-05 3.61399036e-01] [ 5.04665781e-03 1.88456902e-05 9.99987265e-01 1.94329468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.32, Y:0.36, Z:1.94 [[ 9.99958829e-01 7.54130805e-03 -5.04661505e-03 3.60319241e+02] [-7.54126255e-03 9.99971564e-01 2.80459103e-05 3.60176591e-01] [ 5.04668305e-03 1.00130935e-05 9.99987265e-01 1.94298427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.35, Y:0.36, Z:1.94 [[ 9.99970485e-01 5.79320506e-03 -5.04661789e-03 3.60348222e+02] [-5.79313993e-03 9.99983219e-01 2.75255944e-05 3.57366308e-01] [ 5.04669267e-03 1.71098157e-06 9.99987265e-01 1.94394052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.38, Y:0.36, Z:1.94 [[ 9.99975691e-01 4.81133739e-03 -5.04661994e-03 3.60375839e+02] [-4.81126167e-03 9.99988425e-01 2.71436262e-05 3.55675059e-01] [ 5.04669213e-03 -2.86235725e-06 9.99987265e-01 1.94283836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.40, Y:0.35, Z:1.94 [[ 9.99980205e-01 3.75775706e-03 -5.04662245e-03 3.60404889e+02] [-3.75767032e-03 9.99992940e-01 2.66702332e-05 3.51984254e-01] [ 5.04668703e-03 -7.70616187e-06 9.99987265e-01 1.94315362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.43, Y:0.35, Z:1.94 [[ 9.99981658e-01 3.34881274e-03 -5.04662445e-03 3.60433560e+02] [-3.34872272e-03 9.99994393e-01 2.62858292e-05 3.50158967e-01] [ 5.04668418e-03 -9.38560109e-06 9.99987265e-01 1.94306389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.46, Y:0.35, Z:1.94 [[ 9.99981158e-01 3.49511368e-03 -5.04662641e-03 3.60462173e+02] [-3.49502746e-03 9.99993892e-01 2.59034783e-05 3.48627378e-01] [ 5.04668612e-03 -8.26489235e-06 9.99987265e-01 1.94322057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.49, Y:0.35, Z:1.94 [[ 9.99979973e-01 3.81915776e-03 -5.04662838e-03 3.60491401e+02] [-3.81907763e-03 9.99992707e-01 2.55149427e-05 3.46390908e-01] [ 5.04668902e-03 -6.24096621e-06 9.99987265e-01 1.94370364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.52, Y:0.34, Z:1.94 [[ 9.99980221e-01 3.75351472e-03 -5.04663032e-03 3.60520593e+02] [-3.75343572e-03 9.99992956e-01 2.51249058e-05 3.44789145e-01] [ 5.04668907e-03 -6.18220636e-06 9.99987265e-01 1.94405405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.55, Y:0.34, Z:1.94 [[ 9.99978303e-01 4.23385669e-03 -5.04663224e-03 3.60548270e+02] [-4.23378579e-03 9.99991037e-01 2.47334921e-05 3.42656535e-01] [ 5.04669172e-03 -3.36659562e-06 9.99987265e-01 1.94403222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.58, Y:0.34, Z:1.95 [[ 9.99971444e-01 5.62526988e-03 -5.04663457e-03 3.60577246e+02] [-5.62521915e-03 9.99984178e-01 2.42480550e-05 3.38918229e-01] [ 5.04669112e-03 4.14106287e-06 9.99987265e-01 1.94542438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.61, Y:0.34, Z:1.95 [[ 9.99967646e-01 6.26408587e-03 -5.04663639e-03 3.60606304e+02] [-6.26404521e-03 9.99980380e-01 2.38625283e-05 3.37630752e-01] [ 5.04668685e-03 7.75060227e-06 9.99987265e-01 1.94601844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.63, Y:0.33, Z:1.95 [[ 9.99945877e-01 9.09800860e-03 -5.04663817e-03 3.60634225e+02] [-9.09800597e-03 9.99958612e-01 2.34792796e-05 3.34734944e-01] [ 5.04664292e-03 2.24363354e-05 9.99987265e-01 1.94692602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.66, Y:0.33, Z:1.95 [[ 9.99934781e-01 1.02452138e-02 -5.04664080e-03 3.60661941e+02] [-1.02452287e-02 9.99947516e-01 2.28999189e-05 3.33452839e-01] [ 5.04661055e-03 2.88055637e-05 9.99987265e-01 1.94695720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.69, Y:0.33, Z:1.95 [[ 9.99916397e-01 1.19050223e-02 -5.04664336e-03 3.60689273e+02] [-1.19050612e-02 9.99929132e-01 2.23219242e-05 3.32039727e-01] [ 5.04655146e-03 3.77605401e-05 9.99987265e-01 1.94743848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:360.72, Y:0.33, Z:1.95 [[ 9.99899688e-01 1.32342185e-02 -5.04664543e-03 3.60717268e+02] [-1.32342768e-02 9.99912423e-01 2.18442095e-05 3.30655021e-01] [ 5.04649255e-03 4.49466842e-05 9.99987265e-01 1.94802662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.74, Y:0.33, Z:1.95 [[ 9.99862506e-01 1.57955605e-02 -5.04664787e-03 3.60744649e+02] [-1.57956543e-02 9.99875241e-01 2.12634119e-05 3.27606228e-01] [ 5.04635412e-03 5.84546170e-05 9.99987265e-01 1.94735042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.77, Y:0.33, Z:1.95 [[ 9.99832235e-01 1.76077722e-02 -5.04665060e-03 3.60772401e+02] [-1.76078925e-02 9.99844969e-01 2.05962157e-05 3.26268730e-01] [ 5.04623086e-03 6.82681209e-05 9.99987265e-01 1.94776310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:360.80, Y:0.33, Z:1.95 [[ 9.99759542e-01 2.13398505e-02 -5.04665288e-03 3.60800465e+02] [-2.13400212e-02 9.99772276e-01 2.00218291e-05 3.25267411e-01] [ 5.04593089e-03 8.76786647e-05 9.99987265e-01 1.94871296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:360.83, Y:0.32, Z:1.95 [[ 9.99716369e-01 2.32747357e-02 -5.04665471e-03 3.60829604e+02] [-2.32749335e-02 9.99729102e-01 1.95473333e-05 3.24792330e-01] [ 5.04574254e-03 9.79187638e-05 9.99987265e-01 1.95050251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.86, Y:0.32, Z:1.95 [[ 9.99657029e-01 2.56973827e-02 -5.04665619e-03 3.60857100e+02] [-2.56976133e-02 9.99669762e-01 1.91582658e-05 3.24169431e-01] [ 5.04548191e-03 1.10535324e-04 9.99987265e-01 1.95199798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:360.88, Y:0.32, Z:1.95 [[ 9.99572776e-01 2.87888464e-02 -5.04665837e-03 3.60884911e+02] [-2.87891193e-02 9.99585507e-01 1.85670709e-05 3.22813680e-01] [ 5.04510109e-03 1.26729711e-04 9.99987265e-01 1.95262815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.304391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:360.91, Y:0.32, Z:1.95 [[ 9.99534806e-01 3.00782946e-02 -5.04666011e-03 3.60913576e+02] [-3.00785864e-02 9.99547537e-01 1.80792058e-05 3.21922184e-01] [ 5.04492048e-03 1.33725607e-04 9.99987265e-01 1.95286417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.94, Y:0.32, Z:1.95 [[ 9.99448303e-01 3.28271281e-02 -5.04666146e-03 3.60941303e+02] [-3.28274569e-02 9.99461034e-01 1.76937188e-05 3.20963142e-01] [ 5.04452232e-03 1.47985104e-04 9.99987265e-01 1.95363090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.97, Y:0.32, Z:1.95 [[ 9.99421578e-01 3.36309500e-02 -5.04666343e-03 3.60968913e+02] [-3.36312920e-02 9.99434308e-01 1.71157218e-05 3.20634934e-01] [ 5.04438419e-03 1.52619990e-04 9.99987265e-01 1.95376900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:361.00, Y:0.32, Z:1.95 [[ 9.99414981e-01 3.38264121e-02 -5.04666530e-03 3.60996650e+02] [-3.38267594e-02 9.99427711e-01 1.65424825e-05 3.20083179e-01] [ 5.04433673e-03 1.54179528e-04 9.99987265e-01 1.95387123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:361.03, Y:0.32, Z:1.95 [[ 9.99418785e-01 3.37138539e-02 -5.04666710e-03 3.61025096e+02] [-3.37142027e-02 9.99431515e-01 1.59736108e-05 3.20111494e-01] [ 5.04433668e-03 1.54180031e-04 9.99987265e-01 1.95401501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:361.05, Y:0.32, Z:1.95 [[ 9.99428926e-01 3.34118803e-02 -5.04666884e-03 3.61054017e+02] [-3.34122281e-02 9.99441656e-01 1.54052427e-05 3.18958286e-01] [ 5.04436578e-03 1.53224005e-04 9.99987265e-01 1.95380589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:361.08, Y:0.32, Z:1.95 [[ 9.99463390e-01 3.23645497e-02 -5.04666996e-03 3.61082603e+02] [-3.23648860e-02 9.99476120e-01 1.50287138e-05 3.16305676e-01] [ 5.04451251e-03 1.48314249e-04 9.99987265e-01 1.95412251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:361.11, Y:0.32, Z:1.95 [[ 9.99481880e-01 3.17884158e-02 -5.04667104e-03 3.61110070e+02] [-3.17887466e-02 9.99494610e-01 1.46555397e-05 3.15361391e-01] [ 5.04458638e-03 1.45779401e-04 9.99987265e-01 1.95443381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.14, Y:0.31, Z:1.96 [[ 9.99507380e-01 3.09762643e-02 -5.04667260e-03 3.61137700e+02] [-3.09765876e-02 9.99520110e-01 1.40997368e-05 3.13099532e-01] [ 5.04468751e-03 1.42235905e-04 9.99987265e-01 1.95578676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:361.17, Y:0.31, Z:1.96 [[ 9.99530313e-01 3.02272266e-02 -5.04667439e-03 3.61166100e+02] [-3.02275439e-02 9.99543043e-01 1.34244054e-05 3.12106976e-01] [ 5.04477406e-03 1.39130471e-04 9.99987265e-01 1.95623612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:361.19, Y:0.31, Z:1.96 [[ 9.99566593e-01 2.90027046e-02 -5.04667534e-03 3.61193584e+02] [-2.90030080e-02 9.99579324e-01 1.30596701e-05 3.11488501e-01] [ 5.04493109e-03 1.33314755e-04 9.99987265e-01 1.95609634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:361.22, Y:0.31, Z:1.96 [[ 9.99625896e-01 2.68812049e-02 -5.04667668e-03 3.61222147e+02] [-2.68814840e-02 9.99638628e-01 1.25168084e-05 3.09889148e-01] [ 5.04518942e-03 1.23150033e-04 9.99987265e-01 1.95608422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:361.25, Y:0.31, Z:1.96 [[ 9.99666349e-01 2.53322343e-02 -5.04667755e-03 3.61249616e+02] [-2.53324956e-02 9.99679081e-01 1.21555635e-05 3.09032478e-01] [ 5.04536591e-03 1.15693429e-04 9.99987265e-01 1.95789687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:361.28, Y:0.31, Z:1.96 [[ 9.99704379e-01 2.37841576e-02 -5.04667889e-03 3.61277827e+02] [-2.37844021e-02 9.99717111e-01 1.15719327e-05 3.07634034e-01] [ 5.04552647e-03 1.08463728e-04 9.99987265e-01 1.95738310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.31, Y:0.31, Z:1.96 [[ 9.99751050e-01 2.17340706e-02 -5.04668016e-03 3.61306691e+02] [-2.17342919e-02 9.99763782e-01 1.09908055e-05 3.05367590e-01] [ 5.04572692e-03 9.86979502e-05 9.99987265e-01 1.95699351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.34, Y:0.30, Z:1.96 [[ 9.99770906e-01 2.08006461e-02 -5.04668097e-03 3.61335774e+02] [-2.08008575e-02 9.99783639e-01 1.06064386e-05 3.04582559e-01] [ 5.04580968e-03 9.43712827e-05 9.99987265e-01 1.95752969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:361.36, Y:0.30, Z:1.96 [[ 9.99790542e-01 1.98343859e-02 -5.04668174e-03 3.61363372e+02] [-1.98345869e-02 9.99803275e-01 1.02248470e-05 3.03378754e-01] [ 5.04589174e-03 8.98761423e-05 9.99987265e-01 1.95898766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:361.39, Y:0.30, Z:1.96 [[ 9.99802294e-01 1.92328939e-02 -5.04668265e-03 3.61391619e+02] [-1.92330896e-02 9.99815027e-01 9.75233468e-06 3.02844586e-01] [ 5.04593672e-03 8.73128933e-05 9.99987265e-01 1.95951253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:361.42, Y:0.30, Z:1.96 [[ 9.99822726e-01 1.81396452e-02 -5.04668351e-03 3.61419148e+02] [-1.81398293e-02 9.99835460e-01 9.28516897e-06 3.02270705e-01] [ 5.04602156e-03 8.22624546e-05 9.99987265e-01 1.95858958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.45, Y:0.30, Z:1.96 [[ 9.99845082e-01 1.68624456e-02 -5.04668432e-03 3.61447972e+02] [-1.68626159e-02 9.99857816e-01 8.82263126e-06 3.00352864e-01] [ 5.04611553e-03 7.62790346e-05 9.99987265e-01 1.96045872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:361.48, Y:0.30, Z:1.96 [[ 9.99856971e-01 1.61421110e-02 -5.04668493e-03 3.61475637e+02] [-1.61422738e-02 9.99869705e-01 8.45634103e-06 2.99603523e-01] [ 5.04616388e-03 7.30098387e-05 9.99987265e-01 1.96003307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:361.50, Y:0.30, Z:1.96 [[ 9.99858298e-01 1.60597105e-02 -5.04668579e-03 3.61502971e+02] [-1.60598751e-02 9.99871032e-01 7.91095138e-06 2.98836777e-01] [ 5.04616197e-03 7.31393131e-05 9.99987265e-01 1.95830419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:361.53, Y:0.30, Z:1.96 [[ 9.99843677e-01 1.69455989e-02 -5.04668670e-03 3.61530958e+02] [-1.69457780e-02 9.99856410e-01 7.27929554e-06 2.97713651e-01] [ 5.04608540e-03 7.82418746e-05 9.99987265e-01 1.95829735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:361.56, Y:0.30, Z:1.96 [[ 9.99832703e-01 1.75811631e-02 -5.04668739e-03 3.61559745e+02] [-1.75813529e-02 9.99845436e-01 6.76074468e-06 2.97810255e-01] [ 5.04602622e-03 8.19679786e-05 9.99987265e-01 1.96002438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:361.59, Y:0.30, Z:1.96 [[ 9.99808276e-01 1.89193711e-02 -5.04668785e-03 3.61588660e+02] [-1.89195797e-02 9.99821009e-01 6.40533003e-06 2.97732651e-01] [ 5.04590572e-03 8.90771110e-05 9.99987265e-01 1.96220322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.054391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:361.62, Y:0.30, Z:1.96 [[ 9.99805243e-01 1.90789827e-02 -5.04668833e-03 3.61616726e+02] [-1.90791955e-02 9.99817976e-01 5.99359603e-06 2.97247551e-01] [ 5.04588407e-03 9.02943245e-05 9.99987265e-01 1.96161696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:361.65, Y:0.30, Z:1.96 [[ 9.99806245e-01 1.90264020e-02 -5.04668889e-03 3.61645510e+02] [-1.90266166e-02 9.99818978e-01 5.48395273e-06 2.96699400e-01] [ 5.04587966e-03 9.05385245e-05 9.99987265e-01 1.96205824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.114391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:361.67, Y:0.30, Z:1.96 [[ 9.99799103e-01 1.93980574e-02 -5.04668931e-03 3.61672018e+02] [-1.93982789e-02 9.99811836e-01 5.06478389e-06 2.96614129e-01] [ 5.04583795e-03 9.28333202e-05 9.99987265e-01 1.96204480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:361.70, Y:0.30, Z:1.96 [[ 9.99831358e-01 1.76574483e-02 -5.04669994e-03 3.61699836e+02] [-1.76577276e-02 9.99844090e-01 -1.07946986e-05 2.96625960e-01] [ 5.04572250e-03 9.99061310e-05 9.99987265e-01 1.96301276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17439141799997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:361.73, Y:0.30, Z:1.96 [[ 9.99875083e-01 1.49782885e-02 -5.04669296e-03 3.61726637e+02] [-1.49784660e-02 9.99887816e-01 2.62486498e-06 2.98922703e-01] [ 5.04616612e-03 7.29671818e-05 9.99987265e-01 1.96376742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:361.75, Y:0.30, Z:1.96 [[ 9.99881837e-01 1.45204582e-02 -5.04669923e-03 3.61753100e+02] [-1.45207298e-02 9.99894569e-01 -1.71747443e-05 2.98664242e-01] [ 5.04591777e-03 9.04544708e-05 9.99987265e-01 1.96434615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:361.78, Y:0.30, Z:1.96 [[ 9.99885943e-01 1.42348478e-02 -5.04669971e-03 3.61783231e+02] [-1.42351413e-02 9.99898675e-01 -2.22343076e-05 2.97784511e-01] [ 5.04587185e-03 9.40722552e-05 9.99987265e-01 1.96405139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:361.81, Y:0.30, Z:1.96 [[ 9.99920221e-01 1.15794089e-02 -5.04669856e-03 3.61810293e+02] [-1.15795551e-02 9.99932955e-01 2.58049992e-07 3.01359338e-01] [ 5.04636319e-03 5.81804945e-05 9.99987265e-01 1.96358889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:361.84, Y:0.30, Z:1.96 [[ 9.99897670e-01 1.33858213e-02 -5.04669345e-03 3.61838824e+02] [-1.33861423e-02 9.99910401e-01 -2.98256175e-05 2.99864254e-01] [ 5.04584203e-03 9.73783220e-05 9.99987265e-01 1.96260903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:361.87, Y:0.30, Z:1.96 [[ 9.99930067e-01 1.06954304e-02 -5.04669820e-03 3.61866035e+02] [-1.06955708e-02 9.99942801e-01 -8.26395405e-07 3.03957727e-01] [ 5.04640069e-03 5.48036552e-05 9.99987265e-01 1.96254530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:361.90, Y:0.30, Z:1.96 [[ 9.99910794e-01 1.23666627e-02 -5.04668667e-03 3.61897253e+02] [-1.23669855e-02 9.99923525e-01 -3.27546196e-05 3.02108886e-01] [ 5.04589566e-03 9.51639986e-05 9.99987265e-01 1.96325394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.92, Y:0.30, Z:1.96 [[ 9.99898779e-01 1.33027453e-02 -5.04665251e-03 3.61923059e+02] [-1.33027363e-02 9.99911514e-01 3.53535758e-05 3.04537618e-01] [ 5.04667625e-03 3.17842901e-05 9.99987265e-01 1.96329336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.95, Y:0.31, Z:1.96 [[ 9.99951564e-01 8.44989320e-03 -5.04665652e-03 3.61947667e+02] [-8.44999787e-03 9.99964298e-01 5.81442669e-07 3.11085419e-01] [ 5.04648126e-03 4.20628223e-05 9.99987266e-01 1.96416544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.98, Y:0.31, Z:1.96 [[ 9.99915096e-01 1.20138315e-02 -5.04663403e-03 3.61979595e+02] [-1.20143478e-02 9.99927823e-01 -7.20101252e-05 3.07136736e-01] [ 5.04540466e-03 1.32636028e-04 9.99987263e-01 1.96452324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.01, Y:0.31, Z:1.97 [[ 9.99934890e-01 1.02345900e-02 -5.04663443e-03 3.62007090e+02] [-1.02347204e-02 9.99947624e-01 -2.72750776e-08 3.09200812e-01] [ 5.04636983e-03 5.16781659e-05 9.99987266e-01 1.96527925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.04, Y:0.31, Z:1.97 [[ 9.99938327e-01 9.89313378e-03 -5.04663435e-03 3.62035051e+02] [-9.89326304e-03 9.99951060e-01 -6.48100644e-07 3.10606485e-01] [ 5.04638096e-03 5.05757417e-05 9.99987266e-01 1.96517684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:362.06, Y:0.32, Z:1.97 [[ 9.99961211e-01 7.21852862e-03 -5.04663423e-03 3.62062270e+02] [-7.21862640e-03 9.99973945e-01 -1.16041263e-06 3.17097287e-01] [ 5.04649437e-03 3.75901347e-05 9.99987266e-01 1.96540957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.09, Y:0.32, Z:1.97 [[ 9.99948064e-01 8.85445485e-03 -5.04662510e-03 3.62091996e+02] [-8.85468076e-03 9.99960796e-01 -2.24237453e-05 3.16669204e-01] [ 5.04622870e-03 6.71088349e-05 9.99987265e-01 1.96647320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.12, Y:0.32, Z:1.97 [[ 9.99949030e-01 8.74470282e-03 -5.04663237e-03 3.62119924e+02] [-8.74474200e-03 9.99961764e-01 1.43027745e-05 3.18738575e-01] [ 5.04656448e-03 2.98294525e-05 9.99987266e-01 1.96663185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:362.15, Y:0.32, Z:1.97 [[ 9.99953187e-01 8.25562149e-03 -5.04662503e-03 3.62149164e+02] [-8.25573791e-03 9.99965921e-01 -2.23780518e-06 3.21010208e-01] [ 5.04643457e-03 4.39013140e-05 9.99987266e-01 1.96722269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:362.18, Y:0.33, Z:1.97 [[ 9.99952791e-01 8.30347059e-03 -5.04662482e-03 3.62178456e+02] [-8.30358968e-03 9.99965525e-01 -2.64659271e-06 3.25390398e-01] [ 5.04642886e-03 4.45515695e-05 9.99987266e-01 1.96678748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.21, Y:0.33, Z:1.97 [[ 9.99956106e-01 7.89415648e-03 -5.04662457e-03 3.62207472e+02] [-7.89427245e-03 9.99968840e-01 -3.05916280e-06 3.27566149e-01] [ 5.04644316e-03 4.28984578e-05 9.99987266e-01 1.96652327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:362.24, Y:0.33, Z:1.97 [[ 9.99961417e-01 7.18993940e-03 -5.04662428e-03 3.62235665e+02] [-7.19004847e-03 9.99974151e-01 -3.47025099e-06 3.29948846e-01] [ 5.04646889e-03 3.97555903e-05 9.99987266e-01 1.96648268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.26, Y:0.33, Z:1.97 [[ 9.99965041e-01 6.66702789e-03 -5.04662388e-03 3.62263057e+02] [-6.66713287e-03 9.99977774e-01 -3.97964521e-06 3.32123026e-01] [ 5.04648519e-03 3.76260181e-05 9.99987266e-01 1.96652439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.29, Y:0.34, Z:1.97 [[ 9.99976026e-01 4.74116238e-03 -5.04662344e-03 3.62292004e+02] [-4.74124535e-03 9.99988760e-01 -4.47705836e-06 3.37015961e-01] [ 5.04654549e-03 2.84042310e-05 9.99987266e-01 1.96713490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.804391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:362.32, Y:0.34, Z:1.97 [[ 9.99980428e-01 3.69798370e-03 -5.04662305e-03 3.62321182e+02] [-3.69805543e-03 9.99993162e-01 -4.88080244e-06 3.38699063e-01] [ 5.04657049e-03 2.35433987e-05 9.99987266e-01 1.96738749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.35, Y:0.34, Z:1.97 [[ 9.99986011e-01 1.58381970e-03 -5.04662262e-03 3.62349532e+02] [-1.58386659e-03 9.99998746e-01 -5.29491304e-06 3.42005894e-01] [ 5.04660790e-03 1.32880159e-05 9.99987266e-01 1.96797250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.38, Y:0.34, Z:1.97 [[ 9.99987208e-01 3.40827585e-04 -5.04662215e-03 3.62378267e+02] [-3.40860733e-04 9.99999942e-01 -5.70817594e-06 3.44073452e-01] [ 5.04661991e-03 7.42829824e-06 9.99987266e-01 1.96840731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.41, Y:0.35, Z:1.97 [[ 9.99985312e-01 -1.97651589e-03 -5.04662165e-03 3.62406934e+02] [ 1.97651017e-03 9.99998047e-01 -6.12074579e-06 3.48744935e-01] [ 5.04662389e-03 -3.85404314e-06 9.99987266e-01 1.96848350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.44, Y:0.35, Z:1.97 [[ 9.99984316e-01 -2.42902350e-03 -5.04662126e-03 3.62436051e+02] [ 2.42902200e-03 9.99997050e-01 -6.42746258e-06 3.51135907e-01] [ 5.04662198e-03 -5.83099227e-06 9.99987266e-01 1.96811098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.47, Y:0.35, Z:1.97 [[ 9.99983608e-01 -2.70452207e-03 -5.04662113e-03 3.62466021e+02] [ 2.70452357e-03 9.99996343e-01 -6.52744000e-06 3.53330119e-01] [ 5.04662033e-03 -7.12137278e-06 9.99987266e-01 1.96723141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.50, Y:0.36, Z:1.97 [[ 9.99981136e-01 -3.50130446e-03 -5.04662086e-03 3.62495959e+02] [ 3.50131510e-03 9.99993870e-01 -6.72568972e-06 3.58100988e-01] [ 5.04661348e-03 -1.09442470e-05 9.99987266e-01 1.96600710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.53, Y:0.36, Z:1.97 [[ 9.99981746e-01 -3.32246082e-03 -5.04662058e-03 3.62526581e+02] [ 3.32246815e-03 9.99994481e-01 -6.93068427e-06 3.60712572e-01] [ 5.04661576e-03 -9.83667841e-06 9.99987266e-01 1.96625118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.56, Y:0.36, Z:1.97 [[ 9.99983827e-01 -2.62236208e-03 -5.04662058e-03 3.62556211e+02] [ 2.62236049e-03 9.99996562e-01 -6.93068427e-06 3.63854834e-01] [ 5.04662141e-03 -6.30348627e-06 9.99987266e-01 1.96641983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.59, Y:0.37, Z:1.97 [[ 9.99986977e-01 -7.59885179e-04 -5.04662044e-03 3.62585908e+02] [ 7.59859370e-04 9.99999711e-01 -7.03142403e-06 3.70530879e-01] [ 5.04662433e-03 3.19661063e-06 9.99987266e-01 1.96683635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.62, Y:0.37, Z:1.97 [[ 9.99987239e-01 2.29821235e-04 -5.04662015e-03 3.62615925e+02] [-2.29860665e-04 9.99999974e-01 -7.23330915e-06 3.73932597e-01] [ 5.04661836e-03 8.39323632e-06 9.99987266e-01 1.96668498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.64, Y:0.38, Z:1.97 [[ 9.99984455e-01 2.37098742e-03 -5.04661986e-03 3.62644069e+02] [-2.37105513e-03 9.99997189e-01 -7.43434469e-06 3.80399396e-01] [ 5.04658804e-03 1.94000430e-05 9.99987266e-01 1.96618592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:362.67, Y:0.38, Z:1.97 [[ 9.99981466e-01 3.40588633e-03 -5.04661940e-03 3.62671806e+02] [-3.40596873e-03 9.99994200e-01 -7.73292011e-06 3.84021602e-01] [ 5.04656379e-03 2.49214046e-05 9.99987266e-01 1.96613923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.70, Y:0.39, Z:1.97 [[ 9.99975558e-01 4.83897786e-03 -5.04661637e-03 3.62698633e+02] [-4.83908673e-03 9.99988292e-01 -9.36362626e-06 3.87753827e-01] [ 5.04651198e-03 3.37844117e-05 9.99987266e-01 1.96583526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:362.73, Y:0.39, Z:1.97 [[ 9.99968865e-01 6.06628601e-03 -5.04661497e-03 3.62726918e+02] [-6.06641407e-03 9.99981599e-01 -1.00685266e-05 3.91731393e-01] [ 5.04646103e-03 4.06830692e-05 9.99987266e-01 1.96601399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.75, Y:0.40, Z:1.97 [[ 9.99950044e-01 8.62797300e-03 -5.04661374e-03 3.62754671e+02] [-8.62813662e-03 9.99962777e-01 -1.06518848e-05 3.99102912e-01] [ 5.04633398e-03 5.41942255e-05 9.99987266e-01 1.96652093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.78, Y:0.40, Z:1.97 [[ 9.99939564e-01 9.76725229e-03 -5.04660980e-03 3.62782334e+02] [-9.76743859e-03 9.99952297e-01 -1.22701051e-05 4.02822678e-01] [ 5.04624922e-03 6.15618149e-05 9.99987266e-01 1.96648202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.81, Y:0.41, Z:1.97 [[ 9.99926370e-01 1.10356642e-02 -5.04660827e-03 3.62810633e+02] [-1.10358696e-02 9.99939103e-01 -1.28702460e-05 4.09624319e-01] [ 5.04615892e-03 6.85630095e-05 9.99987266e-01 1.96591154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.84, Y:0.41, Z:1.97 [[ 9.99927664e-01 1.09177677e-02 -5.04660668e-03 3.62839070e+02] [-1.09179747e-02 9.99940397e-01 -1.34650493e-05 4.09815103e-01] [ 5.04615888e-03 6.85627994e-05 9.99987266e-01 1.96605535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.87, Y:0.41, Z:1.97 [[ 9.99927425e-01 1.09397107e-02 -5.04660503e-03 3.62866583e+02] [-1.09399210e-02 9.99940157e-01 -1.40600620e-05 4.13017155e-01] [ 5.04614921e-03 6.92685017e-05 9.99987266e-01 1.96593630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.89, Y:0.42, Z:1.97 [[ 9.99925533e-01 1.11112825e-02 -5.04660327e-03 3.62894423e+02] [-1.11114980e-02 9.99938265e-01 -1.46647808e-05 4.16153888e-01] [ 5.04612877e-03 7.07390109e-05 9.99987266e-01 1.96614581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.92, Y:0.42, Z:1.97 [[ 9.99926867e-01 1.09905719e-02 -5.04660144e-03 3.62921317e+02] [-1.09907889e-02 9.99939599e-01 -1.52707777e-05 4.22249884e-01] [ 5.04612878e-03 7.07357920e-05 9.99987266e-01 1.96569280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:0.43, Z:1.97 [[ 9.99929535e-01 1.07451163e-02 -5.04659922e-03 3.62949073e+02] [-1.07453337e-02 9.99942267e-01 -1.59713249e-05 4.25169007e-01] [ 5.04613625e-03 7.01975922e-05 9.99987266e-01 1.96571819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.98, Y:0.43, Z:1.97 [[ 9.99938959e-01 9.82904010e-03 -5.04659723e-03 3.62976249e+02] [-9.82924891e-03 9.99951692e-01 -1.65757583e-05 4.28305568e-01] [ 5.04619052e-03 6.61790068e-05 9.99987266e-01 1.96571686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.00, Y:0.43, Z:1.97 [[ 9.99981067e-01 3.52097611e-03 -5.04659484e-03 3.63004271e+02] [-3.52110813e-03 9.99993801e-01 -1.72749187e-05 4.29884621e-01] [ 5.04650273e-03 3.50441978e-05 9.99987266e-01 1.96662953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.03, Y:0.43, Z:1.97 [[ 9.99987056e-01 -6.48248789e-04 -5.04659310e-03 3.63032129e+02] [ 6.48167368e-04 9.99999790e-01 -1.77693504e-05 4.30440041e-01] [ 5.04660356e-03 1.44980834e-05 9.99987266e-01 1.96723293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.06, Y:0.43, Z:1.97 [[ 9.99974914e-01 -4.97033894e-03 -5.04659134e-03 3.63062053e+02] [ 4.97031010e-03 9.99987648e-01 -1.82564360e-05 4.30140307e-01] [ 5.04661974e-03 -6.82714584e-06 9.99987266e-01 1.96753679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:0.43, Z:1.97 [[ 9.99902003e-01 -1.30582225e-02 -5.04659060e-03 3.63092902e+02] [ 1.30582957e-02 9.99914737e-01 -1.84578943e-05 4.29902890e-01] [ 5.04640134e-03 -4.74437867e-05 9.99987266e-01 1.96656338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:0.43, Z:1.96 [[ 9.99863863e-01 -1.57094718e-02 -5.04659096e-03 3.63124682e+02] [ 1.57095792e-02 9.99876597e-01 -1.83579952e-05 4.29231284e-01] [ 5.04625659e-03 -6.09243243e-05 9.99987266e-01 1.96481004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.16, Y:0.43, Z:1.96 [[ 9.99837419e-01 -1.73109326e-02 -5.04659240e-03 3.63157161e+02] [ 1.73110625e-02 9.99850152e-01 -1.79547710e-05 4.26310650e-01] [ 5.04614699e-03 -6.94100245e-05 9.99987266e-01 1.96187765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.19, Y:0.43, Z:1.96 [[ 9.99847521e-01 -1.67172538e-02 -5.04659576e-03 3.63189950e+02] [ 1.67173811e-02 9.99860255e-01 -1.69549889e-05 4.26380937e-01] [ 5.04617396e-03 -6.74134610e-05 9.99987266e-01 1.96267890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.22, Y:0.43, Z:1.96 [[ 9.99870139e-01 -1.53048334e-02 -5.04659770e-03 3.63222162e+02] [ 1.53049457e-02 9.99882872e-01 -1.63561547e-05 4.26859285e-01] [ 5.04625693e-03 -6.08838731e-05 9.99987266e-01 1.96360212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.25, Y:0.43, Z:1.96 [[ 9.99892964e-01 -1.37328792e-02 -5.04660055e-03 3.63254223e+02] [ 1.37329763e-02 9.99905698e-01 -1.54221825e-05 4.27377988e-01] [ 5.04633644e-03 -5.38843138e-05 9.99987266e-01 1.96452708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.29, Y:0.43, Z:1.97 [[ 9.99937212e-01 -1.00051899e-02 -5.04660172e-03 3.63286268e+02] [ 1.00052415e-02 9.99949946e-01 -1.50285216e-05 4.27881860e-01] [ 5.04649949e-03 -3.54648911e-05 9.99987266e-01 1.96604483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:0.43, Z:1.97 [[ 9.99949491e-01 -8.69178548e-03 -5.04660286e-03 3.63318340e+02] [ 8.69182229e-03 9.99962225e-01 -1.46381716e-05 4.27723078e-01] [ 5.04653945e-03 -2.92267430e-05 9.99987266e-01 1.96639333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.35, Y:0.43, Z:1.97 [[ 9.99958505e-01 -7.58417751e-03 -5.04660396e-03 3.63349120e+02] [ 7.58420219e-03 9.99971239e-01 -1.42460837e-05 4.27263798e-01] [ 5.04656687e-03 -2.40289723e-05 9.99987266e-01 1.96626052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.38, Y:0.43, Z:1.97 [[ 9.99962130e-01 -7.09018202e-03 -5.04660572e-03 3.63380942e+02] [ 7.09020371e-03 9.99974864e-01 -1.35923774e-05 4.26617684e-01] [ 5.04657525e-03 -2.21896000e-05 9.99987266e-01 1.96703642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.41, Y:0.43, Z:1.97 [[ 9.99959464e-01 -7.45664896e-03 -5.04660673e-03 3.63412950e+02] [ 7.45667726e-03 9.99972199e-01 -1.32077098e-05 4.26493973e-01] [ 5.04656491e-03 -2.44237432e-05 9.99987266e-01 1.96771381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.44, Y:0.43, Z:1.97 [[ 9.99954500e-01 -8.09498431e-03 -5.04660770e-03 3.63444869e+02] [ 8.09502267e-03 9.99967235e-01 -1.28249293e-05 4.25626999e-01] [ 5.04654617e-03 -2.80280580e-05 9.99987266e-01 1.96731128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.48, Y:0.42, Z:1.97 [[ 9.99955799e-01 -7.93295344e-03 -5.04660865e-03 3.63476844e+02] [ 7.93299168e-03 9.99968533e-01 -1.24404778e-05 4.24495040e-01] [ 5.04654854e-03 -2.75947766e-05 9.99987266e-01 1.96631794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.51, Y:0.42, Z:1.97 [[ 9.99960691e-01 -7.29033138e-03 -5.04660960e-03 3.63508929e+02] [ 7.29036344e-03 9.99973425e-01 -1.20446854e-05 4.23044387e-01] [ 5.04656329e-03 -2.47474062e-05 9.99987266e-01 1.96600060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.54, Y:0.42, Z:1.97 [[ 9.99948974e-01 -8.75106296e-03 -5.04661056e-03 3.63540473e+02] [ 8.75111572e-03 9.99961708e-01 -1.16279084e-05 4.23337486e-01] [ 5.04651907e-03 -3.25361578e-05 9.99987266e-01 1.96650530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.57, Y:0.42, Z:1.97 [[ 9.99939220e-01 -9.80246510e-03 -5.04661147e-03 3.63571546e+02] [ 9.80253331e-03 9.99951954e-01 -1.12188735e-05 4.22821921e-01] [ 5.04647897e-03 -3.82513853e-05 9.99987266e-01 1.96662138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.61, Y:0.42, Z:1.97 [[ 9.99954801e-01 -8.05772329e-03 -5.04661212e-03 3.63605447e+02] [ 8.05777081e-03 9.99967536e-01 -1.09165718e-05 4.20182291e-01] [ 5.04653625e-03 -2.97483654e-05 9.99987266e-01 1.96627379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.64, Y:0.42, Z:1.97 [[ 9.99950107e-01 -8.62044761e-03 -5.04687137e-03 3.63635646e+02] [ 8.62105232e-03 9.99962833e-01 9.80768972e-05 4.19623546e-01] [ 5.04583833e-03 -1.41581346e-04 9.99987260e-01 1.96637685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.67, Y:0.42, Z:1.97 [[ 9.99932396e-01 -1.04753602e-02 -5.04680262e-03 3.63667786e+02] [ 1.04758302e-02 9.99945125e-01 6.67203693e-05 4.20075982e-01] [ 5.04582676e-03 -1.19585306e-04 9.99987263e-01 1.96502547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.70, Y:0.42, Z:1.96 [[ 9.99928658e-01 -1.08262571e-02 -5.04681406e-03 3.63700255e+02] [ 1.08267550e-02 9.99941386e-01 7.13477890e-05 4.19338737e-01] [ 5.04574581e-03 -1.25983318e-04 9.99987262e-01 1.96485895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.73, Y:0.42, Z:1.97 [[ 9.99929598e-01 -1.07391245e-02 -5.04682836e-03 3.63732604e+02] [ 1.07396483e-02 9.99942325e-01 7.66966790e-05 4.18611262e-01] [ 5.04571363e-03 -1.30892441e-04 9.99987262e-01 1.96570243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.76, Y:0.42, Z:1.97 [[ 9.99906330e-01 -1.27224631e-02 -5.04686631e-03 3.63762586e+02] [ 1.27231020e-02 9.99919054e-01 9.45162619e-05 4.19586950e-01] [ 5.04525530e-03 -1.58719203e-04 9.99987260e-01 1.96502874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.80, Y:0.42, Z:1.97 [[ 9.99902315e-01 -1.30342070e-02 -5.04673452e-03 3.63796210e+02] [ 1.30346607e-02 9.99915044e-01 5.70245580e-05 4.19201936e-01] [ 5.04556249e-03 -1.22801460e-04 9.99987264e-01 1.96523396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.82, Y:0.42, Z:1.97 [[ 9.99873287e-01 -1.50976827e-02 -5.04685107e-03 3.63820202e+02] [ 1.50983357e-02 9.99886009e-01 9.13113483e-05 4.22935524e-01] [ 5.04489719e-03 -1.67498829e-04 9.99987260e-01 1.96587621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.85, Y:0.42, Z:1.97 [[ 9.99871736e-01 -1.52001805e-02 -5.04641076e-03 3.63852660e+02] [ 1.52002733e-02 9.99884469e-01 -1.99690364e-05 4.22564274e-01] [ 5.04613127e-03 -5.67403476e-05 9.99987267e-01 1.96568419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.89, Y:0.42, Z:1.97 [[ 9.99874243e-01 -1.50343715e-02 -5.04641262e-03 3.63885147e+02] [ 1.50344646e-02 9.99886976e-01 -1.94864190e-05 4.22713162e-01] [ 5.04613522e-03 -5.63861436e-05 9.99987267e-01 1.96550960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.92, Y:0.42, Z:1.96 [[ 9.99926834e-01 -1.09936333e-02 -5.04641408e-03 3.63922834e+02] [ 1.09936769e-02 9.99939568e-01 -1.91010329e-05 4.16720552e-01] [ 5.04631910e-03 -3.63790106e-05 9.99987267e-01 1.96479113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.94, Y:0.42, Z:1.96 [[ 9.99885849e-01 -1.42413573e-02 -5.04695715e-03 3.63944325e+02] [ 1.42422080e-02 9.99898566e-01 1.32655353e-04 4.23479786e-01] [ 5.04455602e-03 -2.04520024e-04 9.99987255e-01 1.96409706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.98, Y:0.42, Z:1.96 [[ 9.99926032e-01 -1.10664526e-02 -5.04626131e-03 3.63981955e+02] [ 1.10664794e-02 9.99938764e-01 -2.26163365e-05 4.17770536e-01] [ 5.04620258e-03 -3.32296833e-05 9.99987267e-01 1.96487724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.01, Y:0.42, Z:1.97 [[ 9.99964660e-01 -6.72349558e-03 -5.04707241e-03 3.64013888e+02] [ 6.72409679e-03 9.99977388e-01 1.02162606e-04 4.18683491e-01] [ 5.04627140e-03 -1.36095999e-04 9.99987258e-01 1.96501328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.05, Y:0.42, Z:1.96 [[ 9.99963181e-01 -6.93997973e-03 -5.04712448e-03 3.64046145e+02] [ 6.94062123e-03 9.99975908e-01 1.09597749e-04 4.19881045e-01] [ 5.04624227e-03 -1.44623893e-04 9.99987257e-01 1.96494969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.08, Y:0.42, Z:1.97 [[ 9.99983124e-01 -2.87681807e-03 -5.04724651e-03 3.64075909e+02] [ 2.87749208e-03 9.99995852e-01 1.26285060e-04 4.20205437e-01] [ 5.04686228e-03 -1.40806341e-04 9.99987255e-01 1.96511144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.11, Y:0.42, Z:1.97 [[ 9.99985486e-01 -1.88540301e-03 -5.04712238e-03 3.64105839e+02] [ 1.88597273e-03 9.99998216e-01 1.08122932e-04 4.21463193e-01] [ 5.04690952e-03 -1.17640098e-04 9.99987257e-01 1.96517429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.14, Y:0.42, Z:1.96 [[ 9.99987206e-01 3.37875618e-04 -5.04708872e-03 3.64137123e+02] [-3.37356449e-04 9.99999938e-01 1.03715959e-04 4.20829688e-01] [ 5.04712344e-03 -1.02011964e-04 9.99987258e-01 1.96326422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.17, Y:0.42, Z:1.96 [[ 9.99986622e-01 1.13176286e-03 -5.04728559e-03 3.64166117e+02] [-1.13115215e-03 9.99999353e-01 1.23850616e-04 4.21147828e-01] [ 5.04742249e-03 -1.18139711e-04 9.99987255e-01 1.96246585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.18, Y:0.43, Z:1.96 [[ 9.99982207e-01 -3.17965129e-03 -5.04742575e-03 3.64183668e+02] [ 3.18038541e-03 9.99994933e-01 1.37425546e-04 4.31087019e-01] [ 5.04696321e-03 -1.53475860e-04 9.99987252e-01 1.96405496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.21, Y:0.43, Z:1.96 [[ 9.99987053e-01 -6.63923376e-04 -5.04513395e-03 3.64214082e+02] [ 6.63634675e-04 9.99999778e-01 -5.88974145e-05 4.31361729e-01] [ 5.04517194e-03 5.55485261e-05 9.99987271e-01 1.96335479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.25, Y:0.42, Z:1.96 [[ 9.99973978e-01 5.15654619e-03 -5.04513395e-03 3.64253902e+02] [-5.15690895e-03 9.99986701e-01 -5.88974145e-05 4.22423656e-01] [ 5.04476315e-03 8.49131783e-05 9.99987271e-01 1.96065479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.28, Y:0.42, Z:1.96 [[ 9.99979636e-01 3.90542033e-03 -5.04726487e-03 3.64284650e+02] [-3.90485472e-03 9.99992369e-01 1.21911834e-04 4.22662768e-01] [ 5.04770247e-03 -1.02200515e-04 9.99987255e-01 1.96123742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.30, Y:0.43, Z:1.96 [[ 9.99985410e-01 1.92334588e-03 -5.04778125e-03 3.64299469e+02] [-1.92254094e-03 9.99998138e-01 1.64311881e-04 4.32893239e-01] [ 5.04808788e-03 -1.54604918e-04 9.99987246e-01 1.96142014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.33, Y:0.43, Z:1.96 [[ 9.99983043e-01 2.90978836e-03 -5.04453987e-03 3.64327741e+02] [-2.91017767e-03 9.99995763e-01 -6.98360307e-05 4.33564394e-01] [ 5.04431529e-03 8.45153537e-05 9.99987274e-01 1.96364564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.36, Y:0.43, Z:1.96 [[ 9.99962619e-01 7.02240315e-03 -5.04451733e-03 3.64355172e+02] [-7.02285280e-03 9.99975337e-01 -7.14283074e-05 4.34258547e-01] [ 5.04389131e-03 1.06852540e-04 9.99987274e-01 1.96439474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.38, Y:0.44, Z:1.96 [[ 9.99944211e-01 9.28049031e-03 -5.04449406e-03 3.64382300e+02] [-9.28097678e-03 9.99956928e-01 -7.30351072e-05 4.35200540e-01] [ 5.04359898e-03 1.19848865e-04 9.99987274e-01 1.96446587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.41, Y:0.44, Z:1.96 [[ 9.99924218e-01 1.12299326e-02 -5.04448106e-03 3.64411550e+02] [-1.12304484e-02 9.99936934e-01 -7.39221222e-05 4.36457454e-01] [ 5.04333279e-03 1.30568304e-04 9.99987274e-01 1.96473266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.44, Y:0.44, Z:1.96 [[ 9.99907379e-01 1.26407128e-02 -5.04447527e-03 3.64438936e+02] [-1.26412484e-02 9.99920093e-01 -7.43150718e-05 4.37154223e-01] [ 5.04313279e-03 1.38076654e-04 9.99987274e-01 1.96325879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.47, Y:0.44, Z:1.96 [[ 9.99896241e-01 1.34930148e-02 -5.04446514e-03 3.64467352e+02] [-1.34935648e-02 9.99908955e-01 -7.49967332e-05 4.37293304e-01] [ 5.04299393e-03 1.43056769e-04 9.99987274e-01 1.96409241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.50, Y:0.44, Z:1.96 [[ 9.99894989e-01 1.35854401e-02 -5.04445934e-03 3.64496321e+02] [-1.35859931e-02 9.99907703e-01 -7.53850595e-05 4.37113784e-01] [ 5.04296961e-03 1.43911133e-04 9.99987274e-01 1.96425667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.52, Y:0.44, Z:1.96 [[ 9.99901665e-01 1.30848760e-02 -5.04445340e-03 3.64524921e+02] [-1.30854247e-02 9.99914379e-01 -7.57804038e-05 4.37403729e-01] [ 5.04302991e-03 1.41781767e-04 9.99987274e-01 1.96419300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.55, Y:0.44, Z:1.96 [[ 9.99901809e-01 1.30738607e-02 -5.04444741e-03 3.64551634e+02] [-1.30744112e-02 9.99914523e-01 -7.61769347e-05 4.37340154e-01] [ 5.04302030e-03 1.42122635e-04 9.99987274e-01 1.96303998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.58, Y:0.44, Z:1.96 [[ 9.99920850e-01 1.15259755e-02 -5.04443693e-03 3.64578524e+02] [-1.15265099e-02 9.99933565e-01 -7.68647539e-05 4.36394545e-01] [ 5.04321586e-03 1.35003422e-04 9.99987274e-01 1.96229628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.61, Y:0.44, Z:1.96 [[ 9.99935721e-01 1.01541650e-02 -5.04442683e-03 3.64607672e+02] [-1.01546852e-02 9.99948437e-01 -7.75221706e-05 4.35343315e-01] [ 5.04337955e-03 1.28741754e-04 9.99987274e-01 1.96200831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.64, Y:0.43, Z:1.96 [[ 9.99957976e-01 7.65502406e-03 -5.04442107e-03 3.64635204e+02] [-7.65551437e-03 9.99970693e-01 -7.78950157e-05 4.33820603e-01] [ 5.04367694e-03 1.16509380e-04 9.99987274e-01 1.96191468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.66, Y:0.43, Z:1.96 [[ 9.99956141e-01 7.89112276e-03 -5.04441388e-03 3.64662824e+02] [-7.89161840e-03 9.99968858e-01 -7.83575933e-05 4.34114579e-01] [ 5.04363846e-03 1.18162746e-04 9.99987274e-01 1.96274362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.69, Y:0.43, Z:1.96 [[ 9.99920366e-01 1.15678346e-02 -5.04440513e-03 3.64691846e+02] [-1.15683798e-02 9.99933081e-01 -7.89170694e-05 4.34788034e-01] [ 5.04315466e-03 1.37266379e-04 9.99987274e-01 1.96249917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.72, Y:0.44, Z:1.96 [[ 9.99921645e-01 1.14567642e-02 -5.04439925e-03 3.64720278e+02] [-1.14573099e-02 9.99934360e-01 -7.92909295e-05 4.35354940e-01] [ 5.04315972e-03 1.37079962e-04 9.99987274e-01 1.96264282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.75, Y:0.44, Z:1.96 [[ 9.99906451e-01 1.27138783e-02 -5.04439038e-03 3.64747590e+02] [-1.27144428e-02 9.99919165e-01 -7.98512538e-05 4.35884085e-01] [ 5.04296740e-03 1.43980397e-04 9.99987274e-01 1.96199762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.78, Y:0.44, Z:1.96 [[ 9.99891599e-01 1.38327482e-02 -5.04438004e-03 3.64775933e+02] [-1.38333302e-02 9.99904312e-01 -8.04995119e-05 4.36633187e-01] [ 5.04278382e-03 1.50271360e-04 9.99987274e-01 1.96338382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.81, Y:0.44, Z:1.96 [[ 9.99862547e-01 1.57937233e-02 -5.04437397e-03 3.64805177e+02] [-1.57943322e-02 9.99875258e-01 -8.08778597e-05 4.36575675e-01] [ 5.04246737e-03 1.60539261e-04 9.99987274e-01 1.96391699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.83, Y:0.44, Z:1.96 [[ 9.99847698e-01 1.67073541e-02 -5.04436767e-03 3.64833826e+02] [-1.67079765e-02 9.99860409e-01 -8.12692767e-05 4.36631190e-01] [ 5.04230572e-03 1.65538076e-04 9.99987274e-01 1.96412502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.86, Y:0.44, Z:1.96 [[ 9.99810996e-01 1.87757094e-02 -5.04436120e-03 3.64861793e+02] [-1.87763601e-02 9.99823705e-01 -8.16685689e-05 4.36535344e-01] [ 5.04193852e-03 1.76367876e-04 9.99987274e-01 1.96413828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.89, Y:0.44, Z:1.96 [[ 9.99781863e-01 2.02677199e-02 -5.04435146e-03 3.64889897e+02] [-2.02683926e-02 9.99794572e-01 -8.22657288e-05 4.36915671e-01] [ 5.04164787e-03 1.84488680e-04 9.99987274e-01 1.96396851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.92, Y:0.44, Z:1.96 [[ 9.99755896e-01 2.15105372e-02 -5.04434338e-03 3.64918240e+02] [-2.15112281e-02 9.99768603e-01 -8.27584102e-05 4.37158524e-01] [ 5.04139596e-03 1.91248230e-04 9.99987274e-01 1.96414526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.95, Y:0.44, Z:1.96 [[ 9.99773535e-01 2.06744578e-02 -5.04433692e-03 3.64945546e+02] [-2.06751401e-02 9.99786243e-01 -8.31505855e-05 4.36771534e-01] [ 5.04153956e-03 1.87424127e-04 9.99987274e-01 1.96407280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.97, Y:0.44, Z:1.96 [[ 9.99794335e-01 1.96428902e-02 -5.04432561e-03 3.64973956e+02] [-1.96435628e-02 9.99807043e-01 -8.38309150e-05 4.35962552e-01] [ 5.04170559e-03 1.82902201e-04 9.99987274e-01 1.96409960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.00, Y:0.43, Z:1.96 [[ 9.99838607e-01 1.72428162e-02 -5.04431915e-03 3.65003256e+02] [-1.72434602e-02 9.99851317e-01 -8.42180920e-05 4.32732053e-01] [ 5.04211698e-03 1.71186016e-04 9.99987274e-01 1.96430403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.03, Y:0.43, Z:1.96 [[ 9.99855863e-01 1.62113423e-02 -5.04431263e-03 3.65029940e+02] [-1.62119753e-02 9.99868574e-01 -8.46064493e-05 4.31494327e-01] [ 5.04227809e-03 1.66372526e-04 9.99987274e-01 1.96359323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.06, Y:0.43, Z:1.96 [[ 9.99868060e-01 1.54407920e-02 -5.04430124e-03 3.65057614e+02] [-1.54414185e-02 9.99880771e-01 -8.52802126e-05 4.30521497e-01] [ 5.04238302e-03 1.63160127e-04 9.99987274e-01 1.96392068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.09, Y:0.43, Z:1.96 [[ 9.99888859e-01 1.40294403e-02 -5.04429136e-03 3.65085248e+02] [-1.40300518e-02 9.99901570e-01 -8.58608019e-05 4.28299586e-01] [ 5.04259027e-03 1.56622928e-04 9.99987274e-01 1.96280713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.11, Y:0.43, Z:1.96 [[ 9.99900518e-01 1.31722964e-02 -5.04428314e-03 3.65112509e+02] [-1.31728994e-02 9.99913230e-01 -8.63408561e-05 4.27402698e-01] [ 5.04270814e-03 1.52780101e-04 9.99987274e-01 1.96263608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:0.43, Z:1.96 [[ 9.99906415e-01 1.27167964e-02 -5.04426808e-03 3.65141190e+02] [-1.27173981e-02 9.99919127e-01 -8.72121620e-05 4.26198277e-01] [ 5.04275107e-03 1.51353965e-04 9.99987274e-01 1.96311018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.17, Y:0.42, Z:1.96 [[ 9.99907767e-01 1.26100030e-02 -5.04426168e-03 3.65168770e+02] [-1.26106051e-02 9.99920479e-01 -8.75808317e-05 4.22643489e-01] [ 5.04275616e-03 1.51183946e-04 9.99987274e-01 1.96236076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744391418 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:365.20, Y:0.42, Z:1.96 [[ 9.99896021e-01 1.35093429e-02 -5.04425369e-03 3.65196847e+02] [-1.35099588e-02 9.99908732e-01 -8.80384627e-05 4.21405696e-01] [ 5.04260397e-03 1.56176968e-04 9.99987274e-01 1.96183994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.23, Y:0.42, Z:1.96 [[ 9.99887495e-01 1.41263548e-02 -5.04424309e-03 3.65225155e+02] [-1.41269816e-02 9.99900205e-01 -8.86415931e-05 4.20322073e-01] [ 5.04248752e-03 1.59891550e-04 9.99987274e-01 1.96245642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.25, Y:0.42, Z:1.96 [[ 9.99883162e-01 1.44297573e-02 -5.04423514e-03 3.65254070e+02] [-1.44303902e-02 9.99895873e-01 -8.90919240e-05 4.17968043e-01] [ 5.04242432e-03 1.61871796e-04 9.99987274e-01 1.96485697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.28, Y:0.42, Z:1.97 [[ 9.99885931e-01 1.42365708e-02 -5.04422819e-03 3.65282805e+02] [-1.42372032e-02 9.99898642e-01 -8.94835094e-05 4.16704123e-01] [ 5.04244298e-03 1.61289004e-04 9.99987274e-01 1.96520037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.31, Y:0.42, Z:1.97 [[ 9.99886878e-01 1.41699664e-02 -5.04422126e-03 3.65311494e+02] [-1.41705999e-02 9.99899588e-01 -8.98723891e-05 4.15237473e-01] [ 5.04244127e-03 1.61341864e-04 9.99987274e-01 1.96530974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.34, Y:0.41, Z:1.96 [[ 9.99894262e-01 1.36389230e-02 -5.04421435e-03 3.65339624e+02] [-1.36395517e-02 9.99906973e-01 -9.02588585e-05 4.11182953e-01] [ 5.04251406e-03 1.59050137e-04 9.99987274e-01 1.96436509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.37, Y:0.41, Z:1.96 [[ 9.99896938e-01 1.34413289e-02 -5.04420396e-03 3.65368676e+02] [-1.34419580e-02 9.99909649e-01 -9.08354733e-05 4.09785058e-01] [ 5.04252726e-03 1.58630089e-04 9.99987274e-01 1.96456079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.40, Y:0.41, Z:1.96 [[ 9.99894767e-01 1.36018675e-02 -5.04419702e-03 3.65396674e+02] [-1.36025006e-02 9.99907478e-01 -9.12192650e-05 4.08605635e-01] [ 5.04248957e-03 1.59823359e-04 9.99987274e-01 1.96466544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.43, Y:0.41, Z:1.97 [[ 9.99894720e-01 1.36053144e-02 -5.04418837e-03 3.65425130e+02] [-1.36059499e-02 9.99907431e-01 -9.16949464e-05 4.06076550e-01] [ 5.04247390e-03 1.60316267e-04 9.99987274e-01 1.96657727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.45, Y:0.41, Z:1.97 [[ 9.99896191e-01 1.34967635e-02 -5.04418119e-03 3.65452956e+02] [-1.34973996e-02 9.99908902e-01 -9.20886832e-05 4.05113684e-01] [ 5.04247877e-03 1.60162453e-04 9.99987274e-01 1.96637058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.48, Y:0.40, Z:1.97 [[ 9.99886801e-01 1.41753942e-02 -5.04417223e-03 3.65481753e+02] [-1.41760415e-02 9.99899511e-01 -9.25767528e-05 4.04126353e-01] [ 5.04235303e-03 1.64072668e-04 9.99987274e-01 1.96643523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.51, Y:0.40, Z:1.97 [[ 9.99836485e-01 1.73654478e-02 -5.04416500e-03 3.65508600e+02] [-1.73661375e-02 9.99849193e-01 -9.29689578e-05 4.02759987e-01] [ 5.04178986e-03 1.80551419e-04 9.99987274e-01 1.96606951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:365.54, Y:0.40, Z:1.97 [[ 9.99805589e-01 1.90614753e-02 -5.04414606e-03 3.65536696e+02] [-1.90621917e-02 9.99818296e-01 -9.39852975e-05 4.03639193e-01] [ 5.04143802e-03 1.90119505e-04 9.99987274e-01 1.96621760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.56, Y:0.40, Z:1.97 [[ 9.99762254e-01 2.12130367e-02 -5.04413522e-03 3.65564917e+02] [-2.12137834e-02 9.99774958e-01 -9.45635879e-05 4.04511240e-01] [ 5.04099410e-03 2.01546298e-04 9.99987274e-01 1.96652837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.59, Y:0.41, Z:1.97 [[ 9.99710776e-01 2.35142793e-02 -5.04412440e-03 3.65594028e+02] [-2.35150581e-02 9.99723478e-01 -9.51371120e-05 4.05855106e-01] [ 5.04049251e-03 2.13722475e-04 9.99987274e-01 1.96791568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.62, Y:0.41, Z:1.97 [[ 9.99726015e-01 2.28572055e-02 -5.04411714e-03 3.65620692e+02] [-2.28579778e-02 9.99738718e-01 -9.55205538e-05 4.06378688e-01] [ 5.04061587e-03 2.10792700e-04 9.99987274e-01 1.96793956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.65, Y:0.41, Z:1.97 [[ 9.99763665e-01 2.11464049e-02 -5.04410446e-03 3.65649021e+02] [-2.11471589e-02 9.99776369e-01 -9.61854949e-05 4.06361998e-01] [ 5.04094247e-03 2.02831241e-04 9.99987274e-01 1.96792246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.68, Y:0.41, Z:1.97 [[ 9.99813883e-01 1.86214244e-02 -5.04409368e-03 3.65675515e+02] [-1.86221491e-02 9.99826588e-01 -9.67478682e-05 4.05461650e-01] [ 5.04141739e-03 1.90661726e-04 9.99987274e-01 1.96716266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.70, Y:0.40, Z:1.97 [[ 9.99931193e-01 1.05908926e-02 -5.04408110e-03 3.65702402e+02] [-1.05915186e-02 9.99943904e-01 -9.73991101e-05 4.02631393e-01] [ 5.04276660e-03 1.50816887e-04 9.99987274e-01 1.96577906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:365.73, Y:0.40, Z:1.97 [[ 9.99970322e-01 5.82338352e-03 -5.04406857e-03 3.65731505e+02] [-5.82395211e-03 9.99983036e-01 -9.80436452e-05 4.01374442e-01] [ 5.04341206e-03 1.27417149e-04 9.99987274e-01 1.96553066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.76, Y:0.40, Z:1.97 [[ 9.99974525e-01 -5.05036895e-03 -5.04406146e-03 3.65759783e+02] [ 5.04993680e-03 9.99987244e-01 -9.84081916e-05 3.97319460e-01] [ 5.04449412e-03 7.29334931e-05 9.99987274e-01 1.96510688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.79, Y:0.40, Z:1.97 [[ 9.99929988e-01 -1.07040943e-02 -5.04405129e-03 3.65790675e+02] [ 1.07037315e-02 9.99942709e-01 -9.89265572e-05 3.95169330e-01] [ 5.04482123e-03 4.49294604e-05 9.99987274e-01 1.96554552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404391418 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:365.82, Y:0.39, Z:1.97 [[ 9.99858253e-01 -1.60633547e-02 -5.04405129e-03 3.65823718e+02] [ 1.60630600e-02 9.99870976e-01 -9.89265572e-05 3.92745524e-01] [ 5.04498958e-03 1.78896360e-05 9.99987274e-01 1.96629133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.86, Y:0.39, Z:1.97 [[ 9.99648491e-01 -2.60278878e-02 -5.04407909e-03 3.65857001e+02] [ 2.60277272e-02 9.99661217e-01 -9.74886031e-05 3.87673757e-01] [ 5.04490766e-03 -3.38315793e-05 9.99987274e-01 1.96867995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.89, Y:0.39, Z:1.97 [[ 9.99527221e-01 -3.03297038e-02 -5.04410845e-03 3.65889138e+02] [ 3.03296057e-02 9.99539947e-01 -9.59447988e-05 3.85697769e-01] [ 5.04469787e-03 -5.70863825e-05 9.99987274e-01 1.96923182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:365.92, Y:0.38, Z:1.97 [[ 9.99298475e-01 -3.71094994e-02 -5.04411758e-03 3.65922012e+02] [ 3.71094902e-02 9.99311201e-01 -9.54624010e-05 3.81743129e-01] [ 5.04418576e-03 -9.17892002e-05 9.99987274e-01 1.96963212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:365.95, Y:0.38, Z:1.97 [[ 9.99209336e-01 -3.94367763e-02 -5.04412839e-03 3.65954973e+02] [ 3.94367996e-02 9.99222062e-01 -9.48880815e-05 3.80356309e-01] [ 5.04394645e-03 -1.04111223e-04 9.99987274e-01 1.97009340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.554391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:365.99, Y:0.38, Z:1.97 [[ 9.99158263e-01 -4.07102239e-02 -5.04413944e-03 3.65988230e+02] [ 4.07102663e-02 9.99170989e-01 -9.42969560e-05 3.78904662e-01] [ 5.04379664e-03 -1.11130677e-04 9.99987274e-01 1.97011802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:366.02, Y:0.38, Z:1.97 [[ 9.99140730e-01 -4.11382722e-02 -5.04415038e-03 3.66021269e+02] [ 4.11383231e-02 9.99153456e-01 -9.37079300e-05 3.77792524e-01] [ 5.04373527e-03 -1.13880478e-04 9.99987274e-01 1.97015021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.614391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:366.05, Y:0.38, Z:1.97 [[ 9.99159072e-01 -4.06903704e-02 -5.04416117e-03 3.66054739e+02] [ 4.06904186e-02 9.99171798e-01 -9.31234388e-05 3.75632775e-01] [ 5.04377281e-03 -1.12203901e-04 9.99987274e-01 1.97038123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.09, Y:0.38, Z:1.97 [[ 9.99195507e-01 -3.97856221e-02 -5.04417200e-03 3.66087578e+02] [ 3.97856616e-02 9.99208233e-01 -9.25331902e-05 3.75055108e-01] [ 5.04385968e-03 -1.08226973e-04 9.99987274e-01 1.97103494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67439141799997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:366.12, Y:0.37, Z:1.97 [[ 9.99230171e-01 -3.89052845e-02 -5.04418288e-03 3.66119939e+02] [ 3.89053159e-02 9.99242897e-01 -9.19361717e-05 3.74872771e-01] [ 5.04394072e-03 -1.04380132e-04 9.99987274e-01 1.97143753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.15, Y:0.37, Z:1.97 [[ 9.99276491e-01 -3.76968240e-02 -5.04419183e-03 3.66153070e+02] [ 3.76968425e-02 9.99289217e-01 -9.14422191e-05 3.74513796e-01] [ 5.04405359e-03 -9.87740450e-05 9.99987274e-01 1.97181211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:366.19, Y:0.37, Z:1.97 [[ 9.99384812e-01 -3.47066759e-02 -5.04420240e-03 3.66185211e+02] [ 3.47066593e-02 9.99397538e-01 -9.08554637e-05 3.73082660e-01] [ 5.04431675e-03 -8.42678437e-05 9.99987274e-01 1.97145219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:366.22, Y:0.37, Z:1.97 [[ 9.99463806e-01 -3.23520593e-02 -5.04421110e-03 3.66218461e+02] [ 3.23520151e-02 9.99476532e-01 -9.03700509e-05 3.72448076e-01] [ 5.04449427e-03 -7.28687985e-05 9.99987274e-01 1.97394772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:366.25, Y:0.37, Z:1.97 [[ 9.99608364e-01 -2.75258935e-02 -5.04422150e-03 3.66250717e+02] [ 2.75257908e-02 9.99621090e-01 -8.97855527e-05 3.70670448e-01] [ 5.04478162e-03 -4.90957965e-05 9.99987274e-01 1.97465509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:366.28, Y:0.37, Z:1.97 [[ 9.99669180e-01 -2.52207600e-02 -5.04423846e-03 3.66282377e+02] [ 2.52206329e-02 9.99681905e-01 -8.88226706e-05 3.70212029e-01] [ 5.04487409e-03 -3.84256000e-05 9.99987274e-01 1.97478837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:366.32, Y:0.37, Z:1.97 [[ 9.99719041e-01 -2.31601939e-02 -5.04425457e-03 3.66315551e+02] [ 2.31600452e-02 9.99731766e-01 -8.78982163e-05 3.69690904e-01] [ 5.04493727e-03 -2.89516433e-05 9.99987274e-01 1.97496092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:366.35, Y:0.37, Z:1.97 [[ 9.99788590e-01 -1.99331343e-02 -5.04426447e-03 3.66347528e+02] [ 1.99329474e-02 9.99801315e-01 -8.73261866e-05 3.68110502e-01] [ 5.04500294e-03 -1.32393335e-05 9.99987274e-01 1.97462207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:366.38, Y:0.37, Z:1.97 [[ 9.99817428e-01 -1.84300138e-02 -5.04428061e-03 3.66379925e+02] [ 1.84298126e-02 9.99830153e-01 -8.63839087e-05 3.67083825e-01] [ 5.04501591e-03 -6.59700860e-06 9.99987274e-01 1.97488504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:366.41, Y:0.37, Z:1.98 [[ 9.99847070e-01 -1.67449036e-02 -5.04428698e-03 3.66412477e+02] [ 1.67446827e-02 9.99859794e-01 -8.60099295e-05 3.65633004e-01] [ 5.04501997e-03 1.53179088e-06 9.99987274e-01 1.97502229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.44, Y:0.36, Z:1.98 [[ 9.99898781e-01 -1.33034955e-02 -5.04429330e-03 3.66443695e+02] [ 1.33032327e-02 9.99911504e-01 -8.56377345e-05 3.63152798e-01] [ 5.04498618e-03 1.85236586e-05 9.99987274e-01 1.97521364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:366.48, Y:0.36, Z:1.98 [[ 9.99920913e-01 -1.15205817e-02 -5.04429799e-03 3.66475700e+02] [ 1.15202976e-02 9.99933636e-01 -8.53605207e-05 3.62878605e-01] [ 5.04494663e-03 2.72419556e-05 9.99987274e-01 1.97538795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:366.51, Y:0.36, Z:1.98 [[ 9.99937499e-01 -9.97766920e-03 -5.04430448e-03 3.66506959e+02] [ 9.97736749e-03 9.99950221e-01 -8.49754681e-05 3.63071074e-01] [ 5.04490124e-03 3.46412775e-05 9.99987274e-01 1.97524671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:366.54, Y:0.36, Z:1.98 [[ 9.99960105e-01 -7.37181647e-03 -5.04430929e-03 3.66539532e+02] [ 7.37148304e-03 9.99972827e-01 -8.46887463e-05 3.61879613e-01] [ 5.04479653e-03 4.75013272e-05 9.99987274e-01 1.97508489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:366.57, Y:0.36, Z:1.97 [[ 9.99969450e-01 -5.97103642e-03 -5.04431566e-03 3.66570824e+02] [ 5.97068710e-03 9.99982172e-01 -8.43077515e-05 3.60754411e-01] [ 5.04472913e-03 5.41871455e-05 9.99987274e-01 1.97463881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:366.60, Y:0.36, Z:1.98 [[ 9.99975792e-01 -4.79279308e-03 -5.04432039e-03 3.66602450e+02] [ 4.79243020e-03 9.99988513e-01 -8.40239052e-05 3.59983663e-01] [ 5.04466515e-03 5.98473177e-05 9.99987274e-01 1.97543383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:366.63, Y:0.36, Z:1.98 [[ 9.99975792e-01 -4.79279206e-03 -5.04432376e-03 3.66633445e+02] [ 4.79243020e-03 9.99988513e-01 -8.38212639e-05 3.60498636e-01] [ 5.04466755e-03 5.96446652e-05 9.99987274e-01 1.97559015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:366.66, Y:0.36, Z:1.98 [[ 9.99984849e-01 -2.20385793e-03 -5.04432376e-03 3.66663733e+02] [ 2.20346314e-03 9.99997569e-01 -8.38212639e-05 3.59365019e-01] [ 5.04449622e-03 7.27050124e-05 9.99987274e-01 1.97581999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:366.69, Y:0.36, Z:1.98 [[ 9.99987047e-01 -6.79418721e-04 -5.04432542e-03 3.66693039e+02] [ 6.79005043e-04 9.99999766e-01 -8.37207433e-05 3.59600272e-01] [ 5.04438112e-03 8.02945364e-05 9.99987274e-01 1.97687701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:366.72, Y:0.36, Z:1.98 [[ 9.99987120e-01 5.61437263e-04 -5.04432201e-03 3.66723008e+02] [-5.61867758e-04 9.99999839e-01 -8.39256444e-05 3.60262865e-01] [ 5.04427408e-03 8.67588054e-05 9.99987274e-01 1.97755843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:366.75, Y:0.36, Z:1.98 [[ 9.99984258e-01 2.45735164e-03 -5.04431855e-03 3.66751694e+02] [-2.45780729e-03 9.99996976e-01 -8.41331451e-05 3.60247543e-01] [ 5.04409656e-03 9.65297836e-05 9.99987274e-01 1.97792299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.304391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:366.78, Y:0.36, Z:1.98 [[ 9.99982347e-01 3.14016180e-03 -5.04429372e-03 3.66779971e+02] [-3.14063352e-03 9.99995065e-01 -8.55964254e-05 3.59837064e-01] [ 5.04400004e-03 1.01437192e-04 9.99987274e-01 1.97745390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:366.81, Y:0.36, Z:1.98 [[ 9.99982335e-01 3.14404373e-03 -5.04428306e-03 3.66808157e+02] [-3.14451864e-03 9.99995052e-01 -8.62201944e-05 3.59250502e-01] [ 5.04398702e-03 1.02080513e-04 9.99987274e-01 1.97675683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.364391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:366.84, Y:0.36, Z:1.98 [[ 9.99983303e-01 2.81935271e-03 -5.04427421e-03 3.66836843e+02] [-2.81982609e-03 9.99996021e-01 -8.67352157e-05 3.58574674e-01] [ 5.04400960e-03 1.00957743e-04 9.99987274e-01 1.97618803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:366.87, Y:0.36, Z:1.98 [[ 9.99986855e-01 9.19002088e-04 -5.04426714e-03 3.66865252e+02] [-9.19453359e-04 9.99999574e-01 -8.71439606e-05 3.57551937e-01] [ 5.04418491e-03 9.17807835e-05 9.99987274e-01 1.97601361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:366.89, Y:0.36, Z:1.98 [[ 9.99987113e-01 -5.73706427e-04 -5.04426004e-03 3.66893952e+02] [ 5.73272076e-04 9.99999832e-01 -8.75533856e-05 3.57346382e-01] [ 5.04430942e-03 8.46605239e-05 9.99987274e-01 1.97641106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:366.92, Y:0.36, Z:1.98 [[ 9.99978969e-01 -4.07644881e-03 -5.04425287e-03 3.66922515e+02] [ 4.07605694e-03 9.99991689e-01 -8.79646755e-05 3.55592677e-01] [ 5.04456953e-03 6.74021636e-05 9.99987274e-01 1.97612683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:366.95, Y:0.35, Z:1.98 [[ 9.99966343e-01 -6.47052668e-03 -5.04424751e-03 3.66953124e+02] [ 6.47016372e-03 9.99979064e-01 -8.82704827e-05 3.54719141e-01] [ 5.04471307e-03 5.56304045e-05 9.99987274e-01 1.97567274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:366.98, Y:0.35, Z:1.98 [[ 9.99952235e-01 -8.37154714e-03 -5.04424751e-03 3.66984608e+02] [ 8.37120837e-03 9.99964957e-01 -8.82704827e-05 3.53559204e-01] [ 5.04480971e-03 4.60398194e-05 9.99987274e-01 1.97560057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:367.02, Y:0.35, Z:1.98 [[ 9.99908541e-01 -1.25485199e-02 -5.04425103e-03 3.67015855e+02] [ 1.25482353e-02 9.99921264e-01 -8.80688907e-05 3.51838623e-01] [ 5.04495900e-03 2.47643871e-05 9.99987274e-01 1.97569271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:367.05, Y:0.35, Z:1.98 [[ 9.99885329e-01 -1.42787985e-02 -5.04427339e-03 3.67048552e+02] [ 1.42785424e-02 9.99898053e-01 -8.67691653e-05 3.51564193e-01] [ 5.04499810e-03 1.47343437e-05 9.99987274e-01 1.97687489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:367.08, Y:0.35, Z:1.98 [[ 9.99867168e-01 -1.54984547e-02 -5.04428025e-03 3.67080698e+02] [ 1.54982162e-02 9.99879892e-01 -8.63687574e-05 3.51049991e-01] [ 5.04501297e-03 8.17993920e-06 9.99987274e-01 1.97751831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:367.11, Y:0.35, Z:1.98 [[ 9.99834138e-01 -1.75000235e-02 -5.04428715e-03 3.67111780e+02] [ 1.74998125e-02 9.99846863e-01 -8.59636733e-05 3.49829518e-01] [ 5.04501905e-03 -2.32466393e-06 9.99987274e-01 1.97735971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:367.14, Y:0.35, Z:1.98 [[ 9.99827806e-01 -1.78581706e-02 -5.04429227e-03 3.67143855e+02] [ 1.78579657e-02 9.99840530e-01 -8.56619708e-05 3.49672226e-01] [ 5.04501763e-03 -4.43357801e-06 9.99987274e-01 1.97826716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:367.18, Y:0.35, Z:1.98 [[ 9.99822958e-01 -1.81275558e-02 -5.04429930e-03 3.67175316e+02] [ 1.81273564e-02 9.99835682e-01 -8.52464420e-05 3.49732934e-01] [ 5.04501574e-03 -6.20846139e-06 9.99987274e-01 1.97791671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:367.21, Y:0.35, Z:1.98 [[ 9.99822373e-01 -1.81597725e-02 -5.04430450e-03 3.67207145e+02] [ 1.81595751e-02 9.99835098e-01 -8.49373505e-05 3.49382570e-01] [ 5.04501513e-03 -6.68016317e-06 9.99987274e-01 1.97886174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:367.24, Y:0.35, Z:1.98 [[ 9.99838960e-01 -1.72223153e-02 -5.04431118e-03 3.67239001e+02] [ 1.72221080e-02 9.99851685e-01 -8.45387530e-05 3.49246047e-01] [ 5.04501899e-03 -2.34853299e-06 9.99987274e-01 1.97961454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:367.27, Y:0.35, Z:1.98 [[ 9.99851155e-01 -1.64991885e-02 -5.04431817e-03 3.67269880e+02] [ 1.64989741e-02 9.99863879e-01 -8.41197242e-05 3.49466314e-01] [ 5.04501944e-03 8.81128619e-07 9.99987274e-01 1.97986892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:367.30, Y:0.35, Z:1.98 [[ 9.99885891e-01 -1.42393443e-02 -5.04432335e-03 3.67301699e+02] [ 1.42391027e-02 9.99898615e-01 -8.38079009e-05 3.49204092e-01] [ 5.04500530e-03 1.19716992e-05 9.99987274e-01 1.98061445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:367.33, Y:0.35, Z:1.98 [[ 9.99902094e-01 -1.30520942e-02 -5.04432999e-03 3.67333883e+02] [ 1.30518395e-02 9.99914818e-01 -8.34062712e-05 3.49524213e-01] [ 5.04498893e-03 1.75603199e-05 9.99987274e-01 1.98074888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:367.37, Y:0.35, Z:1.98 [[ 9.99933415e-01 -1.03788612e-02 -5.04433655e-03 3.67365797e+02] [ 1.03785745e-02 9.99946138e-01 -8.30074392e-05 3.49442891e-01] [ 5.04492638e-03 3.06488893e-05 9.99987274e-01 1.98115648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:367.40, Y:0.35, Z:1.98 [[ 9.99951079e-01 -8.50852585e-03 -5.04434343e-03 3.67397193e+02] [ 8.50821748e-03 9.99963801e-01 -8.25874843e-05 3.48138706e-01] [ 5.04486353e-03 3.96650731e-05 9.99987274e-01 1.98024917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:367.43, Y:0.35, Z:1.98 [[ 9.99957602e-01 -7.70381019e-03 -5.04434852e-03 3.67428457e+02] [ 7.70349316e-03 9.99970324e-01 -8.22751678e-05 3.46267180e-01] [ 5.04483266e-03 4.34125751e-05 9.99987274e-01 1.98046610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:367.46, Y:0.35, Z:1.98 [[ 9.99956560e-01 -7.83785945e-03 -5.04435193e-03 3.67458934e+02] [ 7.83754518e-03 9.99969283e-01 -8.20657776e-05 3.45714686e-01] [ 5.04484020e-03 4.25268765e-05 9.99987274e-01 1.98091180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:367.49, Y:0.34, Z:1.98 [[ 9.99958194e-01 -7.62656509e-03 -5.04435362e-03 3.67489931e+02] [ 7.62624865e-03 9.99970916e-01 -8.19619990e-05 3.44793717e-01] [ 5.04483200e-03 4.34890775e-05 9.99987274e-01 1.98203782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:367.52, Y:0.35, Z:1.98 [[ 9.99958504e-01 -7.58583622e-03 -5.04435694e-03 3.67521776e+02] [ 7.58552031e-03 9.99971226e-01 -8.17566407e-05 3.45272861e-01] [ 5.04483199e-03 4.34891761e-05 9.99987274e-01 1.98219843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.054391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:367.55, Y:0.34, Z:1.98 [[ 9.99958017e-01 -7.64975072e-03 -5.04436027e-03 3.67552801e+02] [ 7.64943665e-03 9.99970739e-01 -8.15511837e-05 3.44257169e-01] [ 5.04483651e-03 4.29612456e-05 9.99987274e-01 1.98264921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084391418 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:367.58, Y:0.34, Z:1.98 [[ 9.99959673e-01 -7.43012626e-03 -5.04436356e-03 3.67582710e+02] [ 7.42981043e-03 9.99972395e-01 -8.13468999e-05 3.41161663e-01] [ 5.04482873e-03 4.38649544e-05 9.99987274e-01 1.98235301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.114391418 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:367.61, Y:0.34, Z:1.98 [[ 9.99968454e-01 -6.13554664e-03 -5.04436519e-03 3.67614164e+02] [ 6.13521486e-03 9.99981176e-01 -8.12456074e-05 3.39954659e-01] [ 5.04476872e-03 5.02947802e-05 9.99987274e-01 1.98220416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:367.64, Y:0.34, Z:1.98 [[ 9.99985360e-01 -1.95804024e-03 -5.04436841e-03 3.67644588e+02] [ 1.95765632e-03 9.99998081e-01 -8.10450239e-05 3.38617340e-01] [ 5.04451742e-03 7.11686977e-05 9.99987274e-01 1.98285081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17439141799997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:367.67, Y:0.34, Z:1.98 [[ 9.99987248e-01 2.40404784e-04 -5.04437001e-03 3.67674528e+02] [-2.40816166e-04 9.99999968e-01 -8.09454587e-05 3.38430872e-01] [ 5.04435039e-03 8.21591923e-05 9.99987274e-01 1.98341132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204391418 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:367.70, Y:0.34, Z:1.98 [[ 9.99985088e-01 2.09245778e-03 -5.04436687e-03 3.67702797e+02] [-2.09289370e-03 9.99997807e-01 -8.11410472e-05 3.38371051e-01] [ 5.04418602e-03 9.16971608e-05 9.99987274e-01 1.98391696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:367.73, Y:0.34, Z:1.98 [[ 9.99978618e-01 4.16157551e-03 -5.04434460e-03 3.67731461e+02] [-4.16204462e-03 9.99991335e-01 -8.25026778e-05 3.38226716e-01] [ 5.04395755e-03 1.03495701e-04 9.99987274e-01 1.98423075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:367.76, Y:0.34, Z:1.98 [[ 9.99960444e-01 7.32559271e-03 -5.04432050e-03 3.67758801e+02] [-7.32610935e-03 9.99973160e-01 -8.39503041e-05 3.37043909e-01] [ 5.04357013e-03 1.20902227e-04 9.99987274e-01 1.98362756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:367.79, Y:0.34, Z:1.98 [[ 9.99952575e-01 8.33086677e-03 -5.04430848e-03 3.67787926e+02] [-8.33139981e-03 9.99965290e-01 -8.46664741e-05 3.36151316e-01] [ 5.04342805e-03 1.26688609e-04 9.99987274e-01 1.98270996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:367.82, Y:0.33, Z:1.98 [[ 9.99939297e-01 9.79580633e-03 -5.04430155e-03 3.67815592e+02] [-9.79636007e-03 9.99952011e-01 -8.50777680e-05 3.33116560e-01] [ 5.04322607e-03 1.34488398e-04 9.99987274e-01 1.98187484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:367.84, Y:0.33, Z:1.98 [[ 9.99932766e-01 1.04411928e-02 -5.04429214e-03 3.67843967e+02] [-1.04417575e-02 9.99945480e-01 -8.56317077e-05 3.32323903e-01] [ 5.04312303e-03 1.38297226e-04 9.99987274e-01 1.98177542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:367.87, Y:0.33, Z:1.98 [[ 9.99935831e-01 1.01434746e-02 -5.04428525e-03 3.67873053e+02] [-1.01440376e-02 9.99948544e-01 -8.60359281e-05 3.31203597e-01] [ 5.04315299e-03 1.37199827e-04 9.99987274e-01 1.98200537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:367.90, Y:0.33, Z:1.98 [[ 9.99938613e-01 9.86534901e-03 -5.04427817e-03 3.67902199e+02] [-9.86591055e-03 9.99951327e-01 -8.64487520e-05 3.30723994e-01] [ 5.04317981e-03 1.36209842e-04 9.99987274e-01 1.98236187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:367.93, Y:0.33, Z:1.98 [[ 9.99943383e-01 9.36938464e-03 -5.04427104e-03 3.67931174e+02] [-9.36994196e-03 9.99956097e-01 -8.68631186e-05 3.29982392e-01] [ 5.04323573e-03 1.34122728e-04 9.99987274e-01 1.98259710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:367.96, Y:0.33, Z:1.98 [[ 9.99955654e-01 7.95263911e-03 -5.04426390e-03 3.67958579e+02] [-7.95318050e-03 9.99968369e-01 -8.72755433e-05 3.27418909e-01] [ 5.04341028e-03 1.27389614e-04 9.99987274e-01 1.98273843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:367.99, Y:0.33, Z:1.98 [[ 9.99960591e-01 7.30554879e-03 -5.04425433e-03 3.67987177e+02] [-7.30608471e-03 9.99973306e-01 -8.78250157e-05 3.27080514e-01] [ 5.04347808e-03 1.24675304e-04 9.99987274e-01 1.98239817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:368.02, Y:0.33, Z:1.98 [[ 9.99963677e-01 6.87023926e-03 -5.04424898e-03 3.68016481e+02] [-6.87077119e-03 9.99976392e-01 -8.81315628e-05 3.26977974e-01] [ 5.04352441e-03 1.22786242e-04 9.99987274e-01 1.98238551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:368.05, Y:0.33, Z:1.98 [[ 9.99968201e-01 6.17677455e-03 -5.04424179e-03 3.68045565e+02] [-6.17729973e-03 9.99980916e-01 -8.85409863e-05 3.27234003e-01] [ 5.04359863e-03 1.19697964e-04 9.99987274e-01 1.98214153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:368.07, Y:0.33, Z:1.98 [[ 9.99981137e-01 3.50456182e-03 -5.04423449e-03 3.68073583e+02] [-3.50505511e-03 9.99993853e-01 -8.89553018e-05 3.27395917e-01] [ 5.04389173e-03 1.06633944e-04 9.99987274e-01 1.98248715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:368.10, Y:0.33, Z:1.98 [[ 9.99982010e-01 3.24590812e-03 -5.04422539e-03 3.68103825e+02] [-3.24640070e-03 9.99994726e-01 -8.94679189e-05 3.25624686e-01] [ 5.04390839e-03 1.05841886e-04 9.99987274e-01 1.98185013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:368.13, Y:0.33, Z:1.98 [[ 9.99985581e-01 -1.84050904e-03 -5.04478829e-03 3.68131454e+02] [ 1.84024079e-03 9.99998305e-01 -5.78157389e-05 3.26390146e-01] [ 5.04488615e-03 4.85312800e-05 9.99987273e-01 1.98148416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:368.16, Y:0.33, Z:1.98 [[ 9.99979507e-01 -3.94231086e-03 -5.04419400e-03 3.68160630e+02] [ 3.94190287e-03 9.99992227e-01 -9.08222006e-05 3.26267944e-01] [ 5.04451284e-03 7.09366165e-05 9.99987274e-01 1.98205764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:368.19, Y:0.33, Z:1.98 [[ 9.99967819e-01 -6.23839456e-03 -5.04419054e-03 3.68191012e+02] [ 6.23801481e-03 9.99980539e-01 -9.10140221e-05 3.26677846e-01] [ 5.04466016e-03 5.95453579e-05 9.99987274e-01 1.98290387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:368.22, Y:0.33, Z:1.98 [[ 9.99922333e-01 -1.13966780e-02 -5.04419054e-03 3.68221408e+02] [ 1.13963639e-02 9.99935055e-01 -9.10140221e-05 3.27469218e-01] [ 5.04490020e-03 3.35215222e-05 9.99987274e-01 1.98376197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:368.25, Y:0.33, Z:1.98 [[ 9.99870943e-01 -1.52529577e-02 -5.04430990e-03 3.68252985e+02] [ 1.52527262e-02 9.99883667e-01 -8.43669125e-05 3.28977540e-01] [ 5.04500992e-03 7.41654674e-06 9.99987274e-01 1.98417853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.804391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:368.29, Y:0.33, Z:1.98 [[ 9.99807848e-01 -1.89426302e-02 -5.04420518e-03 3.68285570e+02] [ 1.89424161e-02 9.99820572e-01 -9.02213992e-05 3.29647285e-01] [ 5.04500914e-03 -5.34537063e-06 9.99987274e-01 1.98390374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:368.32, Y:0.33, Z:1.98 [[ 9.99733135e-01 -2.25436030e-02 -5.04421259e-03 3.68316737e+02] [ 2.25434368e-02 9.99745860e-01 -8.98054764e-05 3.29763251e-01] [ 5.04495519e-03 -2.39323772e-05 9.99987274e-01 1.98297028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.864391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:368.35, Y:0.33, Z:1.98 [[ 9.99523502e-01 -3.04520176e-02 -5.04421809e-03 3.68348588e+02] [ 3.04519537e-02 9.99536228e-01 -8.94956107e-05 3.29164114e-01] [ 5.04460404e-03 -6.41533294e-05 9.99987274e-01 1.98171725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:368.38, Y:0.33, Z:1.98 [[ 9.99400222e-01 -3.42600731e-02 -5.04422714e-03 3.68381600e+02] [ 3.42600602e-02 9.99412948e-01 -8.89824617e-05 3.29483144e-01] [ 5.04431446e-03 -8.38864336e-05 9.99987274e-01 1.98167207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:368.41, Y:0.33, Z:1.98 [[ 9.99264946e-01 -3.80016175e-02 -5.04423787e-03 3.68413725e+02] [ 3.80016554e-02 9.99277672e-01 -8.83697400e-05 3.30019213e-01] [ 5.04395247e-03 -1.03384606e-04 9.99987274e-01 1.98216957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:368.45, Y:0.33, Z:1.98 [[ 9.98939314e-01 -4.57690050e-02 -5.04425515e-03 3.68445572e+02] [ 4.57691468e-02 9.98952040e-01 -8.73719607e-05 3.31223965e-01] [ 5.04296790e-03 -1.43591968e-04 9.99987274e-01 1.98293075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:368.48, Y:0.33, Z:1.98 [[ 9.98809240e-01 -4.85248183e-02 -5.04426380e-03 3.68478134e+02] [ 4.85249978e-02 9.98821965e-01 -8.68702001e-05 3.31807853e-01] [ 5.04253683e-03 -1.58006131e-04 9.99987274e-01 1.98286350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:368.51, Y:0.33, Z:1.98 [[ 9.98623889e-01 -5.22004180e-02 -5.04427406e-03 3.68511173e+02] [ 5.22006474e-02 9.98636613e-01 -8.62701048e-05 3.32339836e-01] [ 5.04190010e-03 -1.77162984e-04 9.99987274e-01 1.98130082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:368.54, Y:0.33, Z:1.98 [[ 9.98630246e-01 -5.20786635e-02 -5.04428450e-03 3.68544715e+02] [ 5.20788944e-02 9.98642970e-01 -8.56554763e-05 3.32793539e-01] [ 5.04190007e-03 -1.77162610e-04 9.99987274e-01 1.98146987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:368.58, Y:0.33, Z:1.98 [[ 9.98573195e-01 -5.31613567e-02 -5.04429486e-03 3.68578016e+02] [ 5.31616045e-02 9.98585918e-01 -8.50404739e-05 3.33352879e-01] [ 5.04168269e-03 -1.83243671e-04 9.99987274e-01 1.98119053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:368.61, Y:0.33, Z:1.98 [[ 9.98489272e-01 -5.47149751e-02 -5.04430525e-03 3.68610894e+02] [ 5.47152458e-02 9.98501995e-01 -8.44196883e-05 3.34763957e-01] [ 5.04136788e-03 -1.91708249e-04 9.99987274e-01 1.98186845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:368.64, Y:0.34, Z:1.98 [[ 9.98429946e-01 -5.57870808e-02 -5.04431574e-03 3.68642596e+02] [ 5.57873684e-02 9.98442669e-01 -8.37884073e-05 3.37540701e-01] [ 5.04113438e-03 -1.97752245e-04 9.99987274e-01 1.98445628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:368.68, Y:0.34, Z:1.98 [[ 9.98420145e-01 -5.59622080e-02 -5.04434109e-03 3.68675449e+02] [ 5.59625057e-02 9.98432868e-01 -8.22335772e-05 3.39102476e-01] [ 5.04103791e-03 -2.00190307e-04 9.99987274e-01 1.98470406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:368.71, Y:0.34, Z:1.98 [[ 9.98468672e-01 -5.50896208e-02 -5.04435136e-03 3.68707108e+02] [ 5.50899105e-02 9.98481394e-01 -8.15985525e-05 3.39882832e-01] [ 5.04118621e-03 -1.96419267e-04 9.99987274e-01 1.98465541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:368.74, Y:0.34, Z:1.98 [[ 9.98531427e-01 -5.39401789e-02 -5.04437624e-03 3.68738726e+02] [ 5.39404619e-02 9.98544150e-01 -8.00302299e-05 3.41189764e-01] [ 5.04134923e-03 -1.92183285e-04 9.99987274e-01 1.98312221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254391418 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:368.77, Y:0.34, Z:1.98 [[ 9.98571100e-01 -5.32006796e-02 -5.04440010e-03 3.68772090e+02] [ 5.32009609e-02 9.98583823e-01 -7.84970437e-05 3.42404574e-01] [ 5.04143243e-03 -1.89982053e-04 9.99987274e-01 1.98244514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284391418 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:368.80, Y:0.34, Z:1.98 [[ 9.98579681e-01 -5.30393652e-02 -5.04440953e-03 3.68804693e+02] [ 5.30396476e-02 9.98592404e-01 -7.78861906e-05 3.44109365e-01] [ 5.04144007e-03 -1.89778136e-04 9.99987274e-01 1.98257884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314391418 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:368.84, Y:0.35, Z:1.98 [[ 9.98588050e-01 -5.28815704e-02 -5.04441915e-03 3.68837786e+02] [ 5.28818539e-02 9.98600773e-01 -7.72582033e-05 3.45740300e-01] [ 5.04144639e-03 -1.89609118e-04 9.99987274e-01 1.98309430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:368.87, Y:0.35, Z:1.98 [[ 9.98595654e-01 -5.27377878e-02 -5.04442863e-03 3.68869742e+02] [ 5.27380726e-02 9.98608377e-01 -7.66337871e-05 3.48071055e-01] [ 5.04145019e-03 -1.89507277e-04 9.99987274e-01 1.98408850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374391418 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:368.90, Y:0.35, Z:1.98 [[ 9.98586679e-01 -5.29074465e-02 -5.04445156e-03 3.68902153e+02] [ 5.29077412e-02 9.98599402e-01 -7.50934319e-05 3.48815939e-01] [ 5.04135932e-03 -1.91903237e-04 9.99987274e-01 1.98465834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404391418 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:368.94, Y:0.35, Z:1.98 [[ 9.98496106e-01 -5.45901098e-02 -5.04446651e-03 3.68935596e+02] [ 5.45904311e-02 9.98508828e-01 -7.40755855e-05 3.49584980e-01] [ 5.04098814e-03 -2.01415418e-04 9.99987274e-01 1.98458389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:368.97, Y:0.35, Z:1.98 [[ 9.98425429e-01 -5.58678446e-02 -5.04447541e-03 3.68968668e+02] [ 5.58681853e-02 9.98438151e-01 -7.34647244e-05 3.50171132e-01] [ 5.04070101e-03 -2.08476638e-04 9.99987274e-01 1.98432993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:369.00, Y:0.35, Z:1.98 [[ 9.98358516e-01 -5.70510903e-02 -5.04448444e-03 3.69000856e+02] [ 5.70514492e-02 9.98371237e-01 -7.28390146e-05 3.50891423e-01] [ 5.04042372e-03 -2.15075697e-04 9.99987274e-01 1.98416796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:369.03, Y:0.35, Z:1.98 [[ 9.98156889e-01 -6.04762638e-02 -5.04450624e-03 3.69034016e+02] [ 6.04766741e-02 9.98169608e-01 -7.12966632e-05 3.52108892e-01] [ 5.03958457e-03 -2.33909705e-04 9.99987274e-01 1.98387405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524391418 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:369.07, Y:0.35, Z:1.98 [[ 9.98058848e-01 -6.20732585e-02 -5.04451510e-03 3.69066596e+02] [ 6.20736923e-02 9.98071566e-01 -7.06639551e-05 3.52186451e-01] [ 5.03917343e-03 -2.42604893e-04 9.99987274e-01 1.98413417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.554391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:369.10, Y:0.35, Z:1.98 [[ 9.97920288e-01 -6.42623607e-02 -5.04453649e-03 3.69099372e+02] [ 6.42628303e-02 9.97933006e-01 -6.91029980e-05 3.52046100e-01] [ 5.03855018e-03 -2.55216909e-04 9.99987274e-01 1.98394943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584391418 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:369.13, Y:0.35, Z:1.98 [[ 9.97662468e-01 -6.81480195e-02 -5.04454499e-03 3.69132882e+02] [ 6.81485419e-02 9.97675183e-01 -6.84768946e-05 3.51040829e-01] [ 5.03748391e-03 -2.75461557e-04 9.99987274e-01 1.98336523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.614391418 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:369.16, Y:0.35, Z:1.98 [[ 9.97562049e-01 -6.96025269e-02 -5.04455358e-03 3.69164759e+02] [ 6.96030710e-02 9.97574763e-01 -6.78377468e-05 3.51342699e-01] [ 5.03704102e-03 -2.83444059e-04 9.99987274e-01 1.98340940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:369.20, Y:0.35, Z:1.99 [[ 9.97308152e-01 -7.31505515e-02 -5.04456751e-03 3.69197653e+02] [ 7.31511461e-02 9.97320864e-01 -6.67858280e-05 3.53285494e-01] [ 5.03593784e-03 -3.02409844e-04 9.99987274e-01 1.98611915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67439141799997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:369.23, Y:0.35, Z:1.99 [[ 9.97290737e-01 -7.33875800e-02 -5.04461377e-03 3.69230793e+02] [ 7.33881956e-02 9.97303449e-01 -6.32168493e-05 3.53938225e-01] [ 5.03565004e-03 -3.07169524e-04 9.99987274e-01 1.98622013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:369.26, Y:0.35, Z:1.99 [[ 9.97294417e-01 -7.33375519e-02 -5.04469172e-03 3.69264121e+02] [ 7.33381976e-02 9.97307127e-01 -5.71244878e-05 3.54362020e-01] [ 5.03529637e-03 -3.12998665e-04 9.99987274e-01 1.98591539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:369.29, Y:0.35, Z:1.99 [[ 9.97313160e-01 -7.30822187e-02 -5.04475007e-03 3.69294853e+02] [ 7.30828845e-02 9.97325869e-01 -5.24710066e-05 3.54528732e-01] [ 5.03509445e-03 -3.16354862e-04 9.99987274e-01 1.98612257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:369.33, Y:0.35, Z:1.98 [[ 9.97419409e-01 -7.16175465e-02 -5.04473629e-03 3.69326312e+02] [ 7.16181881e-02 9.97432119e-01 -5.35846601e-05 3.53699949e-01] [ 5.03561961e-03 -3.07848493e-04 9.99987274e-01 1.98365231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:369.36, Y:0.35, Z:1.98 [[ 9.97522417e-01 -7.01682209e-02 -5.04463529e-03 3.69359853e+02] [ 7.01688025e-02 9.97535130e-01 -6.18258552e-05 3.53268579e-01] [ 5.03653913e-03 -2.92303341e-04 9.99987274e-01 1.98146777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:369.39, Y:0.35, Z:1.98 [[ 9.97456654e-01 -7.10969362e-02 -5.04464286e-03 3.69392240e+02] [ 7.10975328e-02 9.97469367e-01 -6.12017966e-05 3.54702242e-01] [ 5.03622798e-03 -2.97615522e-04 9.99987274e-01 1.98334820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:369.42, Y:0.36, Z:1.98 [[ 9.97405056e-01 -7.18171645e-02 -5.04466104e-03 3.69423401e+02] [ 7.18177779e-02 9.97417768e-01 -5.96650206e-05 3.56483433e-01] [ 5.03591952e-03 -3.02786153e-04 9.99987274e-01 1.98445957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884391418 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:369.46, Y:0.36, Z:1.98 [[ 9.97573886e-01 -6.94326625e-02 -5.04455642e-03 3.69456124e+02] [ 6.94332005e-02 9.97586601e-01 -6.86096237e-05 3.55125168e-01] [ 5.03714564e-03 -2.81816529e-04 9.99987274e-01 1.98320846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:369.49, Y:0.36, Z:1.98 [[ 9.97640506e-01 -6.84687623e-02 -5.04467639e-03 3.69489240e+02] [ 6.84693404e-02 9.97653219e-01 -5.82134297e-05 3.55955430e-01] [ 5.03682344e-03 -2.87329590e-04 9.99987274e-01 1.98264025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:369.52, Y:0.36, Z:1.98 [[ 9.97683381e-01 -6.78411579e-02 -5.04468353e-03 3.69522564e+02] [ 6.78417312e-02 9.97696094e-01 -5.75883817e-05 3.56079025e-01] [ 5.03696791e-03 -2.84785093e-04 9.99987274e-01 1.98245996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:369.56, Y:0.36, Z:1.98 [[ 9.97739625e-01 -6.70088946e-02 -5.04469052e-03 3.69555173e+02] [ 6.70094604e-02 9.97752339e-01 -5.69691105e-05 3.55914826e-01] [ 5.03716920e-03 -2.81201651e-04 9.99987274e-01 1.98227132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004391418 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:369.59, Y:0.36, Z:1.98 [[ 9.97679940e-01 -6.78917407e-02 -5.04469750e-03 3.69586264e+02] [ 6.78923209e-02 9.97692653e-01 -5.63436753e-05 3.58095665e-01] [ 5.03688291e-03 -2.86283267e-04 9.99987274e-01 1.98260242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:369.62, Y:0.36, Z:1.98 [[ 9.97736896e-01 -6.70495298e-02 -5.04457218e-03 3.69618262e+02] [ 6.70500424e-02 9.97749612e-01 -6.76225389e-05 3.58439370e-01] [ 5.03775399e-03 -2.70769276e-04 9.99987274e-01 1.98222532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:369.65, Y:0.36, Z:1.98 [[ 9.97838738e-01 -6.55164537e-02 -5.04452786e-03 3.69650250e+02] [ 6.55169263e-02 9.97851456e-01 -7.16873554e-05 3.57427830e-01] [ 5.03838617e-03 -2.58969540e-04 9.99987274e-01 1.98276727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:369.68, Y:0.35, Z:1.98 [[ 9.98001287e-01 -6.29919294e-02 -5.04466996e-03 3.69683845e+02] [ 6.29924376e-02 9.98014003e-01 -5.82421750e-05 3.54962117e-01] [ 5.03832005e-03 -2.59650293e-04 9.99987274e-01 1.98248028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:369.72, Y:0.35, Z:1.98 [[ 9.97990109e-01 -6.31687716e-02 -5.04473323e-03 3.69717393e+02] [ 6.31693130e-02 9.98002823e-01 -5.21188481e-05 3.54533781e-01] [ 5.03795029e-03 -2.66658237e-04 9.99987274e-01 1.98236399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:369.75, Y:0.35, Z:1.98 [[ 9.97975785e-01 -6.33946621e-02 -5.04473966e-03 3.69749339e+02] [ 6.33952095e-02 9.97988499e-01 -5.14888237e-05 3.53771890e-01] [ 5.03785628e-03 -2.68427728e-04 9.99987274e-01 1.98282109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:369.78, Y:0.35, Z:1.98 [[ 9.97921553e-01 -6.42426978e-02 -5.04475501e-03 3.69782460e+02] [ 6.42432638e-02 9.97934267e-01 -4.99375780e-05 3.51754348e-01] [ 5.03754202e-03 -2.74257742e-04 9.99987274e-01 1.98209515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:369.81, Y:0.35, Z:1.98 [[ 9.97924877e-01 -6.41910437e-02 -5.04476120e-03 3.69814936e+02] [ 6.41916123e-02 9.97937590e-01 -4.93041356e-05 3.50908414e-01] [ 5.03752172e-03 -2.74629532e-04 9.99987274e-01 1.98223562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:369.85, Y:0.35, Z:1.98 [[ 9.97940504e-01 -6.39476334e-02 -5.04477598e-03 3.69847540e+02] [ 6.39482067e-02 9.97953218e-01 -4.77431044e-05 3.49977647e-01] [ 5.03750348e-03 -2.74959599e-04 9.99987274e-01 1.98136801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:369.88, Y:0.35, Z:1.98 [[ 9.97992928e-01 -6.31242146e-02 -5.04478186e-03 3.69879172e+02] [ 6.31247806e-02 9.98005641e-01 -4.71127694e-05 3.48778211e-01] [ 5.03769471e-03 -2.71432538e-04 9.99987274e-01 1.98042920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.304391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:369.91, Y:0.35, Z:1.98 [[ 9.98023873e-01 -6.26330573e-02 -5.04479134e-03 3.69911173e+02] [ 6.26336222e-02 9.98036586e-01 -4.60756734e-05 3.48310149e-01] [ 5.03777218e-03 -2.69988933e-04 9.99987274e-01 1.98093479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:369.94, Y:0.35, Z:1.98 [[ 9.98049899e-01 -6.22169485e-02 -5.04479597e-03 3.69944395e+02] [ 6.22175108e-02 9.98062613e-01 -4.55623962e-05 3.47932946e-01] [ 5.03785700e-03 -2.68401103e-04 9.99987274e-01 1.98045658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.364391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:369.98, Y:0.35, Z:1.98 [[ 9.98121070e-01 -6.10645511e-02 -5.04480156e-03 3.69976116e+02] [ 6.10651018e-02 9.98133784e-01 -4.49353552e-05 3.46187318e-01] [ 5.03813083e-03 -2.63210396e-04 9.99987274e-01 1.98087842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:370.01, Y:0.35, Z:1.98 [[ 9.98156572e-01 -6.04814635e-02 -5.04480612e-03 3.70009488e+02] [ 6.04820094e-02 9.98169287e-01 -4.44167501e-05 3.45393546e-01] [ 5.03825692e-03 -2.60785141e-04 9.99987274e-01 1.98131054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:370.04, Y:0.34, Z:1.98 [[ 9.98219770e-01 -5.94292975e-02 -5.04481148e-03 3.70041121e+02] [ 5.94298331e-02 9.98232484e-01 -4.37993939e-05 3.43984180e-01] [ 5.03849767e-03 -2.56090884e-04 9.99987274e-01 1.98136458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:370.07, Y:0.34, Z:1.98 [[ 9.98262141e-01 -5.87132675e-02 -5.04481587e-03 3.70073991e+02] [ 5.87137966e-02 9.98274856e-01 -4.32880162e-05 3.43347868e-01] [ 5.03865442e-03 -2.52987505e-04 9.99987274e-01 1.98036112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:370.11, Y:0.34, Z:1.98 [[ 9.98360577e-01 -5.70149762e-02 -5.04482124e-03 3.70106362e+02] [ 5.70154869e-02 9.98373293e-01 -4.26525344e-05 3.41718552e-01] [ 5.03904663e-03 -2.45050331e-04 9.99987274e-01 1.97922912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:370.14, Y:0.34, Z:1.98 [[ 9.98360164e-01 -5.70222149e-02 -5.04483400e-03 3.70138937e+02] [ 5.70227335e-02 9.98372879e-01 -4.10865492e-05 3.41725371e-01] [ 5.03896829e-03 -2.46651051e-04 9.99987274e-01 1.97995237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:370.17, Y:0.34, Z:1.98 [[ 9.98478923e-01 -5.49034633e-02 -5.04483901e-03 3.70170583e+02] [ 5.49039581e-02 9.98491639e-01 -4.04613972e-05 3.40509143e-01] [ 5.03945104e-03 -2.36581777e-04 9.99987274e-01 1.97938723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:370.20, Y:0.34, Z:1.98 [[ 9.98545287e-01 -5.36829528e-02 -5.04485091e-03 3.70203643e+02] [ 5.36834399e-02 9.98558004e-01 -3.89193601e-05 3.40145017e-01] [ 5.03966556e-03 -2.31962207e-04 9.99987274e-01 1.97924553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:370.24, Y:0.34, Z:1.98 [[ 9.98689192e-01 -5.09357129e-02 -5.04485562e-03 3.70236594e+02] [ 5.09361681e-02 9.98701910e-01 -3.82990992e-05 3.38853705e-01] [ 5.04025773e-03 -2.18716717e-04 9.99987274e-01 1.97882263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634391418 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:370.27, Y:0.34, Z:1.98 [[ 9.98776998e-01 -4.91839268e-02 -5.04486025e-03 3.70269714e+02] [ 4.91843628e-02 9.98789716e-01 -3.76786252e-05 3.38402123e-01] [ 5.04060772e-03 -2.10495693e-04 9.99987274e-01 1.97891641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:370.30, Y:0.34, Z:1.98 [[ 9.98862445e-01 -4.74169407e-02 -5.04486489e-03 3.70301381e+02] [ 4.74173573e-02 9.98875164e-01 -3.70464884e-05 3.38013545e-01] [ 5.04094688e-03 -2.02209815e-04 9.99987274e-01 1.97933707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:370.33, Y:0.34, Z:1.98 [[ 9.99016342e-01 -4.40556300e-02 -5.04487232e-03 3.70334344e+02] [ 4.40560091e-02 9.99029062e-01 -3.60061078e-05 3.37518273e-01] [ 5.04156033e-03 -1.86286251e-04 9.99987274e-01 1.98008431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:370.37, Y:0.34, Z:1.98 [[ 9.99068108e-01 -4.28656536e-02 -5.04487668e-03 3.70366248e+02] [ 4.28660207e-02 9.99080829e-01 -3.53842776e-05 3.36813770e-01] [ 5.04175635e-03 -1.80902485e-04 9.99987274e-01 1.98015155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:370.40, Y:0.34, Z:1.98 [[ 9.99122715e-01 -4.15734282e-02 -5.04488022e-03 3.70399170e+02] [ 4.15737815e-02 9.99135436e-01 -3.48715466e-05 3.36005387e-01] [ 5.04196833e-03 -1.74893794e-04 9.99987274e-01 1.97963816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:370.43, Y:0.33, Z:1.98 [[ 9.99215209e-01 -3.92875995e-02 -5.04488440e-03 3.70430736e+02] [ 3.92879268e-02 9.99227931e-01 -3.42561812e-05 3.34043991e-01] [ 5.04233524e-03 -1.63973752e-04 9.99987274e-01 1.97825125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814391418 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:370.46, Y:0.33, Z:1.98 [[ 9.99274891e-01 -3.77391178e-02 -5.04488781e-03 3.70462988e+02] [ 3.77394279e-02 9.99287613e-01 -3.37473995e-05 3.33099694e-01] [ 5.04256749e-03 -1.56668251e-04 9.99987274e-01 1.97771318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:370.49, Y:0.33, Z:1.98 [[ 9.99377280e-01 -3.49227786e-02 -5.04489108e-03 3.70494775e+02] [ 3.49230554e-02 9.99390004e-01 -3.32498831e-05 3.31816833e-01] [ 5.04297490e-03 -1.42953833e-04 9.99987274e-01 1.97717401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:370.53, Y:0.33, Z:1.98 [[ 9.99427062e-01 -3.34678352e-02 -5.04489428e-03 3.70528085e+02] [ 3.34680959e-02 9.99439786e-01 -3.27577820e-05 3.31264712e-01] [ 5.04316439e-03 -1.36103992e-04 9.99987274e-01 1.97741016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904391418 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:370.56, Y:0.33, Z:1.98 [[ 9.99462223e-01 -3.24008343e-02 -5.04489822e-03 3.70560879e+02] [ 3.24010845e-02 9.99474947e-01 -3.21388630e-05 3.30822997e-01] [ 5.04329071e-03 -1.31338594e-04 9.99987274e-01 1.97772888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934391418 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:370.59, Y:0.33, Z:1.98 [[ 9.99487814e-01 -3.16015591e-02 -5.04490208e-03 3.70593253e+02] [ 3.16018023e-02 9.99500538e-01 -3.15212851e-05 3.28567951e-01] [ 5.04337847e-03 -1.27922858e-04 9.99987274e-01 1.97778561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964391418 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:370.63, Y:0.33, Z:1.98 [[ 9.99490207e-01 -3.15257783e-02 -5.04490823e-03 3.70625946e+02] [ 3.15260257e-02 9.99502931e-01 -3.05049163e-05 3.28683689e-01] [ 5.04336225e-03 -1.28556541e-04 9.99987274e-01 1.97795025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:370.66, Y:0.33, Z:1.98 [[ 9.99489145e-01 -3.15594469e-02 -5.04491051e-03 3.70658604e+02] [ 3.15596966e-02 9.99501868e-01 -3.01224345e-05 3.26818984e-01] [ 5.04334813e-03 -1.29108799e-04 9.99987274e-01 1.97774609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:370.69, Y:0.32, Z:1.98 [[ 9.99482237e-01 -3.17774669e-02 -5.04491415e-03 3.70691944e+02] [ 3.17777225e-02 9.99494960e-01 -2.94993238e-05 3.24868065e-01] [ 5.04330369e-03 -1.30831832e-04 9.99987274e-01 1.97756674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.054391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:370.72, Y:0.32, Z:1.98 [[ 9.99476447e-01 -3.19590423e-02 -5.04491773e-03 3.70723954e+02] [ 3.19593034e-02 9.99489171e-01 -2.88749316e-05 3.21213273e-01] [ 5.04326345e-03 -1.32372242e-04 9.99987274e-01 1.97747521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:370.76, Y:0.32, Z:1.98 [[ 9.99480102e-01 -3.18445504e-02 -5.04492063e-03 3.70756956e+02] [ 3.18448127e-02 9.99492825e-01 -2.83592369e-05 3.19853795e-01] [ 5.04326506e-03 -1.32310059e-04 9.99987274e-01 1.97732472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.114391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:370.79, Y:0.32, Z:1.98 [[ 9.99490737e-01 -3.15089736e-02 -5.04492404e-03 3.70788991e+02] [ 3.15092347e-02 9.99503460e-01 -2.77393465e-05 3.18746362e-01] [ 5.04329307e-03 -1.31236476e-04 9.99987274e-01 1.97713077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:370.82, Y:0.32, Z:1.98 [[ 9.99515889e-01 -3.07007597e-02 -5.04492680e-03 3.70822515e+02] [ 3.07010131e-02 9.99528612e-01 -2.72263687e-05 3.16007294e-01] [ 5.04338456e-03 -1.27671176e-04 9.99987274e-01 1.97648009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17439141799997 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:370.86, Y:0.31, Z:1.98 [[ 9.99548270e-01 -2.96277648e-02 -5.04493002e-03 3.70855780e+02] [ 2.96280076e-02 9.99560994e-01 -2.66169647e-05 3.14329588e-01] [ 5.04350386e-03 -1.22866284e-04 9.99987274e-01 1.97603810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:370.89, Y:0.31, Z:1.98 [[ 9.99583033e-01 -2.84307846e-02 -5.04493314e-03 3.70887991e+02] [ 2.84310152e-02 9.99595757e-01 -2.60116478e-05 3.12890797e-01] [ 5.04363329e-03 -1.17431769e-04 9.99987274e-01 1.97637254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:370.92, Y:0.31, Z:1.98 [[ 9.99666559e-01 -2.53242713e-02 -5.04493520e-03 3.70920208e+02] [ 2.53244644e-02 9.99679284e-01 -2.56058395e-05 3.10496441e-01] [ 5.04396566e-03 -1.02162980e-04 9.99987274e-01 1.97736252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:370.95, Y:0.31, Z:1.98 [[ 9.99724358e-01 -2.29293774e-02 -5.04493723e-03 3.70950613e+02] [ 2.29295421e-02 9.99737083e-01 -2.51996483e-05 3.10257709e-01] [ 5.04418864e-03 -9.04853984e-05 9.99987274e-01 1.97969904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294391418 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:370.98, Y:0.31, Z:1.98 [[ 9.99768411e-01 -2.09206619e-02 -5.04476187e-03 3.70983678e+02] [ 2.09206278e-02 9.99781138e-01 -5.95338879e-05 3.08552385e-01] [ 5.04490325e-03 -4.60194851e-05 9.99987273e-01 1.97775006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:371.01, Y:0.31, Z:1.98 [[ 9.99851671e-01 -1.64676776e-02 -5.04493070e-03 3.71014468e+02] [ 1.64677666e-02 9.99864397e-01 -2.39074697e-05 3.07104950e-01] [ 5.04464030e-03 -5.91748178e-05 9.99987274e-01 1.97711322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:371.05, Y:0.31, Z:1.98 [[ 9.99893300e-01 -1.37089967e-02 -5.04493383e-03 3.71046834e+02] [ 1.37090540e-02 9.99906026e-01 -2.32291562e-05 3.06462363e-01] [ 5.04477819e-03 -4.59345927e-05 9.99987274e-01 1.97653371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:371.08, Y:0.31, Z:1.98 [[ 9.99932807e-01 -1.04369341e-02 -5.04493570e-03 3.71077426e+02] [ 1.04369518e-02 9.99945533e-01 -2.28159759e-05 3.05584332e-01] [ 5.04489904e-03 -2.98393080e-05 9.99987274e-01 1.97618428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:371.11, Y:0.30, Z:1.98 [[ 9.99978348e-01 -4.22511457e-03 -5.04493615e-03 3.71108998e+02] [ 4.22505374e-03 9.99991074e-01 -2.27144682e-05 3.04417990e-01] [ 5.04498709e-03 1.39885000e-06 9.99987274e-01 1.97563711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:371.14, Y:0.30, Z:1.98 [[ 9.99986585e-01 -1.17385125e-03 -5.04493705e-03 3.71138328e+02] [ 1.17375260e-03 9.99999311e-01 -2.25145631e-05 3.04304365e-01] [ 5.04496000e-03 1.65927531e-05 9.99987274e-01 1.97608978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:371.17, Y:0.30, Z:1.98 [[ 9.99976019e-01 4.74440092e-03 -5.04493715e-03 3.71167268e+02] [-4.74457477e-03 9.99988744e-01 -2.24920832e-05 3.04562629e-01] [ 5.04477365e-03 4.64276253e-05 9.99987274e-01 1.97633785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:371.19, Y:0.30, Z:1.98 [[ 9.99957415e-01 7.72768582e-03 -5.04493060e-03 3.71194767e+02] [-7.72790461e-03 9.99970139e-01 -2.38759579e-05 3.04556534e-01] [ 5.04459544e-03 6.28616835e-05 9.99987274e-01 1.97619131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:371.22, Y:0.30, Z:1.98 [[ 9.99927760e-01 1.09097756e-02 -5.04492234e-03 3.71222086e+02] [-1.09100431e-02 9.99940483e-01 -2.55081736e-05 3.04447295e-01] [ 5.04434380e-03 8.05466511e-05 9.99987274e-01 1.97657350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:371.25, Y:0.30, Z:1.98 [[ 9.99891711e-01 1.38244386e-02 -5.04491867e-03 3.71250427e+02] [-1.38247468e-02 9.99904433e-01 -2.62149120e-05 3.04241053e-01] [ 5.04407414e-03 9.59567963e-05 9.99987274e-01 1.97614415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:371.28, Y:0.30, Z:1.98 [[ 9.99816493e-01 1.84805234e-02 -5.04491547e-03 3.71277008e+02] [-1.84808938e-02 9.99829213e-01 -2.68175894e-05 3.03676189e-01] [ 5.04355826e-03 1.20047215e-04 9.99987274e-01 1.97687547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:371.30, Y:0.30, Z:1.98 [[ 9.99773171e-01 2.06919107e-02 -5.04491194e-03 3.71304074e+02] [-2.06923125e-02 9.99785891e-01 -2.74659369e-05 3.03759201e-01] [ 5.04326345e-03 1.31850601e-04 9.99987274e-01 1.97705365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:371.33, Y:0.30, Z:1.98 [[ 9.99720922e-01 2.30787275e-02 -5.04490780e-03 3.71332161e+02] [-2.30791634e-02 9.99733640e-01 -2.82062832e-05 3.03643934e-01] [ 5.04291307e-03 1.44630663e-04 9.99987274e-01 1.97658887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:371.36, Y:0.30, Z:1.98 [[ 9.99607404e-01 2.75605924e-02 -5.04490404e-03 3.71359421e+02] [-2.75610887e-02 9.99620121e-01 -2.88639840e-05 3.02840425e-01] [ 5.04219207e-03 1.67895700e-04 9.99987274e-01 1.97567199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714391418 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:371.39, Y:0.30, Z:1.97 [[ 9.99555191e-01 2.93933426e-02 -5.04489957e-03 3.71387591e+02] [-2.93938660e-02 9.99567907e-01 -2.96246651e-05 3.02508960e-01] [ 5.04184893e-03 1.77900590e-04 9.99987274e-01 1.97463705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:371.42, Y:0.30, Z:1.98 [[ 9.99460078e-01 3.24669332e-02 -5.04489525e-03 3.71415521e+02] [-3.24674993e-02 9.99472791e-01 -3.03430374e-05 3.02407150e-01] [ 5.04125039e-03 1.94121787e-04 9.99987274e-01 1.97547797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:371.44, Y:0.30, Z:1.98 [[ 9.99406788e-01 3.40678895e-02 -5.04489199e-03 3.71443065e+02] [-3.40684787e-02 9.99419500e-01 -3.08755045e-05 3.02623355e-01] [ 5.04091157e-03 2.02728984e-04 9.99987274e-01 1.97578544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.804391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:371.47, Y:0.30, Z:1.98 [[ 9.99303550e-01 3.69724686e-02 -5.04488804e-03 3.71471932e+02] [-3.69730979e-02 9.99316261e-01 -3.15073816e-05 3.02395559e-01] [ 5.04027375e-03 2.18010578e-04 9.99987274e-01 1.97615732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:371.50, Y:0.30, Z:1.98 [[ 9.99261880e-01 3.80820771e-02 -5.04488537e-03 3.71499291e+02] [-3.80827227e-02 9.99274590e-01 -3.19301682e-05 3.02727149e-01] [ 5.04000979e-03 2.24029570e-04 9.99987274e-01 1.97625252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.864391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:371.53, Y:0.30, Z:1.98 [[ 9.99217634e-01 3.92258765e-02 -5.04488062e-03 3.71528577e+02] [-3.92265403e-02 9.99230343e-01 -3.26639090e-05 3.02688468e-01] [ 5.03971652e-03 2.30531567e-04 9.99987274e-01 1.97625641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:371.56, Y:0.30, Z:1.98 [[ 9.99197564e-01 3.97338229e-02 -5.04487789e-03 3.71556363e+02] [-3.97344952e-02 9.99210273e-01 -3.30804392e-05 3.02353517e-01] [ 5.03957939e-03 2.33509571e-04 9.99987274e-01 1.97508798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:371.58, Y:0.30, Z:1.98 [[ 9.99196209e-01 3.97678960e-02 -5.04487352e-03 3.71583633e+02] [-3.97685721e-02 9.99208917e-01 -3.37334654e-05 3.02180256e-01] [ 5.03954110e-03 2.34333767e-04 9.99987274e-01 1.97611403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:371.61, Y:0.30, Z:1.98 [[ 9.99202687e-01 3.96047830e-02 -5.04486835e-03 3.71611324e+02] [-3.96054609e-02 9.99215395e-01 -3.44895488e-05 3.02405075e-01] [ 5.03954417e-03 2.34266386e-04 9.99987274e-01 1.97540795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:371.64, Y:0.30, Z:1.97 [[ 9.99257277e-01 3.82026556e-02 -5.04486387e-03 3.71640478e+02] [-3.82033189e-02 9.99269986e-01 -3.51323836e-05 3.02607006e-01] [ 5.03983890e-03 2.27836833e-04 9.99987274e-01 1.97452372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:371.67, Y:0.30, Z:1.97 [[ 9.99291434e-01 3.72985193e-02 -5.04486089e-03 3.71667161e+02] [-3.72991732e-02 9.99304143e-01 -3.55563159e-05 3.02991786e-01] [ 5.04002419e-03 2.23700262e-04 9.99987274e-01 1.97406887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:371.70, Y:0.30, Z:1.97 [[ 9.99334437e-01 3.61280059e-02 -5.04485561e-03 3.71696385e+02] [-3.61286486e-02 9.99347147e-01 -3.62900530e-05 3.03531531e-01] [ 5.04025097e-03 2.18529715e-04 9.99987274e-01 1.97306440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:371.72, Y:0.30, Z:1.97 [[ 9.99405502e-01 3.41055998e-02 -5.04485250e-03 3.71724986e+02] [-3.41062189e-02 9.99418213e-01 -3.67165111e-05 3.04165182e-01] [ 5.04066524e-03 2.08755527e-04 9.99987274e-01 1.97210172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:371.75, Y:0.30, Z:1.97 [[ 9.99437744e-01 3.31473229e-02 -5.04484928e-03 3.71753234e+02] [-3.31479321e-02 9.99450456e-01 -3.71537768e-05 3.04667399e-01] [ 5.04084537e-03 2.04359208e-04 9.99987274e-01 1.97248500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:371.78, Y:0.31, Z:1.97 [[ 9.99464207e-01 3.23395809e-02 -5.04484524e-03 3.71781625e+02] [-3.23401825e-02 9.99476919e-01 -3.76953068e-05 3.05390721e-01] [ 5.04098732e-03 2.00826325e-04 9.99987274e-01 1.97250101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:371.81, Y:0.31, Z:1.97 [[ 9.99526610e-01 3.03497356e-02 -5.04484188e-03 3.71810123e+02] [-3.03503141e-02 9.99539322e-01 -3.81397016e-05 3.07262642e-01] [ 5.04136030e-03 1.91234182e-04 9.99987274e-01 1.97252223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:371.84, Y:0.31, Z:1.97 [[ 9.99555903e-01 2.93691518e-02 -5.04483851e-03 3.71837569e+02] [-2.93697201e-02 9.99568616e-01 -3.85803345e-05 3.08278602e-01] [ 5.04152917e-03 1.86728696e-04 9.99987274e-01 1.97203871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:371.87, Y:0.31, Z:1.97 [[ 9.99614383e-01 2.73063013e-02 -5.04483257e-03 3.71866341e+02] [-2.73068471e-02 9.99627098e-01 -3.93417788e-05 3.09939741e-01] [ 5.04187706e-03 1.77085080e-04 9.99987274e-01 1.96955273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:371.89, Y:0.31, Z:1.97 [[ 9.99640841e-01 2.63199307e-02 -5.04482896e-03 3.71893349e+02] [-2.63204663e-02 9.99653556e-01 -3.97987103e-05 3.11037066e-01] [ 5.04203371e-03 1.72566667e-04 9.99987274e-01 1.96962906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:371.92, Y:0.31, Z:1.97 [[ 9.99645500e-01 2.61423908e-02 -5.04482260e-03 3.71921485e+02] [-2.61429282e-02 9.99658214e-01 -4.05893038e-05 3.11733680e-01] [ 5.04203725e-03 1.72461350e-04 9.99987274e-01 1.96891612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:371.95, Y:0.31, Z:1.97 [[ 9.99671177e-01 2.51413542e-02 -5.04481712e-03 3.71949906e+02] [-2.51418822e-02 9.99683892e-01 -4.12595759e-05 3.13558028e-01] [ 5.04218509e-03 1.68082207e-04 9.99987274e-01 1.96953052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:371.98, Y:0.32, Z:1.97 [[ 9.99654662e-01 2.57896790e-02 -5.04481337e-03 3.71977498e+02] [-2.57902175e-02 9.99667376e-01 -4.17136067e-05 3.16977250e-01] [ 5.04205956e-03 1.71806036e-04 9.99987274e-01 1.97006780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:372.01, Y:0.32, Z:1.97 [[ 9.99631953e-01 2.66553621e-02 -5.04480765e-03 3.72005473e+02] [-2.66559151e-02 9.99644667e-01 -4.23938802e-05 3.19046176e-01] [ 5.04188504e-03 1.76852242e-04 9.99987274e-01 1.97036746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:372.03, Y:0.32, Z:1.97 [[ 9.99601146e-01 2.77866806e-02 -5.04480191e-03 3.72033365e+02] [-2.77872514e-02 9.99613859e-01 -4.30664259e-05 3.20998352e-01] [ 5.04165723e-03 1.83230427e-04 9.99987274e-01 1.97100328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:372.06, Y:0.33, Z:1.97 [[ 9.99520153e-01 3.05616355e-02 -5.04479612e-03 3.72061638e+02] [-3.05622449e-02 9.99532865e-01 -4.37340877e-05 3.25155132e-01] [ 5.04110293e-03 1.97893396e-04 9.99987274e-01 1.96935604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:372.09, Y:0.33, Z:1.97 [[ 9.99476361e-01 3.19617540e-02 -5.04479224e-03 3.72089972e+02] [-3.19623834e-02 9.99489072e-01 -4.41776766e-05 3.27534383e-01] [ 5.04080271e-03 2.05398127e-04 9.99987274e-01 1.96909795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:372.12, Y:0.33, Z:1.97 [[ 9.99377004e-01 3.49307036e-02 -5.04478682e-03 3.72116774e+02] [-3.49313738e-02 9.99389712e-01 -4.47877628e-05 3.32551134e-01] [ 5.04014358e-03 2.20981195e-04 9.99987274e-01 1.96919899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:372.14, Y:0.34, Z:1.97 [[ 9.99339360e-01 3.59915803e-02 -5.04478046e-03 3.72144659e+02] [-3.59922676e-02 9.99352067e-01 -4.54927387e-05 3.35368374e-01] [ 5.03987443e-03 2.27035773e-04 9.99987274e-01 1.97012923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.554391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:372.17, Y:0.34, Z:1.97 [[ 9.99265990e-01 3.79740948e-02 -5.04477599e-03 3.72173581e+02] [-3.79748098e-02 9.99278696e-01 -4.59835454e-05 3.39856268e-01] [ 5.03939099e-03 2.37524201e-04 9.99987274e-01 1.96841995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:372.20, Y:0.34, Z:1.97 [[ 9.99241568e-01 3.86113903e-02 -5.04477227e-03 3.72201804e+02] [-3.86121154e-02 9.99254273e-01 -4.63879959e-05 3.42127498e-01] [ 5.03921914e-03 2.41142143e-04 9.99987274e-01 1.96792397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.614391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:372.23, Y:0.34, Z:1.97 [[ 9.99235455e-01 3.87692635e-02 -5.04476656e-03 3.72230244e+02] [-3.87699938e-02 9.99248160e-01 -4.70006186e-05 3.44296086e-01] [ 5.03915153e-03 2.42550253e-04 9.99987274e-01 1.96746712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:372.26, Y:0.35, Z:1.97 [[ 9.99242885e-01 3.85772983e-02 -5.04476087e-03 3.72257963e+02] [-3.85780291e-02 9.99255590e-01 -4.76042636e-05 3.46398680e-01] [ 5.03916905e-03 2.42185153e-04 9.99987274e-01 1.96739736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67439141799997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:372.29, Y:0.35, Z:1.97 [[ 9.99295800e-01 3.71813630e-02 -5.04475510e-03 3.72287177e+02] [-3.71820791e-02 9.99308506e-01 -4.82072048e-05 3.50233278e-01] [ 5.03947428e-03 2.35747741e-04 9.99987274e-01 1.96769661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:372.31, Y:0.35, Z:1.97 [[ 9.99335544e-01 3.60973903e-02 -5.04475124e-03 3.72314667e+02] [-3.60980947e-02 9.99348250e-01 -4.86079716e-05 3.51932988e-01] [ 5.03970871e-03 2.30681582e-04 9.99987274e-01 1.96751964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:372.34, Y:0.35, Z:1.97 [[ 9.99378252e-01 3.48949897e-02 -5.04474531e-03 3.72343542e+02] [-3.48956818e-02 9.99390959e-01 -4.92165772e-05 3.53331355e-01] [ 5.03995544e-03 2.25225804e-04 9.99987274e-01 1.96696413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:372.37, Y:0.36, Z:1.97 [[ 9.99493299e-01 3.14276133e-02 -5.04474124e-03 3.72370871e+02] [-3.14282634e-02 9.99506009e-01 -4.96302853e-05 3.55204559e-01] [ 5.04068942e-03 2.08152594e-04 9.99987274e-01 1.96664182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:372.40, Y:0.36, Z:1.97 [[ 9.99547544e-01 2.96522797e-02 -5.04473614e-03 3.72399705e+02] [-2.96529098e-02 9.99560255e-01 -5.01432002e-05 3.56702465e-01] [ 5.04103088e-03 1.99711618e-04 9.99987274e-01 1.96544700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:372.43, Y:0.36, Z:1.97 [[ 9.99600610e-01 2.78059702e-02 -5.04473198e-03 3.72427081e+02] [-2.78065790e-02 9.99613321e-01 -5.05577572e-05 3.58341324e-01] [ 5.04137548e-03 1.90814303e-04 9.99987274e-01 1.96633605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:372.46, Y:0.36, Z:1.97 [[ 9.99603920e-01 2.76867213e-02 -5.04472468e-03 3.72455533e+02] [-2.76873321e-02 9.99616631e-01 -5.12765575e-05 3.58742944e-01] [ 5.04137101e-03 1.90931215e-04 9.99987274e-01 1.96647983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:372.48, Y:0.36, Z:1.97 [[ 9.99692234e-01 2.42896544e-02 -5.04471849e-03 3.72484629e+02] [-2.42902251e-02 9.99704948e-01 -5.18783635e-05 3.61291195e-01] [ 5.04196992e-03 1.74399745e-04 9.99987274e-01 1.96618123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:372.51, Y:0.36, Z:1.97 [[ 9.99731163e-01 2.26307977e-02 -5.04471429e-03 3.72511933e+02] [-2.26313493e-02 9.99743877e-01 -5.22838135e-05 3.62355537e-01] [ 5.04223899e-03 1.66438449e-04 9.99987274e-01 1.96670857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:372.54, Y:0.36, Z:1.97 [[ 9.99810273e-01 1.88140585e-02 -5.04470690e-03 3.72539719e+02] [-1.88145652e-02 9.99822989e-01 -5.29873748e-05 3.64422842e-01] [ 5.04281702e-03 1.47891288e-04 9.99987274e-01 1.96662321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:372.57, Y:0.37, Z:1.97 [[ 9.99844868e-01 1.68757465e-02 -5.04470051e-03 3.72567637e+02] [-1.68762315e-02 9.99857585e-01 -5.35882660e-05 3.65857042e-01] [ 5.04307773e-03 1.38715486e-04 9.99987274e-01 1.96664898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004391418 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:372.60, Y:0.37, Z:1.97 [[ 9.99875913e-01 1.49234892e-02 -5.04469403e-03 3.72595397e+02] [-1.49239524e-02 9.99888630e-01 -5.41915514e-05 3.67368663e-01] [ 5.04332348e-03 1.29471601e-04 9.99987274e-01 1.96740710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:372.62, Y:0.37, Z:1.96 [[ 9.99919307e-01 1.16589098e-02 -5.04468862e-03 3.72624208e+02] [-1.16593340e-02 9.99932026e-01 -5.46907415e-05 3.70091203e-01] [ 5.04370808e-03 1.13504038e-04 9.99987274e-01 1.96484422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064391418 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:372.65, Y:0.37, Z:1.96 [[ 9.99936358e-01 1.00911627e-02 -5.04468418e-03 3.72652153e+02] [-1.00915691e-02 9.99949077e-01 -5.50974377e-05 3.71845769e-01] [ 5.04387129e-03 1.06002710e-04 9.99987274e-01 1.96451427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:372.68, Y:0.37, Z:1.96 [[ 9.99950353e-01 8.59317752e-03 -5.04467738e-03 3.72679460e+02] [-8.59356790e-03 9.99963073e-01 -5.57132706e-05 3.73811756e-01] [ 5.04401234e-03 9.90622821e-05 9.99987274e-01 1.96454615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124391418 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:372.71, Y:0.38, Z:1.96 [[ 9.99963823e-01 6.84861211e-03 -5.04467171e-03 3.72707506e+02] [-6.84898286e-03 9.99976544e-01 -5.62219834e-05 3.77144571e-01] [ 5.04416834e-03 9.07708196e-05 9.99987274e-01 1.96452705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154391418 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:372.74, Y:0.38, Z:1.96 [[ 9.99969715e-01 5.92619829e-03 -5.04466570e-03 3.72736379e+02] [-5.92656000e-03 9.99982436e-01 -5.67557022e-05 3.79133629e-01] [ 5.04424075e-03 8.66514973e-05 9.99987274e-01 1.96466316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:372.76, Y:0.38, Z:1.97 [[ 9.99971265e-01 5.65868895e-03 -5.04466125e-03 3.72764951e+02] [-5.65904924e-03 9.99983986e-01 -5.71488902e-05 3.81052737e-01] [ 5.04425707e-03 8.56952344e-05 9.99987274e-01 1.96505266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214391418 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:372.79, Y:0.39, Z:1.97 [[ 9.99980455e-01 3.69347009e-03 -5.04465679e-03 3.72794180e+02] [-3.69380735e-03 9.99993176e-01 -5.75395292e-05 3.85358671e-01] [ 5.04440985e-03 7.61723949e-05 9.99987274e-01 1.96526299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:372.82, Y:0.39, Z:1.97 [[ 9.99984787e-01 2.23108733e-03 -5.04465218e-03 3.72821528e+02] [-2.23140801e-03 9.99997509e-01 -5.79413191e-05 3.87363473e-01] [ 5.04451034e-03 6.91971149e-05 9.99987274e-01 1.96671132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:372.85, Y:0.39, Z:1.97 [[ 9.99986873e-01 -8.96914850e-04 -5.04469413e-03 3.72849104e+02] [ 8.96652397e-04 9.99999597e-01 -5.42869920e-05 3.90381546e-01] [ 5.04474079e-03 4.97629423e-05 9.99987274e-01 1.96557422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.304391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:372.88, Y:0.39, Z:1.97 [[ 9.99981804e-01 -3.30824620e-03 -5.04451945e-03 3.72877866e+02] [ 3.30793787e-03 9.99994526e-01 -6.94627526e-05 3.91800118e-01] [ 5.04472164e-03 5.27745317e-05 9.99987274e-01 1.96582057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:372.91, Y:0.39, Z:1.96 [[ 9.99972390e-01 -5.45626098e-03 -5.04464779e-03 3.72907619e+02] [ 5.45603593e-03 9.99985114e-01 -5.83720971e-05 3.93340293e-01] [ 5.04489118e-03 3.08467058e-05 9.99987274e-01 1.96453633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.364391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:372.94, Y:0.40, Z:1.96 [[ 9.99946029e-01 -9.08247851e-03 -5.04464542e-03 3.72937513e+02] [ 9.08229858e-03 9.99958753e-01 -5.85760852e-05 3.96083147e-01] [ 5.04496936e-03 1.27559479e-05 9.99987274e-01 1.96327875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:372.97, Y:0.40, Z:1.96 [[ 9.99933924e-01 -1.03295689e-02 -5.04464661e-03 3.72968881e+02] [ 1.03294054e-02 9.99946649e-01 -5.84732249e-05 3.97940062e-01] [ 5.04498147e-03 6.36116153e-06 9.99987274e-01 1.96255933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:373.00, Y:0.40, Z:1.96 [[ 9.99925013e-01 -1.11588674e-02 -5.04464894e-03 3.73001124e+02] [ 1.11587154e-02 9.99937738e-01 -5.82715220e-05 3.99901987e-01] [ 5.04498509e-03 1.97535052e-06 9.99987274e-01 1.96253486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:373.03, Y:0.40, Z:1.96 [[ 9.99908189e-01 -1.25763482e-02 -5.04465359e-03 3.73032701e+02] [ 1.25762163e-02 9.99920915e-01 -5.78657364e-05 4.03824105e-01] [ 5.04498238e-03 -5.58223099e-06 9.99987274e-01 1.96290817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:373.06, Y:0.41, Z:1.96 [[ 9.99898104e-01 -1.33541240e-02 -5.04465705e-03 3.73064435e+02] [ 1.33540036e-02 9.99910830e-01 -5.75632695e-05 4.05775170e-01] [ 5.04497592e-03 -9.80896420e-06 9.99987274e-01 1.96284827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514391418 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:373.10, Y:0.41, Z:1.96 [[ 9.99891803e-01 -1.38179031e-02 -5.04466168e-03 3.73096959e+02] [ 1.38177906e-02 9.99904528e-01 -5.71539025e-05 4.09070010e-01] [ 5.04496981e-03 -1.25583600e-05 9.99987274e-01 1.96327636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.13, Y:0.41, Z:1.96 [[ 9.99896146e-01 -1.34999351e-02 -5.04466627e-03 3.73129388e+02] [ 1.34998206e-02 9.99908872e-01 -5.67462873e-05 4.10779945e-01] [ 5.04497263e-03 -1.13616958e-05 9.99987274e-01 1.96321141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:373.16, Y:0.41, Z:1.96 [[ 9.99895945e-01 -1.35148070e-02 -5.04467084e-03 3.73160531e+02] [ 1.35146947e-02 9.99908671e-01 -5.63373590e-05 4.12692985e-01] [ 5.04497150e-03 -1.18456895e-05 9.99987274e-01 1.96300970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:373.19, Y:0.42, Z:1.96 [[ 9.99908157e-01 -1.25788933e-02 -5.04467422e-03 3.73191707e+02] [ 1.25787707e-02 9.99920883e-01 -5.60328509e-05 4.16285918e-01] [ 5.04497993e-03 -7.42809544e-06 9.99987274e-01 1.96268691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:373.22, Y:0.42, Z:1.96 [[ 9.99919529e-01 -1.16399055e-02 -5.04467754e-03 3.73224368e+02] [ 1.16397725e-02 9.99932254e-01 -5.57321814e-05 4.18399086e-01] [ 5.04498450e-03 -2.99120217e-06 9.99987274e-01 1.96236549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:373.26, Y:0.42, Z:1.96 [[ 9.99934506e-01 -1.02730148e-02 -5.04468192e-03 3.73255454e+02] [ 1.02728664e-02 9.99947231e-01 -5.53331853e-05 4.20239796e-01] [ 5.04498415e-03 3.50621807e-06 9.99987274e-01 1.96277254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:373.29, Y:0.42, Z:1.96 [[ 9.99959402e-01 -7.46625369e-03 -5.04468515e-03 3.73287218e+02] [ 7.46607105e-03 9.99972127e-01 -5.50364312e-05 4.23783754e-01] [ 5.04495546e-03 1.73702191e-05 9.99987274e-01 1.96136620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:373.32, Y:0.43, Z:1.96 [[ 9.99967071e-01 -6.35667650e-03 -5.04468947e-03 3.73318824e+02] [ 6.35648175e-03 9.99979796e-01 -5.46380364e-05 4.25832487e-01] [ 5.04493486e-03 2.25697607e-05 9.99987274e-01 1.96139966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:373.35, Y:0.43, Z:1.96 [[ 9.99976877e-01 -4.56040822e-03 -5.04469159e-03 3.73348656e+02] [ 4.56019160e-03 9.99989601e-01 -5.44411216e-05 4.30105229e-01] [ 5.04488741e-03 3.14351025e-05 9.99987274e-01 1.96176521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:373.38, Y:0.43, Z:1.96 [[ 9.99977539e-01 -4.41274434e-03 -5.04469517e-03 3.73379375e+02] [ 4.41252753e-03 9.99990263e-01 -5.41078348e-05 4.32295177e-01] [ 5.04488481e-03 3.18467632e-05 9.99987274e-01 1.96208838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:373.41, Y:0.43, Z:1.96 [[ 9.99975422e-01 -4.86875095e-03 -5.04480036e-03 3.73409141e+02] [ 4.86858946e-03 9.99988147e-01 -4.42907450e-05 4.34175371e-01] [ 5.04495621e-03 1.97285945e-05 9.99987274e-01 1.95934231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.44, Y:0.44, Z:1.96 [[ 9.99981884e-01 -3.28330576e-03 -5.04498602e-03 3.73437613e+02] [ 3.28321048e-03 9.99994610e-01 -2.71680690e-05 4.35251511e-01] [ 5.04504803e-03 1.06038259e-05 9.99987274e-01 1.96130513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.47, Y:0.44, Z:1.96 [[ 9.99983229e-01 -2.84475539e-03 -5.04461535e-03 3.73467145e+02] [ 2.84448619e-03 9.99995953e-01 -6.05390471e-05 4.37616622e-01] [ 5.04476715e-03 4.61886932e-05 9.99987274e-01 1.96099456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:373.50, Y:0.44, Z:1.96 [[ 9.99979395e-01 -3.97014539e-03 -5.04451569e-03 3.73497175e+02] [ 3.96984559e-03 9.99992118e-01 -6.94422044e-05 4.39354024e-01] [ 5.04475162e-03 4.94148252e-05 9.99987274e-01 1.96026217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:373.53, Y:0.44, Z:1.96 [[ 9.99975700e-01 -4.81142846e-03 -5.04466294e-03 3.73527797e+02] [ 4.81120600e-03 9.99988425e-01 -5.62323181e-05 4.40853949e-01] [ 5.04487510e-03 3.19600391e-05 9.99987274e-01 1.95952469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:373.56, Y:0.44, Z:1.96 [[ 9.99961991e-01 -7.11107131e-03 -5.04466294e-03 3.73557874e+02] [ 7.11087811e-03 9.99974716e-01 -5.62323181e-05 4.43474155e-01] [ 5.04493526e-03 2.03581975e-05 9.99987274e-01 1.95870313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:373.59, Y:0.44, Z:1.96 [[ 9.99949261e-01 -8.71929116e-03 -5.04466294e-03 3.73588043e+02] [ 8.71911843e-03 9.99961986e-01 -5.62323181e-05 4.44614920e-01] [ 5.04496148e-03 1.22444513e-05 9.99987274e-01 1.95881151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:373.62, Y:0.45, Z:1.96 [[ 9.99919628e-01 -1.16313342e-02 -5.04466403e-03 3.73618747e+02] [ 1.16311990e-02 9.99932354e-01 -5.61340911e-05 4.46328621e-01] [ 5.04497570e-03 -2.54591196e-06 9.99987274e-01 1.95886006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.054391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:373.65, Y:0.45, Z:1.96 [[ 9.99897573e-01 -1.33938637e-02 -5.04466726e-03 3.73651411e+02] [ 1.33937524e-02 9.99910298e-01 -5.58427446e-05 4.47267090e-01] [ 5.04496269e-03 -1.17299994e-05 9.99987274e-01 1.95869036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:373.68, Y:0.45, Z:1.96 [[ 9.99874278e-01 -1.50326213e-02 -5.04467147e-03 3.73683852e+02] [ 1.50325328e-02 9.99887004e-01 -5.54601109e-05 4.48399018e-01] [ 5.04493515e-03 -2.03810510e-05 9.99987274e-01 1.95670840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.114391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:373.71, Y:0.45, Z:1.96 [[ 9.99847929e-01 -1.66934063e-02 -5.04467593e-03 3.73714857e+02] [ 1.66933410e-02 9.99860655e-01 -5.50507428e-05 4.49636918e-01] [ 5.04489197e-03 -2.91701246e-05 9.99987274e-01 1.95724470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144391418 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:373.75, Y:0.45, Z:1.96 [[ 9.99801543e-01 -1.92724127e-02 -5.04467924e-03 3.73747028e+02] [ 1.92723818e-02 9.99814269e-01 -5.47456218e-05 4.52486256e-01] [ 5.04479737e-03 -4.24882274e-05 9.99987274e-01 1.95608822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17439141799997 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:373.78, Y:0.45, Z:1.96 [[ 9.99778759e-01 -2.04202074e-02 -5.04468350e-03 3.73779119e+02] [ 2.04201931e-02 9.99791485e-01 -5.43507534e-05 4.53974542e-01] [ 5.04474146e-03 -4.86746825e-05 9.99987274e-01 1.95510642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:373.81, Y:0.46, Z:1.95 [[ 9.99737992e-01 -2.23270656e-02 -5.04468784e-03 3.73810283e+02] [ 2.23270776e-02 9.99750718e-01 -5.39443406e-05 4.56749187e-01] [ 5.04463471e-03 -5.87029301e-05 9.99987274e-01 1.95444321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:373.84, Y:0.46, Z:1.95 [[ 9.99681804e-01 -2.47152311e-02 -5.04469469e-03 3.73841656e+02] [ 2.47152768e-02 9.99694529e-01 -5.32959504e-05 4.60704527e-01] [ 5.04447091e-03 -7.14020341e-05 9.99987274e-01 1.95308283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:373.87, Y:0.46, Z:1.95 [[ 9.99717101e-01 -2.32437603e-02 -5.04445030e-03 3.73872805e+02] [ 2.32436690e-02 9.99729826e-01 -7.67254178e-05 4.61953006e-01] [ 5.04487081e-03 -4.05478208e-05 9.99987274e-01 1.95465908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:373.91, Y:0.46, Z:1.95 [[ 9.99701426e-01 -2.39084215e-02 -5.04438146e-03 3.73906193e+02] [ 2.39083060e-02 9.99714152e-01 -8.32126374e-05 4.64321555e-01] [ 5.04492902e-03 -3.74148231e-05 9.99987274e-01 1.95472177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:373.94, Y:0.47, Z:1.95 [[ 9.99667090e-01 -2.53034013e-02 -5.04445871e-03 3.73940120e+02] [ 2.53033414e-02 9.99679816e-01 -7.56983222e-05 4.66724107e-01] [ 5.04475898e-03 -5.19685395e-05 9.99987274e-01 1.95471266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:373.97, Y:0.47, Z:1.96 [[ 9.99619969e-01 -2.71010673e-02 -5.04471244e-03 3.73971807e+02] [ 2.71011590e-02 9.99632695e-01 -5.02023096e-05 4.71746570e-01] [ 5.04422002e-03 -8.65343227e-05 9.99987274e-01 1.95639620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.00, Y:0.47, Z:1.96 [[ 9.99588693e-01 -2.82311341e-02 -5.04467928e-03 3.74004571e+02] [ 2.82312232e-02 9.99601418e-01 -5.35548954e-05 4.73746725e-01] [ 5.04418048e-03 -8.88845991e-05 9.99987274e-01 1.95510527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414391418 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:374.04, Y:0.47, Z:1.95 [[ 9.99579880e-01 -2.85414403e-02 -5.04473458e-03 3.74038754e+02] [ 2.85415623e-02 9.99592605e-01 -4.78325687e-05 4.74459936e-01] [ 5.04404459e-03 -9.61721328e-05 9.99987274e-01 1.95422342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:374.07, Y:0.48, Z:1.95 [[ 9.99506556e-01 -3.10030999e-02 -5.04499862e-03 3.74067587e+02] [ 3.10033952e-02 9.99519279e-01 -1.96792170e-05 4.77793834e-01] [ 5.04318350e-03 -1.36742580e-04 9.99987274e-01 1.95311017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.10, Y:0.48, Z:1.95 [[ 9.99437364e-01 -3.31587889e-02 -5.04473411e-03 3.74099318e+02] [ 3.31589704e-02 9.99450089e-01 -4.76710204e-05 4.81256047e-01] [ 5.04354067e-03 -1.19633990e-04 9.99987274e-01 1.95301693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:374.13, Y:0.48, Z:1.95 [[ 9.99381174e-01 -3.48112304e-02 -5.04462153e-03 3.74131459e+02] [ 3.48113726e-02 9.99393899e-01 -5.96549643e-05 4.83694502e-01] [ 5.04364064e-03 -1.15992151e-04 9.99987274e-01 1.95323280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.16, Y:0.49, Z:1.95 [[ 9.99328638e-01 -3.62880751e-02 -5.04474695e-03 3.74163773e+02] [ 3.62883056e-02 9.99341361e-01 -4.58570263e-05 4.85208058e-01] [ 5.04308835e-03 -1.37239080e-04 9.99987274e-01 1.95369907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.20, Y:0.49, Z:1.95 [[ 9.99273710e-01 -3.77704067e-02 -5.04475150e-03 3.74197031e+02] [ 3.77706587e-02 9.99286433e-01 -4.53516102e-05 4.86513326e-01] [ 5.04286468e-03 -1.45224915e-04 9.99987274e-01 1.95322448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.23, Y:0.49, Z:1.95 [[ 9.99223541e-01 -3.90751324e-02 -5.04475677e-03 3.74229646e+02] [ 3.90754040e-02 9.99236264e-01 -4.47577540e-05 4.87933069e-01] [ 5.04265282e-03 -1.52402907e-04 9.99987274e-01 1.95239601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.26, Y:0.49, Z:1.95 [[ 9.99103795e-01 -4.20256700e-02 -5.04476210e-03 3.74261761e+02] [ 4.20259822e-02 9.99116517e-01 -4.41477986e-05 4.90700405e-01] [ 5.04216048e-03 -1.67902849e-04 9.99987274e-01 1.95215411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.29, Y:0.49, Z:1.95 [[ 9.99025925e-01 -4.38377955e-02 -5.04477481e-03 3.74293804e+02] [ 4.38381384e-02 9.99038646e-01 -4.26451448e-05 4.92280549e-01] [ 5.04179446e-03 -1.78549931e-04 9.99987274e-01 1.95216014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.33, Y:0.49, Z:1.95 [[ 9.98966905e-01 -4.51627461e-02 -5.04478686e-03 3.74326377e+02] [ 4.51631133e-02 9.98979625e-01 -4.11675371e-05 4.93531192e-01] [ 5.04149853e-03 -1.86713274e-04 9.99987274e-01 1.95197041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.36, Y:0.50, Z:1.95 [[ 9.98878988e-01 -4.70671553e-02 -5.04479163e-03 3.74358229e+02] [ 4.70675498e-02 9.98891708e-01 -4.05749118e-05 4.95649699e-01] [ 5.04111027e-03 -1.96916554e-04 9.99987274e-01 1.95124742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.39, Y:0.50, Z:1.95 [[ 9.98915906e-01 -4.62770139e-02 -5.04479485e-03 3.74390884e+02] [ 4.62774004e-02 9.98928626e-01 -4.01705972e-05 4.95967501e-01] [ 5.04124897e-03 -1.93332942e-04 9.99987274e-01 1.95006214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.42, Y:0.50, Z:1.95 [[ 9.98921450e-01 -4.61571972e-02 -5.04479960e-03 3.74424442e+02] [ 4.61575851e-02 9.98934170e-01 -3.95655780e-05 4.96113163e-01] [ 5.04124893e-03 -1.93332862e-04 9.99987274e-01 1.95023118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.46, Y:0.50, Z:1.95 [[ 9.98962024e-01 -4.52705739e-02 -5.04480427e-03 3.74456063e+02] [ 4.52709536e-02 9.98974744e-01 -3.89604793e-05 4.96797228e-01] [ 5.04139582e-03 -1.89463061e-04 9.99987274e-01 1.94919261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.49, Y:0.50, Z:1.95 [[ 9.98983205e-01 -4.48007385e-02 -5.04481177e-03 3.74489436e+02] [ 4.48011173e-02 9.98995925e-01 -3.79640667e-05 4.96977511e-01] [ 5.04144722e-03 -1.88087739e-04 9.99987274e-01 1.94886157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.52, Y:0.50, Z:1.95 [[ 9.98998622e-01 -4.44556303e-02 -5.04481629e-03 3.74522358e+02] [ 4.44560077e-02 9.99011342e-01 -3.73525087e-05 4.97038638e-01] [ 5.04148923e-03 -1.86957287e-04 9.99987274e-01 1.94876421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.55, Y:0.50, Z:1.95 [[ 9.99002692e-01 -4.43640863e-02 -5.04482074e-03 3.74554984e+02] [ 4.43644656e-02 9.99015412e-01 -3.67421793e-05 4.97356399e-01] [ 5.04148370e-03 -1.87105240e-04 9.99987274e-01 1.94912027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.59, Y:0.50, Z:1.95 [[ 9.98996673e-01 -4.44994037e-02 -5.04482509e-03 3.74587592e+02] [ 4.44997878e-02 9.99009393e-01 -3.61349406e-05 4.97000459e-01] [ 5.04143563e-03 -1.88394961e-04 9.99987274e-01 1.94935002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.62, Y:0.50, Z:1.95 [[ 9.98998137e-01 -4.44665351e-02 -5.04483537e-03 3.74621047e+02] [ 4.44669263e-02 9.99010856e-01 -3.46372102e-05 4.96429877e-01] [ 5.04138550e-03 -1.89725815e-04 9.99987274e-01 1.94937760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.65, Y:0.49, Z:1.95 [[ 9.98981552e-01 -4.48375823e-02 -5.04483938e-03 3.74653759e+02] [ 4.48379813e-02 9.98994271e-01 -3.40433443e-05 4.94874359e-01] [ 5.04129206e-03 -1.92191741e-04 9.99987274e-01 1.94837906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.69, Y:0.49, Z:1.95 [[ 9.98985047e-01 -4.47596335e-02 -5.04484333e-03 3.74686341e+02] [ 4.47600345e-02 9.98997767e-01 -3.34470694e-05 4.94302724e-01] [ 5.04128430e-03 -1.92394239e-04 9.99987274e-01 1.94821158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.72, Y:0.49, Z:1.95 [[ 9.99007893e-01 -4.42468019e-02 -5.04484726e-03 3.74718942e+02] [ 4.42471994e-02 9.99020613e-01 -3.28432475e-05 4.93534395e-01] [ 5.04135961e-03 -1.90409699e-04 9.99987274e-01 1.94813341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.75, Y:0.49, Z:1.95 [[ 9.99048220e-01 -4.33266983e-02 -5.04485116e-03 3.74752204e+02] [ 4.33270872e-02 9.99060940e-01 -3.22335673e-05 4.92911304e-01] [ 5.04151032e-03 -1.86375818e-04 9.99987274e-01 1.94837382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.79, Y:0.49, Z:1.95 [[ 9.99106508e-01 -4.19611245e-02 -5.04485496e-03 3.74785678e+02] [ 4.19614990e-02 9.99119228e-01 -3.16266881e-05 4.92144648e-01] [ 5.04173869e-03 -1.80091247e-04 9.99987274e-01 1.94818390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.82, Y:0.49, Z:1.95 [[ 9.99171525e-01 -4.03833215e-02 -5.04485866e-03 3.74818398e+02] [ 4.03836790e-02 9.99184246e-01 -3.10249783e-05 4.91451581e-01] [ 5.04199619e-03 -1.72730678e-04 9.99987274e-01 1.94781074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.85, Y:0.49, Z:1.95 [[ 9.99295948e-01 -3.71773774e-02 -5.04486236e-03 3.74851693e+02] [ 3.71776971e-02 9.99308670e-01 -3.04120995e-05 4.89736504e-01] [ 5.04250534e-03 -1.57165677e-04 9.99987274e-01 1.94734900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.88, Y:0.49, Z:1.95 [[ 9.99334383e-01 -3.61295039e-02 -5.04486595e-03 3.74883362e+02] [ 3.61298134e-02 9.99347105e-01 -2.98040037e-05 4.89191978e-01] [ 5.04264899e-03 -1.52485900e-04 9.99987274e-01 1.94804840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.92, Y:0.49, Z:1.95 [[ 9.99375371e-01 -3.49773871e-02 -5.04486887e-03 3.74916417e+02] [ 3.49776845e-02 9.99388093e-01 -2.93009536e-05 4.88472079e-01] [ 5.04280675e-03 -1.47175180e-04 9.99987274e-01 1.94844229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.95, Y:0.49, Z:1.95 [[ 9.99475309e-01 -3.19946283e-02 -5.04487233e-03 3.74949731e+02] [ 3.19948908e-02 9.99488032e-01 -2.86934253e-05 4.86623609e-01] [ 5.04320755e-03 -1.32731769e-04 9.99987274e-01 1.94754776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.98, Y:0.49, Z:1.95 [[ 9.99538210e-01 -2.99652554e-02 -5.04487574e-03 3.74981781e+02] [ 2.99654951e-02 9.99550933e-01 -2.80806262e-05 4.85221462e-01] [ 5.04345170e-03 -1.23104541e-04 9.99987274e-01 1.94696129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.01, Y:0.48, Z:1.95 [[ 9.99640618e-01 -2.63283760e-02 -5.04487851e-03 3.75014668e+02] [ 2.63285719e-02 9.99653343e-01 -2.75741864e-05 4.82150422e-01] [ 5.04385565e-03 -1.05260170e-04 9.99987274e-01 1.94658117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.05, Y:0.48, Z:1.95 [[ 9.99671555e-01 -2.51262894e-02 -5.04488179e-03 3.75047166e+02] [ 2.51264731e-02 9.99684280e-01 -2.69604373e-05 4.81098683e-01] [ 5.04396643e-03 -9.98085044e-05 9.99987274e-01 1.94748485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:375.08, Y:0.48, Z:1.95 [[ 9.99703379e-01 -2.38265097e-02 -5.04488445e-03 3.75080491e+02] [ 2.38266795e-02 9.99716104e-01 -2.64526762e-05 4.80160308e-01] [ 5.04408250e-03 -9.37580150e-05 9.99987274e-01 1.94806751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.11, Y:0.48, Z:1.95 [[ 9.99761544e-01 -2.12462859e-02 -5.04488754e-03 3.75113302e+02] [ 2.12464259e-02 9.99774269e-01 -2.58491299e-05 4.78247497e-01] [ 5.04429795e-03 -8.13428635e-05 9.99987274e-01 1.94806150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.15, Y:0.48, Z:1.95 [[ 9.99794467e-01 -1.96360039e-02 -5.04489056e-03 3.75145971e+02] [ 1.96361264e-02 9.99807192e-01 -2.52465796e-05 4.76776719e-01] [ 5.04441361e-03 -7.38207182e-05 9.99987274e-01 1.94736035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464391418 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:375.18, Y:0.48, Z:1.95 [[ 9.99821891e-01 -1.81861208e-02 -5.04489356e-03 3.75177354e+02] [ 1.81862279e-02 9.99834617e-01 -2.46308397e-05 4.75234213e-01] [ 5.04450716e-03 -6.71211316e-05 9.99987274e-01 1.94658474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:375.21, Y:0.47, Z:1.94 [[ 9.99869049e-01 -1.53763965e-02 -5.04489503e-03 3.75209962e+02] [ 1.53764695e-02 9.99881775e-01 -2.43264614e-05 4.71788608e-01] [ 5.04467265e-03 -5.32493987e-05 9.99987274e-01 1.94482308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.24, Y:0.47, Z:1.94 [[ 9.99891101e-01 -1.38684681e-02 -5.04489692e-03 3.75242134e+02] [ 1.38685238e-02 9.99903827e-01 -2.39286502e-05 4.70632126e-01] [ 5.04474359e-03 -4.60392288e-05 9.99987274e-01 1.94494428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.554391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:375.27, Y:0.47, Z:1.94 [[ 9.99935480e-01 -1.01776176e-02 -5.04489876e-03 3.75273727e+02] [ 1.01776284e-02 9.99948206e-01 -2.35341738e-05 4.69180964e-01] [ 5.04487699e-03 -2.78124497e-05 9.99987274e-01 1.94472404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:375.31, Y:0.47, Z:1.95 [[ 9.99940855e-01 -9.63511342e-03 -5.04490011e-03 3.75305118e+02] [ 9.63511879e-03 9.99953581e-01 -2.32402199e-05 4.70478701e-01] [ 5.04488986e-03 -2.53693665e-05 9.99987274e-01 1.94508504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.614391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:375.34, Y:0.47, Z:1.94 [[ 9.99966850e-01 -6.39132896e-03 -5.04481644e-03 3.75336424e+02] [ 6.39120124e-03 9.99979575e-01 -4.14372930e-05 4.67320957e-01] [ 5.04497824e-03 9.19348228e-06 9.99987274e-01 1.94441825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:375.37, Y:0.47, Z:1.94 [[ 9.99974176e-01 -5.11816177e-03 -5.04490095e-03 3.75366588e+02] [ 5.11811376e-03 9.99986902e-01 -2.24269075e-05 4.66129385e-01] [ 5.04494966e-03 -3.39404869e-06 9.99987274e-01 1.94403592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67439141799997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:375.40, Y:0.46, Z:1.94 [[ 9.99983357e-01 -2.79897752e-03 -5.04490138e-03 3.75396891e+02] [ 2.79890049e-03 9.99996083e-01 -2.23298752e-05 4.64031492e-01] [ 5.04494412e-03 8.20932660e-06 9.99987274e-01 1.94359936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:375.43, Y:0.46, Z:1.94 [[ 9.99985899e-01 -1.65831226e-03 -5.04490138e-03 3.75425446e+02] [ 1.65822071e-03 9.99998625e-01 -2.23298752e-05 4.63165276e-01] [ 5.04493148e-03 1.39640004e-05 9.99987274e-01 1.94333592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734391418 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:375.45, Y:0.46, Z:1.94 [[ 9.99987033e-01 -6.94185268e-04 -5.04490010e-03 3.75454494e+02] [ 6.94080000e-04 9.99999759e-01 -2.26169380e-05 4.61924707e-01] [ 5.04491458e-03 1.91150805e-05 9.99987274e-01 1.94279060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:375.48, Y:0.46, Z:1.94 [[ 9.99987104e-01 -5.83509949e-04 -5.04489881e-03 3.75483399e+02] [ 5.83401840e-04 9.99999830e-01 -2.29009925e-05 4.61198019e-01] [ 5.04491131e-03 1.99574939e-05 9.99987274e-01 1.94217061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:375.51, Y:0.46, Z:1.94 [[ 9.99986159e-01 -1.49339118e-03 -5.04489215e-03 3.75512183e+02] [ 1.49328767e-03 9.99998885e-01 -2.42841577e-05 4.58774272e-01] [ 5.04492279e-03 1.67503463e-05 9.99987274e-01 1.94180889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:375.54, Y:0.46, Z:1.94 [[ 9.99984432e-01 -2.38443994e-03 -5.04489015e-03 3.75540881e+02] [ 2.38434571e-03 9.99997157e-01 -2.46917382e-05 4.57471151e-01] [ 5.04493469e-03 1.26625916e-05 9.99987274e-01 1.94185823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:375.57, Y:0.46, Z:1.94 [[ 9.99985117e-01 -2.07713975e-03 -5.04496637e-03 3.75570170e+02] [ 2.07712082e-03 9.99997843e-01 -8.99113260e-06 4.56304575e-01] [ 5.04497416e-03 -1.48800589e-06 9.99987274e-01 1.94183755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884391418 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:375.60, Y:0.46, Z:1.94 [[ 9.99985066e-01 -2.10164546e-03 -5.04488401e-03 3.75598844e+02] [ 2.10154423e-03 9.99997791e-01 -2.53683497e-05 4.55364885e-01] [ 5.04492619e-03 1.47659240e-05 9.99987274e-01 1.94240689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:375.63, Y:0.45, Z:1.94 [[ 9.99985654e-01 -1.80049790e-03 -5.04488248e-03 3.75628097e+02] [ 1.80039131e-03 9.99998379e-01 -2.56700039e-05 4.54370534e-01] [ 5.04492052e-03 1.65868730e-05 9.99987274e-01 1.94159567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:375.66, Y:0.45, Z:1.94 [[ 9.99986665e-01 -1.10439057e-03 -5.04488145e-03 3.75658179e+02] [ 1.10427410e-03 9.99999390e-01 -2.58711818e-05 4.53959482e-01] [ 5.04490694e-03 2.02999049e-05 9.99987274e-01 1.94167740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974391418 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:375.69, Y:0.45, Z:1.94 [[ 9.99986598e-01 -1.16346775e-03 -5.04488041e-03 3.75686896e+02] [ 1.16335102e-03 9.99999323e-01 -2.60718653e-05 4.54085325e-01] [ 5.04490733e-03 2.02025491e-05 9.99987274e-01 1.94157141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:375.72, Y:0.45, Z:1.94 [[ 9.99987211e-01 -3.55292181e-04 -5.04487276e-03 3.75715099e+02] [ 3.55158083e-04 9.99999937e-01 -2.74767542e-05 4.53878169e-01] [ 5.04488220e-03 2.56846755e-05 9.99987274e-01 1.94150935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:375.74, Y:0.45, Z:1.94 [[ 9.99987241e-01 -2.59902116e-04 -5.04487069e-03 3.75743507e+02] [ 2.59764912e-04 9.99999966e-01 -2.78519819e-05 4.53799676e-01] [ 5.04487775e-03 2.65411461e-05 9.99987274e-01 1.94126204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:375.77, Y:0.45, Z:1.94 [[ 9.99987062e-01 -6.52401139e-04 -5.04486270e-03 3.75772667e+02] [ 6.52261976e-04 9.99999787e-01 -2.92303314e-05 4.53872449e-01] [ 5.04488069e-03 2.59393811e-05 9.99987274e-01 1.94142955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:375.80, Y:0.45, Z:1.94 [[ 9.99986514e-01 -1.23316599e-03 -5.04486040e-03 3.75801761e+02] [ 1.23303224e-03 9.99999239e-01 -2.96225905e-05 4.53947110e-01] [ 5.04489309e-03 2.34017155e-05 9.99987274e-01 1.94119193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:375.83, Y:0.45, Z:1.94 [[ 9.99985597e-01 -1.83167715e-03 -5.04485867e-03 3.75830699e+02] [ 1.83154954e-03 9.99998322e-01 -2.99141683e-05 4.54269418e-01] [ 5.04490500e-03 2.06738289e-05 9.99987274e-01 1.94157845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154391418 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:375.86, Y:0.46, Z:1.94 [[ 9.99982667e-01 -3.03560773e-03 -5.04485634e-03 3.75859345e+02] [ 3.03549349e-03 9.99995392e-01 -3.03008197e-05 4.55266884e-01] [ 5.04492508e-03 1.49866659e-05 9.99987274e-01 1.94173185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:375.89, Y:0.46, Z:1.94 [[ 9.99982231e-01 -3.17592983e-03 -5.04485460e-03 3.75888950e+02] [ 3.17581593e-03 9.99994957e-01 -3.05880393e-05 4.55827797e-01] [ 5.04492631e-03 1.45659662e-05 9.99987274e-01 1.94151133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:375.92, Y:0.46, Z:1.94 [[ 9.99980513e-01 -3.67735894e-03 -5.04485344e-03 3.75918216e+02] [ 3.67725045e-03 9.99993238e-01 -3.07793097e-05 4.56749568e-01] [ 5.04493251e-03 1.22275204e-05 9.99987274e-01 1.93992522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244391418 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:375.95, Y:0.46, Z:1.94 [[ 9.99979212e-01 -4.01571373e-03 -5.04485220e-03 3.75947673e+02] [ 4.01560854e-03 9.99991937e-01 -3.09799921e-05 4.57411054e-01] [ 5.04493593e-03 1.07211965e-05 9.99987274e-01 1.93971709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:375.98, Y:0.46, Z:1.94 [[ 9.99981316e-01 -3.45218042e-03 -5.04485159e-03 3.75978094e+02] [ 3.45206756e-03 9.99994041e-01 -3.10794828e-05 4.58035695e-01] [ 5.04492882e-03 1.36637335e-05 9.99987274e-01 1.93921340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.304391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:376.01, Y:0.46, Z:1.94 [[ 9.99975282e-01 -4.89723813e-03 -5.04503072e-03 3.76007428e+02] [ 4.89728664e-03 9.99988008e-01 -2.73978636e-06 4.61032316e-01] [ 5.04498364e-03 -2.19672429e-05 9.99987274e-01 1.94002200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:376.04, Y:0.46, Z:1.94 [[ 9.99974469e-01 -5.06064133e-03 -5.04483875e-03 3.76038303e+02] [ 5.06054166e-03 9.99987195e-01 -3.25209673e-05 4.62076749e-01] [ 5.04493872e-03 6.99052033e-06 9.99987274e-01 1.94025179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.364391418 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:376.07, Y:0.46, Z:1.94 [[ 9.99971365e-01 -5.64078028e-03 -5.04483875e-03 3.76068723e+02] [ 5.64068799e-03 9.99984091e-01 -3.25209673e-05 4.63321900e-01] [ 5.04494193e-03 4.06367469e-06 9.99987274e-01 1.94023995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:376.10, Y:0.47, Z:1.94 [[ 9.99969604e-01 -5.94474956e-03 -5.04483875e-03 3.76098800e+02] [ 5.94466114e-03 9.99982330e-01 -3.25209673e-05 4.65212969e-01] [ 5.04494293e-03 2.53012191e-06 9.99987274e-01 1.94061766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:376.13, Y:0.47, Z:1.94 [[ 9.99966433e-01 -6.45614962e-03 -5.04483875e-03 3.76129011e+02] [ 6.45606771e-03 9.99979159e-01 -3.25209673e-05 4.66469811e-01] [ 5.04494357e-03 -4.99449163e-08 9.99987274e-01 1.94090152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:376.16, Y:0.47, Z:1.94 [[ 9.99964956e-01 -6.68104989e-03 -5.04483875e-03 3.76159138e+02] [ 6.68097084e-03 9.99977682e-01 -3.25209673e-05 4.69030278e-01] [ 5.04494343e-03 -1.18459298e-06 9.99987274e-01 1.94144012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:376.19, Y:0.47, Z:1.94 [[ 9.99973748e-01 -5.20126844e-03 -5.04484085e-03 3.76189254e+02] [ 5.20117223e-03 9.99986473e-01 -3.21907691e-05 4.70129296e-01] [ 5.04494005e-03 5.95083783e-06 9.99987274e-01 1.94101841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:376.22, Y:0.47, Z:1.94 [[ 9.99969556e-01 -5.95298908e-03 -5.04472830e-03 3.76220116e+02] [ 5.95281381e-03 9.99982281e-01 -4.97560930e-05 4.71969164e-01] [ 5.04493511e-03 1.97242499e-05 9.99987274e-01 1.94146329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.25, Y:0.48, Z:1.94 [[ 9.99978248e-01 -4.24899166e-03 -5.04483838e-03 3.76250767e+02] [ 4.24887998e-03 9.99990973e-01 -3.28541365e-05 4.75119192e-01] [ 5.04493243e-03 1.14185091e-05 9.99987274e-01 1.94139629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.28, Y:0.48, Z:1.94 [[ 9.99982409e-01 -3.11947280e-03 -5.04483902e-03 3.76280804e+02] [ 3.11934725e-03 9.99995134e-01 -3.27552158e-05 4.76949052e-01] [ 5.04491665e-03 1.70180349e-05 9.99987274e-01 1.94187151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:376.31, Y:0.48, Z:1.94 [[ 9.99984971e-01 -2.14669105e-03 -5.04483902e-03 3.76310078e+02] [ 2.14655312e-03 9.99997696e-01 -3.27552158e-05 4.78694054e-01] [ 5.04489771e-03 2.19257086e-05 9.99987274e-01 1.94224625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:376.34, Y:0.48, Z:1.94 [[ 9.99986546e-01 -1.20706141e-03 -5.04483776e-03 3.76338868e+02] [ 1.20691055e-03 9.99999271e-01 -3.29485529e-05 4.80568263e-01] [ 5.04487385e-03 2.68594417e-05 9.99987274e-01 1.94267716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:376.37, Y:0.48, Z:1.94 [[ 9.99986193e-01 -1.47108966e-03 -5.04483586e-03 3.76368077e+02] [ 1.47094071e-03 9.99998918e-01 -3.32361885e-05 4.80874271e-01] [ 5.04487929e-03 2.58150751e-05 9.99987274e-01 1.94282465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:376.40, Y:0.48, Z:1.94 [[ 9.99987097e-01 -5.96711434e-04 -5.04482673e-03 3.76396735e+02] [ 5.96544634e-04 9.99999821e-01 -3.45681931e-05 4.84137777e-01] [ 5.04484646e-03 3.15582827e-05 9.99987274e-01 1.94329324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:376.43, Y:0.49, Z:1.94 [[ 9.99987047e-01 -6.74487343e-04 -5.04481717e-03 3.76425289e+02] [ 6.74314753e-04 9.99999772e-01 -3.59121343e-05 4.85732324e-01] [ 5.04484024e-03 3.25098745e-05 9.99987274e-01 1.94345356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:376.45, Y:0.49, Z:1.94 [[ 9.99987176e-01 -4.44053137e-04 -5.04480725e-03 3.76453559e+02] [ 4.43870840e-04 9.99999901e-01 -3.72550905e-05 4.88868359e-01] [ 5.04482329e-03 3.50153700e-05 9.99987274e-01 1.94378319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784391418 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:376.48, Y:0.49, Z:1.94 [[ 9.99986911e-01 -8.52833458e-04 -5.04479701e-03 3.76482508e+02] [ 8.52649609e-04 9.99999636e-01 -3.85938324e-05 4.90593944e-01] [ 5.04482808e-03 3.42918831e-05 9.99987274e-01 1.94374100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.51, Y:0.49, Z:1.94 [[ 9.99986507e-01 -1.23948635e-03 -5.04479404e-03 3.76510822e+02] [ 1.23930549e-03 9.99999231e-01 -3.89784425e-05 4.92218764e-01] [ 5.04483847e-03 3.27258756e-05 9.99987274e-01 1.94347090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844391418 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:376.54, Y:0.50, Z:1.94 [[ 9.99985033e-01 -2.11730415e-03 -5.04479087e-03 3.76539551e+02] [ 2.11713241e-03 9.99997758e-01 -3.93838986e-05 4.95013200e-01] [ 5.04486295e-03 2.87028190e-05 9.99987274e-01 1.94271942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.57, Y:0.50, Z:1.94 [[ 9.99983005e-01 -2.92243279e-03 -5.04478850e-03 3.76568889e+02] [ 2.92226977e-03 9.99995729e-01 -3.96854054e-05 4.96240167e-01] [ 5.04488293e-03 2.49424980e-05 9.99987274e-01 1.94261748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.60, Y:0.50, Z:1.94 [[ 9.99979909e-01 -3.83816613e-03 -5.04478693e-03 3.76598474e+02] [ 3.83801376e-03 9.99992634e-01 -3.98842721e-05 4.97141884e-01] [ 5.04490285e-03 2.05215092e-05 9.99987274e-01 1.94259772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.63, Y:0.50, Z:1.94 [[ 9.99975283e-01 -4.89730389e-03 -5.04478614e-03 3.76627882e+02] [ 4.89716450e-03 9.99988008e-01 -3.99829610e-05 4.98144376e-01] [ 5.04492146e-03 1.52768251e-05 9.99987274e-01 1.94273842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.66, Y:0.50, Z:1.94 [[ 9.99966082e-01 -6.51040438e-03 -5.04478459e-03 3.76658406e+02] [ 6.51028453e-03 9.99978807e-01 -4.01782764e-05 4.99919103e-01] [ 5.04493925e-03 7.33393057e-06 9.99987274e-01 1.94340874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.69, Y:0.50, Z:1.94 [[ 9.99962451e-01 -7.04602442e-03 -5.04478459e-03 3.76689666e+02] [ 7.04591139e-03 9.99975176e-01 -4.01782764e-05 5.01044039e-01] [ 5.04494246e-03 4.63166257e-06 9.99987274e-01 1.94396766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.72, Y:0.50, Z:1.94 [[ 9.99952716e-01 -8.31359475e-03 -5.04478615e-03 3.76720650e+02] [ 8.31349885e-03 9.99965441e-01 -3.99807690e-05 5.03156627e-01] [ 5.04494420e-03 -1.96094530e-06 9.99987274e-01 1.94443807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.75, Y:0.50, Z:1.94 [[ 9.99952512e-01 -8.33804060e-03 -5.04478771e-03 3.76751093e+02] [ 8.33794601e-03 9.99965238e-01 -3.97831922e-05 5.04004701e-01] [ 5.04494406e-03 -2.28186453e-06 9.99987274e-01 1.94442951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.78, Y:0.51, Z:1.94 [[ 9.99938296e-01 -9.89726024e-03 -5.04474409e-03 3.76782166e+02] [ 9.89715774e-03 9.99951021e-01 -4.52830967e-05 5.05128941e-01] [ 5.04494518e-03 -4.64832552e-06 9.99987274e-01 1.94419818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.81, Y:0.51, Z:1.94 [[ 9.99921067e-01 -1.15069654e-02 -5.04478408e-03 3.76813508e+02] [ 1.15069087e-02 9.99933793e-01 -4.02742806e-05 5.06268670e-01] [ 5.04491351e-03 -1.77787679e-05 9.99987274e-01 1.94325342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.85, Y:0.51, Z:1.94 [[ 9.99907386e-01 -1.26399807e-02 -5.04478642e-03 3.76845480e+02] [ 1.26399399e-02 9.99920112e-01 -3.99789830e-05 5.07147197e-01] [ 5.04488873e-03 -2.37905165e-05 9.99987274e-01 1.94304974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.88, Y:0.51, Z:1.94 [[ 9.99885392e-01 -1.42741926e-02 -5.04478947e-03 3.76878005e+02] [ 1.42741745e-02 9.99898118e-01 -3.95895708e-05 5.08704333e-01] [ 5.04484061e-03 -3.24251719e-05 9.99987274e-01 1.94264030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.91, Y:0.51, Z:1.94 [[ 9.99869372e-01 -1.53554372e-02 -5.04479252e-03 3.76910705e+02] [ 1.53554349e-02 9.99882098e-01 -3.91970878e-05 5.09466848e-01] [ 5.04479962e-03 -3.82730156e-05 9.99987274e-01 1.94265946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.94, Y:0.51, Z:1.94 [[ 9.99840207e-01 -1.71496260e-02 -5.04479559e-03 3.76943368e+02] [ 1.71496485e-02 9.99852933e-01 -3.87982195e-05 5.09194261e-01] [ 5.04471904e-03 -4.77244514e-05 9.99987274e-01 1.94323589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.98, Y:0.51, Z:1.94 [[ 9.99811389e-01 -1.87546172e-02 -5.04479864e-03 3.76975810e+02] [ 1.87546622e-02 9.99824115e-01 -3.83969269e-05 5.09061046e-01] [ 5.04463146e-03 -5.62238097e-05 9.99987274e-01 1.94306351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.01, Y:0.51, Z:1.94 [[ 9.99769049e-01 -2.08901387e-02 -5.04480240e-03 3.77008510e+02] [ 2.08902134e-02 9.99781775e-01 -3.78968637e-05 5.08727906e-01] [ 5.04449317e-03 -6.74988874e-05 9.99987274e-01 1.94319741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.04, Y:0.51, Z:1.94 [[ 9.99769520e-01 -2.08676147e-02 -5.04480688e-03 3.77040604e+02] [ 2.08676921e-02 9.99782245e-01 -3.72906359e-05 5.08003385e-01] [ 5.04448652e-03 -6.79914357e-05 9.99987274e-01 1.94234041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.07, Y:0.51, Z:1.94 [[ 9.99776742e-01 -2.05186643e-02 -5.04481054e-03 3.77073493e+02] [ 2.05187399e-02 9.99789468e-01 -3.67890526e-05 5.07591002e-01] [ 5.04450331e-03 -6.67323159e-05 9.99987274e-01 1.94255058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.11, Y:0.51, Z:1.94 [[ 9.99781435e-01 -2.02887033e-02 -5.04481494e-03 3.77105464e+02] [ 2.02887790e-02 9.99794161e-01 -3.61755199e-05 5.07862057e-01] [ 5.04451047e-03 -6.61855224e-05 9.99987274e-01 1.94279384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.14, Y:0.51, Z:1.94 [[ 9.99787704e-01 -1.99774305e-02 -5.04481853e-03 3.77137455e+02] [ 1.99775048e-02 9.99800429e-01 -3.56677654e-05 5.07903564e-01] [ 5.04452428e-03 -6.51226933e-05 9.99987274e-01 1.94338829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.17, Y:0.51, Z:1.94 [[ 9.99784777e-01 -2.01233618e-02 -5.04482128e-03 3.77169969e+02] [ 2.01234399e-02 9.99797502e-01 -3.52742434e-05 5.07720585e-01] [ 5.04450955e-03 -6.62525064e-05 9.99987274e-01 1.94397227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.20, Y:0.51, Z:1.94 [[ 9.99777556e-01 -2.04789695e-02 -5.04482405e-03 3.77201913e+02] [ 2.04790542e-02 9.99790282e-01 -3.48742128e-05 5.07328408e-01] [ 5.04448024e-03 -6.84467696e-05 9.99987274e-01 1.94399260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504391418 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:377.23, Y:0.51, Z:1.94 [[ 9.99752471e-01 -2.16690119e-02 -5.04482744e-03 3.77234150e+02] [ 2.16691142e-02 9.99765197e-01 -3.43759520e-05 5.06995075e-01] [ 5.04438779e-03 -7.49494992e-05 9.99987274e-01 1.94396559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534391418 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:377.27, Y:0.51, Z:1.94 [[ 9.99687697e-01 -2.44756494e-02 -5.04483006e-03 3.77267395e+02] [ 2.44757894e-02 9.99700422e-01 -3.39871099e-05 5.05082911e-01] [ 5.04415060e-03 -8.94997025e-05 9.99987274e-01 1.94301474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.30, Y:0.50, Z:1.94 [[ 9.99667050e-01 -2.53049332e-02 -5.04483402e-03 3.77300114e+02] [ 2.53050868e-02 9.99679774e-01 -3.33893881e-05 5.04236588e-01] [ 5.04406345e-03 -9.42816915e-05 9.99987274e-01 1.94246373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.33, Y:0.50, Z:1.94 [[ 9.99634014e-01 -2.65779731e-02 -5.04483791e-03 3.77333394e+02] [ 2.65781459e-02 9.99646738e-01 -3.27910384e-05 5.02566015e-01] [ 5.04392728e-03 -1.01303401e-04 9.99987274e-01 1.94166223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.37, Y:0.50, Z:1.94 [[ 9.99620991e-01 -2.70633344e-02 -5.04484174e-03 3.77366747e+02] [ 2.70635164e-02 9.99633715e-01 -3.21905983e-05 5.01880201e-01] [ 5.04386507e-03 -1.04352759e-04 9.99987274e-01 1.94182570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.40, Y:0.50, Z:1.94 [[ 9.99611114e-01 -2.74257271e-02 -5.04484547e-03 3.77399376e+02] [ 2.74259168e-02 9.99623838e-01 -3.15943231e-05 5.01148803e-01] [ 5.04381429e-03 -1.06777476e-04 9.99987274e-01 1.94196746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684391418 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:377.43, Y:0.50, Z:1.94 [[ 9.99628798e-01 -2.67734188e-02 -5.04484914e-03 3.77430525e+02] [ 2.67736032e-02 9.99641522e-01 -3.09974999e-05 5.00495904e-01] [ 5.04387058e-03 -1.04082795e-04 9.99987274e-01 1.94158128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.46, Y:0.50, Z:1.94 [[ 9.99628311e-01 -2.67915981e-02 -5.04475784e-03 3.77464273e+02] [ 2.67917077e-02 9.99641037e-01 -4.58560378e-05 4.99921057e-01] [ 5.04417551e-03 -8.93186840e-05 9.99987274e-01 1.94357438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.50, Y:0.50, Z:1.94 [[ 9.99657300e-01 -2.56871892e-02 -5.04485344e-03 3.77496054e+02] [ 2.56873672e-02 9.99670025e-01 -2.95171846e-05 4.99783089e-01] [ 5.04394697e-03 -1.00081934e-04 9.99987274e-01 1.94435619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.53, Y:0.50, Z:1.94 [[ 9.99692278e-01 -2.42878116e-02 -5.04485632e-03 3.77529477e+02] [ 2.42879743e-02 9.99705003e-01 -2.90156637e-05 4.99783262e-01] [ 5.04407283e-03 -9.35226059e-05 9.99987274e-01 1.94475787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.56, Y:0.50, Z:1.94 [[ 9.99762719e-01 -2.11909185e-02 -5.04485977e-03 3.77560682e+02] [ 2.11910449e-02 9.99775444e-01 -2.84024961e-05 4.99389452e-01] [ 5.04432879e-03 -7.85100934e-05 9.99987274e-01 1.94480819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.59, Y:0.50, Z:1.94 [[ 9.99798813e-01 -1.94134763e-02 -5.04486354e-03 3.77592947e+02] [ 1.94135835e-02 9.99811538e-01 -2.77167144e-05 4.98948743e-01] [ 5.04445085e-03 -7.02277415e-05 9.99987274e-01 1.94482314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.62, Y:0.50, Z:1.94 [[ 9.99869362e-01 -1.53560547e-02 -5.04486624e-03 3.77624917e+02] [ 1.53561128e-02 9.99882088e-01 -2.72161838e-05 4.98332051e-01] [ 5.04468932e-03 -5.02569068e-05 9.99987274e-01 1.94338231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.66, Y:0.50, Z:1.94 [[ 9.99905102e-01 -1.28193935e-02 -5.04486834e-03 3.77657590e+02] [ 1.28194214e-02 9.99917827e-01 -2.68207570e-05 4.98244389e-01] [ 5.04479762e-03 -3.78540812e-05 9.99987274e-01 1.94259942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:377.69, Y:0.50, Z:1.94 [[ 9.99940540e-01 -9.66779263e-03 -5.04487045e-03 3.77688972e+02] [ 9.66778238e-03 9.99953266e-01 -2.64187094e-05 4.98364057e-01] [ 5.04489009e-03 -2.23555711e-05 9.99987274e-01 1.94210511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.72, Y:0.50, Z:1.94 [[ 9.99984929e-01 -2.16575059e-03 -5.04487200e-03 3.77719990e+02] [ 2.16564638e-03 9.99997655e-01 -2.61197047e-05 4.99076937e-01] [ 5.04491673e-03 1.51939023e-05 9.99987274e-01 1.94186943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.75, Y:0.50, Z:1.94 [[ 9.99985460e-01 1.90488084e-03 -5.04487302e-03 3.77748394e+02] [-1.90503585e-03 9.99998185e-01 -2.59206355e-05 4.99601719e-01] [ 5.04481449e-03 3.55309225e-05 9.99987274e-01 1.94235724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.78, Y:0.50, Z:1.94 [[ 9.99969477e-01 5.96612032e-03 -5.04487148e-03 3.77776453e+02] [-5.96632850e-03 9.99982201e-01 -2.62162644e-05 5.00100815e-01] [ 5.04462528e-03 5.63148247e-05 9.99987274e-01 1.94271501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:377.80, Y:0.50, Z:1.94 [[ 9.99898487e-01 1.33253423e-02 -5.04486272e-03 3.77803929e+02] [-1.33256521e-02 9.99911209e-01 -2.78062538e-05 5.00884834e-01] [ 5.04404425e-03 9.50295168e-05 9.99987274e-01 1.94262062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.83, Y:0.50, Z:1.94 [[ 9.99845265e-01 1.68521568e-02 -5.04485352e-03 3.77831890e+02] [-1.68525195e-02 9.99857986e-01 -2.93852300e-05 5.00781521e-01] [ 5.04364188e-03 1.14399175e-04 9.99987274e-01 1.94283056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:377.86, Y:0.50, Z:1.94 [[ 9.99796511e-01 1.95316659e-02 -5.04484999e-03 3.77858688e+02] [-1.95320657e-02 9.99809231e-01 -2.99792101e-05 5.00845608e-01] [ 5.04330205e-03 1.28509451e-04 9.99987274e-01 1.94271920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134391418 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:377.89, Y:0.50, Z:1.94 [[ 9.99703158e-01 2.38358152e-02 -5.04484582e-03 3.77886533e+02] [-2.38362732e-02 9.99715875e-01 -3.06650438e-05 4.99761825e-01] [ 5.04268153e-03 1.50906264e-04 9.99987274e-01 1.94220514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:377.91, Y:0.50, Z:1.94 [[ 9.99670152e-01 2.51820688e-02 -5.04484222e-03 3.77914415e+02] [-2.51825469e-02 9.99682869e-01 -3.12474034e-05 4.99168043e-01] [ 5.04245547e-03 1.58279072e-04 9.99987274e-01 1.94193109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194391418 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:377.94, Y:0.50, Z:1.94 [[ 9.99650067e-01 2.59671600e-02 -5.04483855e-03 3.77942129e+02] [-2.59676509e-02 9.99662783e-01 -3.18291082e-05 4.97987379e-01] [ 5.04231083e-03 1.62820577e-04 9.99987274e-01 1.94131120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:377.97, Y:0.50, Z:1.94 [[ 9.99655933e-01 2.57403314e-02 -5.04483476e-03 3.77970537e+02] [-2.57408224e-02 9.99668650e-01 -3.24187745e-05 4.97315889e-01] [ 5.04232868e-03 1.62265816e-04 9.99987274e-01 1.94064374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:378.00, Y:0.50, Z:1.94 [[ 9.99673680e-01 2.50416322e-02 -5.04483091e-03 3.77998573e+02] [-2.50421173e-02 9.99686396e-01 -3.30071870e-05 4.96548232e-01] [ 5.04242228e-03 1.59329664e-04 9.99987274e-01 1.93990539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284391418 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:378.03, Y:0.50, Z:1.94 [[ 9.99694696e-01 2.41880885e-02 -5.04482700e-03 3.78026036e+02] [-2.41885657e-02 9.99707413e-01 -3.35937923e-05 4.95754730e-01] [ 5.04253838e-03 1.55610665e-04 9.99987274e-01 1.93942441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314391418 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:378.05, Y:0.49, Z:1.94 [[ 9.99758130e-01 2.14063480e-02 -5.04482306e-03 3.78054396e+02] [-2.14067928e-02 9.99770848e-01 -3.41758225e-05 4.93899347e-01] [ 5.04293545e-03 1.42161038e-04 9.99987274e-01 1.93928439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344391418 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:378.08, Y:0.49, Z:1.94 [[ 9.99795684e-01 1.95739469e-02 -5.04481891e-03 3.78081432e+02] [-1.95743714e-02 9.99808403e-01 -3.47782055e-05 4.93039668e-01] [ 5.04317159e-03 1.33520259e-04 9.99987274e-01 1.94016401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:378.11, Y:0.49, Z:1.94 [[ 9.99874009e-01 1.50504578e-02 -5.04481400e-03 3.78108240e+02] [-1.50508283e-02 9.99886729e-01 -3.54754142e-05 4.91321673e-01] [ 5.04370865e-03 1.11399574e-04 9.99987274e-01 1.94137266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404391418 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:378.14, Y:0.49, Z:1.94 [[ 9.99910328e-01 1.24050661e-02 -5.04480914e-03 3.78136593e+02] [-1.24054063e-02 9.99923049e-01 -3.61538118e-05 4.90616086e-01] [ 5.04397245e-03 9.87334770e-05 9.99987274e-01 1.94085139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434391418 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:378.16, Y:0.49, Z:1.94 [[ 9.99938838e-01 9.84222545e-03 -5.04480473e-03 3.78163143e+02] [-9.84253612e-03 9.99951560e-01 -3.67585997e-05 4.89622085e-01] [ 5.04419858e-03 8.64100244e-05 9.99987274e-01 1.94093516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:378.19, Y:0.49, Z:1.94 [[ 9.99975553e-01 4.84180385e-03 -5.04479821e-03 3.78191613e+02] [-4.84205531e-03 9.99988276e-01 -3.76325926e-05 4.87359381e-01] [ 5.04455686e-03 6.20588646e-05 9.99987274e-01 1.94017372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:378.22, Y:0.49, Z:1.94 [[ 9.99985022e-01 2.12288449e-03 -5.04479526e-03 3.78220677e+02] [-2.12310334e-03 9.99997746e-01 -3.80248466e-05 4.86911817e-01] [ 5.04470316e-03 4.87348987e-05 9.99987274e-01 1.93978617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:378.25, Y:0.49, Z:1.94 [[ 9.99987249e-01 -2.26661857e-04 -5.04479227e-03 3.78249399e+02] [ 2.26470933e-04 9.99999974e-01 -3.84170573e-05 4.86521809e-01] [ 5.04480085e-03 3.72740687e-05 9.99987274e-01 1.93993388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.554391418 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:378.28, Y:0.49, Z:1.94 [[ 9.99984452e-01 -2.37627503e-03 -5.04478924e-03 3.78277718e+02] [ 2.37610948e-03 9.99997176e-01 -3.88104360e-05 4.86400391e-01] [ 5.04486722e-03 2.68228611e-05 9.99987274e-01 1.94015480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584391418 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:378.31, Y:0.49, Z:1.94 [[ 9.99984359e-01 -2.41507155e-03 -5.04478620e-03 3.78307865e+02] [ 2.41490452e-03 9.99997083e-01 -3.92017066e-05 4.86673776e-01] [ 5.04486616e-03 2.70184164e-05 9.99987274e-01 1.94030705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.614391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:378.34, Y:0.49, Z:1.94 [[ 9.99970492e-01 -5.79363228e-03 -5.04478468e-03 3.78337567e+02] [ 5.79350725e-03 9.99983217e-01 -3.93974223e-05 4.86684002e-01] [ 5.04492826e-03 1.01692631e-05 9.99987274e-01 1.94084517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:378.37, Y:0.49, Z:1.94 [[ 9.99959020e-01 -7.51724276e-03 -5.04478312e-03 3.78368239e+02] [ 7.51713867e-03 9.99971745e-01 -3.95950762e-05 4.87174660e-01] [ 5.04493823e-03 1.67111925e-06 9.99987274e-01 1.94103463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67439141799997 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:378.40, Y:0.49, Z:1.94 [[ 9.99929030e-01 -1.07928582e-02 -5.04478312e-03 3.78398259e+02] [ 1.07927958e-02 9.99941755e-01 -3.95950762e-05 4.87737777e-01] [ 5.04491664e-03 -1.48550479e-05 9.99987274e-01 1.94063746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:378.43, Y:0.49, Z:1.94 [[ 9.99907735e-01 -1.26123688e-02 -5.04478620e-03 3.78430945e+02] [ 1.26123315e-02 9.99920461e-01 -3.91989724e-05 4.88187070e-01] [ 5.04487933e-03 -2.44311604e-05 9.99987274e-01 1.94030637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:378.46, Y:0.49, Z:1.94 [[ 9.99883136e-01 -1.44313426e-02 -5.04478919e-03 3.78463156e+02] [ 1.44313304e-02 9.99895862e-01 -3.88103090e-05 4.88906424e-01] [ 5.04482392e-03 -3.39972462e-05 9.99987274e-01 1.93986540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:378.49, Y:0.49, Z:1.94 [[ 9.99819524e-01 -1.83158042e-02 -5.04479217e-03 3.78494534e+02] [ 1.83158435e-02 9.99832250e-01 -3.84187646e-05 4.90157171e-01] [ 5.04464958e-03 -5.39877929e-05 9.99987274e-01 1.93809506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:378.53, Y:0.49, Z:1.94 [[ 9.99785073e-01 -2.01086357e-02 -5.04479438e-03 3.78525896e+02] [ 2.01086993e-02 9.99797799e-01 -3.81271131e-05 4.91035626e-01] [ 5.04454100e-03 -6.33253346e-05 9.99987274e-01 1.93747914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824391418 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:378.56, Y:0.49, Z:1.94 [[ 9.99736427e-01 -2.23970435e-02 -5.04479654e-03 3.78559024e+02] [ 2.23971377e-02 9.99749152e-01 -3.78385650e-05 4.93185416e-01] [ 5.04437854e-03 -7.51604108e-05 9.99987274e-01 1.93692354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:378.59, Y:0.49, Z:1.94 [[ 9.99729306e-01 -2.27126668e-02 -5.04480101e-03 3.78592011e+02] [ 2.27127680e-02 9.99742031e-01 -3.72334667e-05 4.94778472e-01] [ 5.04434528e-03 -7.73580070e-05 9.99987274e-01 1.93740438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:378.62, Y:0.50, Z:1.94 [[ 9.99719543e-01 -2.31383766e-02 -5.04480538e-03 3.78624551e+02] [ 2.31384863e-02 9.99732269e-01 -3.66311275e-05 4.96888273e-01] [ 5.04430231e-03 -8.01083062e-05 9.99987274e-01 1.93807913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:378.66, Y:0.50, Z:1.94 [[ 9.99710702e-01 -2.35172774e-02 -5.04480976e-03 3.78657124e+02] [ 2.35173950e-02 9.99723427e-01 -3.60179659e-05 5.01022347e-01] [ 5.04426155e-03 -8.26332378e-05 9.99987274e-01 1.93946882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:378.69, Y:0.50, Z:1.94 [[ 9.99696186e-01 -2.41264389e-02 -5.04481411e-03 3.78688975e+02] [ 2.41265674e-02 9.99708911e-01 -3.53974976e-05 5.02769978e-01] [ 5.04419964e-03 -8.63273042e-05 9.99987274e-01 1.94003502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:378.72, Y:0.51, Z:1.94 [[ 9.99653247e-01 -2.58444675e-02 -5.04481767e-03 3.78722373e+02] [ 2.58446205e-02 9.99665971e-01 -3.48834897e-05 5.05075483e-01] [ 5.04403410e-03 -9.55100043e-05 9.99987274e-01 1.94056249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:378.76, Y:0.51, Z:1.94 [[ 9.99672023e-01 -2.51076968e-02 -5.04482170e-03 3.78755160e+02] [ 2.51078434e-02 9.99684748e-01 -3.42908608e-05 5.05646062e-01] [ 5.04409227e-03 -9.23849788e-05 9.99987274e-01 1.93933410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034391418 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:378.79, Y:0.51, Z:1.94 [[ 9.99681092e-01 -2.47439625e-02 -5.04482571e-03 3.78788512e+02] [ 2.47441074e-02 9.99693817e-01 -3.36894335e-05 5.05262121e-01] [ 5.04411468e-03 -9.11510197e-05 9.99987274e-01 1.93840254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:378.82, Y:0.51, Z:1.94 [[ 9.99687305e-01 -2.44916732e-02 -5.04482966e-03 3.78821126e+02] [ 2.44918179e-02 9.99700030e-01 -3.30871695e-05 5.05260128e-01] [ 5.04412672e-03 -9.04802263e-05 9.99987274e-01 1.93851291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:378.85, Y:0.50, Z:1.94 [[ 9.99696629e-01 -2.41080728e-02 -5.04483362e-03 3.78852722e+02] [ 2.41082158e-02 9.99709354e-01 -3.24721014e-05 5.04569360e-01] [ 5.04415020e-03 -8.91596871e-05 9.99987274e-01 1.93893045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:378.89, Y:0.50, Z:1.94 [[ 9.99694076e-01 -2.42137352e-02 -5.04483685e-03 3.78885578e+02] [ 2.42138821e-02 9.99706800e-01 -3.19630865e-05 5.04007044e-01] [ 5.04413165e-03 -9.02017763e-05 9.99987274e-01 1.93926453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:378.92, Y:0.50, Z:1.94 [[ 9.99688932e-01 -2.44251642e-02 -5.04484068e-03 3.78917359e+02] [ 2.44253170e-02 9.99701657e-01 -3.13461021e-05 5.03598982e-01] [ 5.04410122e-03 -9.18854813e-05 9.99987274e-01 1.94054704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:378.95, Y:0.50, Z:1.94 [[ 9.99634821e-01 -2.65475681e-02 -5.04489658e-03 3.78948555e+02] [ 2.65477942e-02 9.99647545e-01 -2.21672830e-05 5.01858161e-01] [ 5.04370697e-03 -1.11771688e-04 9.99987274e-01 1.93988310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:378.98, Y:0.50, Z:1.94 [[ 9.99584814e-01 -2.83681083e-02 -5.04484888e-03 3.78981823e+02] [ 2.83683173e-02 9.99597538e-01 -3.01486713e-05 5.00793757e-01] [ 5.04367378e-03 -1.12977720e-04 9.99987274e-01 1.93934437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:379.01, Y:0.50, Z:1.94 [[ 9.99513225e-01 -3.07873766e-02 -5.04485244e-03 3.79014209e+02] [ 3.07876194e-02 9.99525948e-01 -2.95405772e-05 4.98684271e-01] [ 5.04337040e-03 -1.25792799e-04 9.99987274e-01 1.93781654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:379.05, Y:0.50, Z:1.94 [[ 9.99479409e-01 -3.18663027e-02 -5.04485534e-03 3.79046749e+02] [ 3.18665618e-02 9.99492132e-01 -2.90367608e-05 4.98130746e-01] [ 5.04321851e-03 -1.31740550e-04 9.99987274e-01 1.93738465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.08, Y:0.50, Z:1.94 [[ 9.99454053e-01 -3.26518796e-02 -5.04485816e-03 3.79080252e+02] [ 3.26521512e-02 9.99466776e-01 -2.85382683e-05 4.97390077e-01] [ 5.04309995e-03 -1.36202784e-04 9.99987274e-01 1.93706981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334391418 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:379.11, Y:0.50, Z:1.94 [[ 9.99425202e-01 -3.35233608e-02 -5.04486144e-03 3.79113617e+02] [ 3.35236465e-02 9.99437924e-01 -2.79461747e-05 4.96678437e-01] [ 5.04296270e-03 -1.41192040e-04 9.99987274e-01 1.93712410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.364391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:379.15, Y:0.50, Z:1.94 [[ 9.99384669e-01 -3.47106888e-02 -5.04486468e-03 3.79147004e+02] [ 3.47109926e-02 9.99397392e-01 -2.73481743e-05 4.95216320e-01] [ 5.04277388e-03 -1.47780915e-04 9.99987274e-01 1.93789009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:379.18, Y:0.49, Z:1.94 [[ 9.99367805e-01 -3.51928937e-02 -5.04486787e-03 3.79180260e+02] [ 3.51932067e-02 9.99380527e-01 -2.67474537e-05 4.94610293e-01] [ 5.04268403e-03 -1.50814533e-04 9.99987274e-01 1.93879968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:379.21, Y:0.49, Z:1.94 [[ 9.99350341e-01 -3.56853621e-02 -5.04487100e-03 3.79212880e+02] [ 3.56856844e-02 9.99363063e-01 -2.61436290e-05 4.92829880e-01] [ 5.04259068e-03 -1.53903029e-04 9.99987274e-01 1.93906624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454391418 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:379.25, Y:0.49, Z:1.94 [[ 9.99339649e-01 -3.59835538e-02 -5.04487406e-03 3.79245610e+02] [ 3.59838829e-02 9.99352370e-01 -2.55383192e-05 4.91837340e-01] [ 5.04252581e-03 -1.56012703e-04 9.99987274e-01 1.93914910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:379.28, Y:0.49, Z:1.94 [[ 9.99312580e-01 -3.67276017e-02 -5.04487707e-03 3.79278949e+02] [ 3.67279434e-02 9.99325301e-01 -2.49298574e-05 4.91161563e-01] [ 5.04238891e-03 -1.60375239e-04 9.99987274e-01 1.93909610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:379.31, Y:0.49, Z:1.94 [[ 9.99286751e-01 -3.74237640e-02 -5.04487998e-03 3.79309912e+02] [ 3.74241176e-02 9.99299472e-01 -2.43253913e-05 4.88698219e-01] [ 5.04225625e-03 -1.64492141e-04 9.99987274e-01 1.93767636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:379.34, Y:0.49, Z:1.94 [[ 9.99206565e-01 -3.95068536e-02 -5.04478932e-03 3.79342705e+02] [ 3.95071389e-02 9.99219287e-01 -4.31342743e-05 4.87243545e-01] [ 5.04255489e-03 -1.56205142e-04 9.99987274e-01 1.93717502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:379.37, Y:0.49, Z:1.94 [[ 9.99153395e-01 -4.08294348e-02 -5.04488092e-03 3.79374808e+02] [ 4.08298368e-02 9.99166114e-01 -2.33155517e-05 4.85755577e-01] [ 5.04162602e-03 -1.82685852e-04 9.99987274e-01 1.93653762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:379.41, Y:0.48, Z:1.94 [[ 9.99094775e-01 -4.22395588e-02 -5.04488315e-03 3.79407784e+02] [ 4.22399813e-02 9.99107493e-01 -2.28212416e-05 4.82555193e-01] [ 5.04134452e-03 -1.90295187e-04 9.99987274e-01 1.93570305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:379.44, Y:0.48, Z:1.94 [[ 9.99060916e-01 -4.30329472e-02 -5.04488576e-03 3.79440416e+02] [ 4.30333827e-02 9.99073635e-01 -2.22297596e-05 4.81356630e-01] [ 5.04116896e-03 -1.94889616e-04 9.99987274e-01 1.93627623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:379.47, Y:0.48, Z:1.94 [[ 9.99031720e-01 -4.37055207e-02 -5.04488828e-03 3.79473385e+02] [ 4.37059677e-02 9.99044437e-01 -2.16431894e-05 4.80335588e-01] [ 5.04101350e-03 -1.98869492e-04 9.99987274e-01 1.93732702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:379.51, Y:0.48, Z:1.94 [[ 9.98974571e-01 -4.49928341e-02 -5.04489079e-03 3.79506470e+02] [ 4.49933006e-02 9.98987288e-01 -2.10414758e-05 4.78692884e-01] [ 5.04072848e-03 -2.05966389e-04 9.99987274e-01 1.93859266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:379.54, Y:0.48, Z:1.94 [[ 9.98968791e-01 -4.51209885e-02 -5.04489322e-03 3.79539179e+02] [ 4.51214597e-02 9.98981508e-01 -2.04415838e-05 4.77364483e-01] [ 5.04067738e-03 -2.07212441e-04 9.99987274e-01 1.93879284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:379.57, Y:0.48, Z:1.94 [[ 9.98980485e-01 -4.48613397e-02 -5.04489565e-03 3.79571194e+02] [ 4.48618107e-02 9.98993202e-01 -1.98230426e-05 4.75831672e-01] [ 5.04070574e-03 -2.06520321e-04 9.99987274e-01 1.93907914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:379.60, Y:0.47, Z:1.94 [[ 9.98986376e-01 -4.47299626e-02 -5.04490118e-03 3.79603830e+02] [ 4.47304396e-02 9.98999093e-01 -1.82976137e-05 4.73484502e-01] [ 5.04067015e-03 -2.07381581e-04 9.99987274e-01 1.93881709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:379.64, Y:0.47, Z:1.94 [[ 9.98984283e-01 -4.47766799e-02 -5.04490330e-03 3.79636781e+02] [ 4.47771605e-02 9.98997000e-01 -1.76919391e-05 4.72375129e-01] [ 5.04063545e-03 -2.08222476e-04 9.99987274e-01 1.93882182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:379.67, Y:0.47, Z:1.94 [[ 9.99002503e-01 -4.43683148e-02 -5.04490534e-03 3.79669429e+02] [ 4.43687932e-02 9.99015220e-01 -1.70902238e-05 4.70232057e-01] [ 5.04069548e-03 -2.06763186e-04 9.99987274e-01 1.93900125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:379.70, Y:0.47, Z:1.94 [[ 9.99022468e-01 -4.39164757e-02 -5.04490729e-03 3.79702751e+02] [ 4.39169515e-02 9.99035185e-01 -1.64931195e-05 4.69257465e-01] [ 5.04076421e-03 -2.05079952e-04 9.99987274e-01 1.93894483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:379.74, Y:0.47, Z:1.94 [[ 9.99035155e-01 -4.36269213e-02 -5.04490916e-03 3.79735519e+02] [ 4.36273964e-02 9.99047872e-01 -1.58995927e-05 4.68272515e-01] [ 5.04079941e-03 -2.04212000e-04 9.99987274e-01 1.93870835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:379.77, Y:0.47, Z:1.94 [[ 9.99046325e-01 -4.33703791e-02 -5.04491097e-03 3.79768441e+02] [ 4.33708539e-02 9.99059042e-01 -1.53050991e-05 4.66102760e-01] [ 5.04082771e-03 -2.03511594e-04 9.99987274e-01 1.93840335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:379.80, Y:0.46, Z:1.94 [[ 9.99064567e-01 -4.29480990e-02 -5.04491273e-03 3.79801230e+02] [ 4.29485714e-02 9.99077284e-01 -1.46999873e-05 4.64687692e-01] [ 5.04088905e-03 -2.01985558e-04 9.99987274e-01 1.93823587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:379.83, Y:0.46, Z:1.94 [[ 9.99069172e-01 -4.28408518e-02 -5.04491441e-03 3.79834423e+02] [ 4.28413259e-02 9.99081889e-01 -1.40976351e-05 4.63895566e-01] [ 5.04088658e-03 -2.02046310e-04 9.99987274e-01 1.93812079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:379.87, Y:0.46, Z:1.94 [[ 9.99083131e-01 -4.25140740e-02 -5.04491604e-03 3.79865983e+02] [ 4.25145470e-02 9.99095848e-01 -1.34913941e-05 4.62947695e-01] [ 5.04092824e-03 -2.01003296e-04 9.99987274e-01 1.93774285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.054391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:379.90, Y:0.46, Z:1.94 [[ 9.99091110e-01 -4.23261396e-02 -5.04491733e-03 3.79899446e+02] [ 4.23266128e-02 9.99103827e-01 -1.29900986e-05 4.60981620e-01] [ 5.04094603e-03 -2.00555970e-04 9.99987274e-01 1.93651566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:379.93, Y:0.46, Z:1.94 [[ 9.99089674e-01 -4.23600203e-02 -5.04491880e-03 3.79931848e+02] [ 4.23604969e-02 9.99102391e-01 -1.23902037e-05 4.59894306e-01] [ 5.04091529e-03 -2.01326342e-04 9.99987274e-01 1.93615169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.114391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:379.97, Y:0.46, Z:1.94 [[ 9.99104201e-01 -4.20160020e-02 -5.04491997e-03 3.79965159e+02] [ 4.20164768e-02 9.99116918e-01 -1.18934329e-05 4.58396468e-01] [ 5.04096461e-03 -2.00086984e-04 9.99987274e-01 1.93544615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:380.00, Y:0.46, Z:1.94 [[ 9.99116753e-01 -4.17164586e-02 -5.04492131e-03 3.79998315e+02] [ 4.17169325e-02 9.99129470e-01 -1.12965244e-05 4.57600162e-01] [ 5.04100080e-03 -1.99172095e-04 9.99987274e-01 1.93563560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17439141799997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:380.03, Y:0.46, Z:1.94 [[ 9.99119694e-01 -4.16459701e-02 -5.04492260e-03 3.80031195e+02] [ 4.16464462e-02 9.99132410e-01 -1.06868356e-05 4.56699033e-01] [ 5.04099074e-03 -1.99425670e-04 9.99987274e-01 1.93582796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:380.06, Y:0.46, Z:1.94 [[ 9.99116373e-01 -4.17255629e-02 -5.04492381e-03 3.80064016e+02] [ 4.17260430e-02 9.99129089e-01 -1.00815199e-05 4.55434898e-01] [ 5.04095079e-03 -2.00432096e-04 9.99987274e-01 1.93583873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:380.10, Y:0.45, Z:1.94 [[ 9.99120564e-01 -4.16250809e-02 -5.04492494e-03 3.80097106e+02] [ 4.16255628e-02 9.99133281e-01 -9.47980217e-06 4.54976912e-01] [ 5.04094700e-03 -2.00526375e-04 9.99987274e-01 1.93563858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:380.13, Y:0.45, Z:1.94 [[ 9.99132809e-01 -4.13301226e-02 -5.04492600e-03 3.80128859e+02] [ 4.13306039e-02 9.99145526e-01 -8.87448612e-06 4.54466455e-01] [ 5.04098203e-03 -1.99643048e-04 9.99987274e-01 1.93532087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:380.16, Y:0.45, Z:1.93 [[ 9.99136542e-01 -4.12397779e-02 -5.04492683e-03 3.80161488e+02] [ 4.12402605e-02 9.99149259e-01 -8.37394959e-06 4.53756437e-01] [ 5.04098025e-03 -1.99687378e-04 9.99987274e-01 1.93460696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:380.19, Y:0.45, Z:1.93 [[ 9.99153241e-01 -4.08331886e-02 -5.04492775e-03 3.80194980e+02] [ 4.08336691e-02 9.99165958e-01 -7.78069142e-06 4.53158921e-01] [ 5.04103778e-03 -1.98228807e-04 9.99987274e-01 1.93452998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:380.23, Y:0.45, Z:1.93 [[ 9.99181970e-01 -4.01240406e-02 -5.04492859e-03 3.80227580e+02] [ 4.01245149e-02 9.99194687e-01 -7.19149980e-06 4.52606409e-01] [ 5.04115440e-03 -1.95239696e-04 9.99987274e-01 1.93489884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:380.26, Y:0.45, Z:1.94 [[ 9.99267411e-01 -3.79366689e-02 -5.04492936e-03 3.80260773e+02] [ 3.79371184e-02 9.99280128e-01 -6.60639299e-06 4.52489885e-01] [ 5.04154828e-03 -1.84788529e-04 9.99987274e-01 1.93526853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:380.29, Y:0.45, Z:1.94 [[ 9.99319179e-01 -3.65475991e-02 -5.04493006e-03 3.80294206e+02] [ 3.65480339e-02 9.99331897e-01 -6.01224497e-06 4.52817730e-01] [ 5.04177927e-03 -1.78374123e-04 9.99987274e-01 1.93551357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:380.33, Y:0.45, Z:1.94 [[ 9.99428418e-01 -3.34273096e-02 -5.04493071e-03 3.80327550e+02] [ 3.34277077e-02 9.99441138e-01 -5.40777274e-06 4.54031221e-01] [ 5.04229206e-03 -1.63235787e-04 9.99987274e-01 1.93597917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:380.36, Y:0.45, Z:1.94 [[ 9.99432457e-01 -3.33063388e-02 -5.04493129e-03 3.80361101e+02] [ 3.33067384e-02 9.99445177e-01 -4.79714330e-06 4.53946679e-01] [ 5.04229202e-03 -1.63235786e-04 9.99987274e-01 1.93614820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:380.39, Y:0.45, Z:1.94 [[ 9.99490936e-01 -3.15026595e-02 -5.04493180e-03 3.80393527e+02] [ 3.15030393e-02 9.99503656e-01 -4.18651380e-06 4.54429557e-01] [ 5.04255966e-03 -1.54746302e-04 9.99987274e-01 1.93668784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.43, Y:0.45, Z:1.94 [[ 9.99543954e-01 -2.97730356e-02 -5.04493217e-03 3.80426960e+02] [ 2.97733959e-02 9.99556674e-01 -3.68138261e-06 4.54939337e-01] [ 5.04280523e-03 -1.46525059e-04 9.99987274e-01 1.93705102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:380.46, Y:0.46, Z:1.94 [[ 9.99599235e-01 -2.78552900e-02 -5.04493254e-03 3.80459861e+02] [ 2.78556290e-02 9.99611957e-01 -3.07103967e-06 4.55518122e-01] [ 5.04306043e-03 -1.37459960e-04 9.99987274e-01 1.93746470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:380.49, Y:0.46, Z:1.94 [[ 9.99713460e-01 -2.33996953e-02 -5.04493284e-03 3.80493251e+02] [ 2.33999806e-02 9.99726183e-01 -2.46220633e-06 4.56802651e-01] [ 5.04360906e-03 -1.15589830e-04 9.99987274e-01 1.93757755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:380.53, Y:0.46, Z:1.94 [[ 9.99759156e-01 -2.13583621e-02 -5.04493306e-03 3.80525017e+02] [ 2.13586246e-02 9.99771879e-01 -1.85681025e-06 4.57538898e-01] [ 5.04382186e-03 -1.05896468e-04 9.99987274e-01 1.93779280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.56, Y:0.46, Z:1.94 [[ 9.99845045e-01 -1.68651964e-02 -5.04493318e-03 3.80556181e+02] [ 1.68654037e-02 9.99857769e-01 -1.45574247e-06 4.59226673e-01] [ 5.04424018e-03 -8.36293177e-05 9.99987274e-01 1.93728729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:380.59, Y:0.46, Z:1.94 [[ 9.99899486e-01 -1.32501416e-02 -5.04493324e-03 3.80586201e+02] [ 1.32503043e-02 9.99912211e-01 -1.15690914e-06 4.59958261e-01] [ 5.04450568e-03 -6.56901080e-05 9.99987274e-01 1.93707423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:380.62, Y:0.46, Z:1.94 [[ 9.99925361e-01 -1.11275217e-02 -5.04493117e-03 3.80618883e+02] [ 1.11275783e-02 9.99938086e-01 -1.68574983e-05 4.60746845e-01] [ 5.04480641e-03 -3.92816266e-05 9.99987274e-01 1.93753522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:380.65, Y:0.46, Z:1.94 [[ 9.99960293e-01 -7.34585126e-03 -5.04493123e-03 3.80650786e+02] [ 7.34586646e-03 9.99973019e-01 -1.55179429e-05 4.62560749e-01] [ 5.04490910e-03 -2.15420644e-05 9.99987274e-01 1.93705288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:380.68, Y:0.46, Z:1.94 [[ 9.99978292e-01 -4.23845950e-03 -5.04493162e-03 3.80681622e+02] [ 4.23851279e-03 9.99991017e-01 -1.27799147e-07 4.63230188e-01] [ 5.04488684e-03 -2.12552108e-05 9.99987274e-01 1.93718363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.804391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:380.71, Y:0.46, Z:1.94 [[ 9.99986661e-01 -1.10715986e-03 -5.04493162e-03 3.80711482e+02] [ 1.10717380e-03 9.99999387e-01 -2.95561441e-08 4.64133301e-01] [ 5.04492856e-03 -5.55606038e-06 9.99987274e-01 1.93737131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:380.74, Y:0.47, Z:1.94 [[ 9.99986147e-01 1.50137397e-03 -5.04493161e-03 3.80740376e+02] [-1.50139420e-03 9.99998873e-01 -2.23159272e-07 4.65218751e-01] [ 5.04492559e-03 7.79758725e-06 9.99987274e-01 1.93751124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.864391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:380.77, Y:0.47, Z:1.94 [[ 9.99967003e-01 6.36730539e-03 -5.04493119e-03 3.80767790e+02] [-6.36739435e-03 9.99979728e-01 -1.57072448e-06 4.67410173e-01] [ 5.04481892e-03 3.36937390e-05 9.99987274e-01 1.93836937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:380.80, Y:0.47, Z:1.94 [[ 9.99948537e-01 8.80183999e-03 -5.04493016e-03 3.80796223e+02] [-8.80196810e-03 9.99961262e-01 -3.19246241e-06 4.68348258e-01] [ 5.04470663e-03 4.75976125e-05 9.99987274e-01 1.93868128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:380.82, Y:0.47, Z:1.94 [[ 9.99906972e-01 1.26726407e-02 -5.04492971e-03 3.80824545e+02] [-1.26728211e-02 9.99919697e-01 -3.79947326e-06 4.69049287e-01] [ 5.04447643e-03 6.77326117e-05 9.99987274e-01 1.93888047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:380.85, Y:0.47, Z:1.94 [[ 9.99884019e-01 1.43700339e-02 -5.04492795e-03 3.80851330e+02] [-1.43702442e-02 9.99896743e-01 -5.43215288e-06 4.68946167e-01] [ 5.04432896e-03 7.79283693e-05 9.99987274e-01 1.93836914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:380.88, Y:0.47, Z:1.94 [[ 9.99841465e-01 1.70761192e-02 -5.04492709e-03 3.80879428e+02] [-1.70763675e-02 9.99854188e-01 -6.13781350e-06 4.69048104e-01] [ 5.04408667e-03 9.22858693e-05 9.99987274e-01 1.93811871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:380.91, Y:0.47, Z:1.94 [[ 9.99831092e-01 1.76730084e-02 -5.04492629e-03 3.80906722e+02] [-1.76732673e-02 9.99843816e-01 -6.73775442e-06 4.69257217e-01] [ 5.04401927e-03 9.58969472e-05 9.99987274e-01 1.93846676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:380.93, Y:0.47, Z:1.94 [[ 9.99822573e-01 1.81485797e-02 -5.04492527e-03 3.80934206e+02] [-1.81488481e-02 9.99835296e-01 -7.43079704e-06 4.69677512e-01] [ 5.04395949e-03 9.89890611e-05 9.99987274e-01 1.93859520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:380.96, Y:0.47, Z:1.94 [[ 9.99806651e-01 1.90055040e-02 -5.04492433e-03 3.80960733e+02] [-1.90057863e-02 9.99819374e-01 -8.01828352e-06 4.69804737e-01] [ 5.04386070e-03 1.03899487e-04 9.99987274e-01 1.93863241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:380.99, Y:0.47, Z:1.94 [[ 9.99803105e-01 1.91911397e-02 -5.04492316e-03 3.80988406e+02] [-1.91914278e-02 9.99815828e-01 -8.69769353e-06 4.69916993e-01] [ 5.04382711e-03 1.05515260e-04 9.99987274e-01 1.93861602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:381.02, Y:0.47, Z:1.94 [[ 9.99808364e-01 1.89151603e-02 -5.04492210e-03 3.81015283e+02] [-1.89154478e-02 9.99821087e-01 -9.27718121e-06 4.70177109e-01] [ 5.04384401e-03 1.04702364e-04 9.99987274e-01 1.93824502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:381.04, Y:0.47, Z:1.94 [[ 9.99813627e-01 1.86349203e-02 -5.04492078e-03 3.81043182e+02] [-1.86352076e-02 9.99826349e-01 -9.94742061e-06 4.70282714e-01] [ 5.04385935e-03 1.03958713e-04 9.99987274e-01 1.93772108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:381.07, Y:0.47, Z:1.94 [[ 9.99834019e-01 1.75066467e-02 -5.04491953e-03 3.81070137e+02] [-1.75069226e-02 9.99846742e-01 -1.05431289e-05 4.70469053e-01] [ 5.04396178e-03 9.88623948e-05 9.99987274e-01 1.93650564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:381.10, Y:0.47, Z:1.94 [[ 9.99848160e-01 1.66794752e-02 -5.04491800e-03 3.81098366e+02] [-1.66797441e-02 9.99860883e-01 -1.12320389e-05 4.71122569e-01] [ 5.04402882e-03 9.53782747e-05 9.99987274e-01 1.93678691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:381.12, Y:0.47, Z:1.94 [[ 9.99876383e-01 1.48918437e-02 -5.04491663e-03 3.81124856e+02] [-1.48920928e-02 9.99889107e-01 -1.18144071e-05 4.72358172e-01] [ 5.04418125e-03 8.69423131e-05 9.99987274e-01 1.93796483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:381.15, Y:0.47, Z:1.94 [[ 9.99895404e-01 1.35547003e-02 -5.04491446e-03 3.81153170e+02] [-1.35549367e-02 9.99908128e-01 -1.26777599e-05 4.72849271e-01] [ 5.04427913e-03 8.10599301e-05 9.99987274e-01 1.93877304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.18, Y:0.47, Z:1.94 [[ 9.99911902e-01 1.22775042e-02 -5.04491297e-03 3.81180812e+02] [-1.22777273e-02 9.99924626e-01 -1.32467462e-05 4.72922160e-01] [ 5.04437008e-03 7.51856449e-05 9.99987274e-01 1.93904813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.21, Y:0.47, Z:1.94 [[ 9.99949206e-01 8.72554272e-03 -5.04491135e-03 3.81208272e+02] [-8.72572358e-03 9.99961930e-01 -1.38388922e-05 4.72918352e-01] [ 5.04459853e-03 5.78586912e-05 9.99987274e-01 1.93877593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.24, Y:0.47, Z:1.94 [[ 9.99966160e-01 6.49829470e-03 -5.04490958e-03 3.81236502e+02] [-6.49845033e-03 9.99978885e-01 -1.44565507e-05 4.73544273e-01] [ 5.04470911e-03 4.72401558e-05 9.99987274e-01 1.93883392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.27, Y:0.47, Z:1.94 [[ 9.99978633e-01 4.15728167e-03 -5.04490785e-03 3.81265297e+02] [-4.15741043e-03 9.99991358e-01 -1.50357752e-05 4.74054746e-01] [ 5.04480174e-03 3.60092065e-05 9.99987274e-01 1.93825350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:381.29, Y:0.48, Z:1.94 [[ 9.99987273e-01 5.63317863e-05 -5.04490664e-03 3.81293971e+02] [-5.64103560e-05 9.99999998e-01 -1.54317478e-05 4.75190724e-01] [ 5.04490576e-03 1.57161363e-05 9.99987274e-01 1.93734006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:381.32, Y:0.48, Z:1.94 [[ 9.99985952e-01 -1.62623915e-03 -5.04490536e-03 3.81321736e+02] [ 1.62617994e-03 9.99998678e-01 -1.58380755e-05 4.75887520e-01] [ 5.04492445e-03 7.63392916e-06 9.99987274e-01 1.93709667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.35, Y:0.48, Z:1.94 [[ 9.99983780e-01 -2.64364285e-03 -5.04490373e-03 3.81350208e+02] [ 2.64359405e-03 9.99996506e-01 -1.63413832e-05 4.76352366e-01] [ 5.04492930e-03 3.00444063e-06 9.99987274e-01 1.93715609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:381.38, Y:0.48, Z:1.94 [[ 9.99982033e-01 -3.23760620e-03 -5.04490239e-03 3.81378382e+02] [ 3.23756291e-03 9.99994759e-01 -1.67466563e-05 4.77717912e-01] [ 5.04493016e-03 4.13166526e-07 9.99987274e-01 1.93662695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.554391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:381.41, Y:0.48, Z:1.94 [[ 9.99983610e-01 -2.70714983e-03 -5.04490137e-03 3.81408390e+02] [ 2.70709827e-03 9.99996336e-01 -1.70481698e-05 4.78985555e-01] [ 5.04492903e-03 3.39084662e-06 9.99987274e-01 1.93686974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.44, Y:0.48, Z:1.94 [[ 9.99986063e-01 -1.55652459e-03 -5.04490069e-03 3.81438308e+02] [ 1.55645739e-03 9.99998789e-01 -1.72475487e-05 4.80573957e-01] [ 5.04492142e-03 9.39513541e-06 9.99987274e-01 1.93723226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.614391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:381.47, Y:0.48, Z:1.94 [[ 9.99986082e-01 1.54416645e-03 -5.04490000e-03 3.81467209e+02] [-1.54427411e-03 9.99998807e-01 -1.74455255e-05 4.84516035e-01] [ 5.04486705e-03 2.52359912e-05 9.99987274e-01 1.93724066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.49, Y:0.49, Z:1.94 [[ 9.99981559e-01 3.38090303e-03 -5.04489897e-03 3.81494575e+02] [-3.38103555e-03 9.99994284e-01 -1.77397036e-05 4.86574423e-01] [ 5.04481015e-03 3.47963592e-05 9.99987274e-01 1.93706619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.52, Y:0.49, Z:1.94 [[ 9.99972718e-01 5.39554359e-03 -5.04489299e-03 3.81521378e+02] [-5.39570963e-03 9.99985443e-01 -1.93023448e-05 4.89028724e-01] [ 5.04471540e-03 4.65225958e-05 9.99987274e-01 1.93680291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704391418 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:381.55, Y:0.49, Z:1.94 [[ 9.99933834e-01 1.03381171e-02 -5.04489031e-03 3.81548303e+02] [-1.03383495e-02 9.99946558e-01 -1.99784623e-05 4.93526632e-01] [ 5.04441416e-03 7.21329796e-05 9.99987274e-01 1.93531868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:381.58, Y:0.50, Z:1.93 [[ 9.99911099e-01 1.23427703e-02 -5.04488585e-03 3.81576004e+02] [-1.23430336e-02 9.99923822e-01 -2.10474593e-05 4.95137869e-01] [ 5.04424176e-03 8.33147836e-05 9.99987274e-01 1.93469614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764391418 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:381.60, Y:0.50, Z:1.94 [[ 9.99910613e-01 1.23820679e-02 -5.04488342e-03 3.81603770e+02] [-1.23823345e-02 9.99923336e-01 -2.16158177e-05 4.95057971e-01] [ 5.04422900e-03 8.40813193e-05 9.99987274e-01 1.93561169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794391418 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:381.63, Y:0.50, Z:1.94 [[ 9.99904077e-01 1.28990950e-02 -5.04488094e-03 3.81630628e+02] [-1.28993710e-02 9.99916799e-01 -2.21798803e-05 4.96012981e-01] [ 5.04417510e-03 8.72535436e-05 9.99987274e-01 1.93602155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:381.66, Y:0.50, Z:1.94 [[ 9.99918130e-01 1.17593995e-02 -5.04487798e-03 3.81658530e+02] [-1.17596643e-02 9.99930853e-01 -2.28333510e-05 4.95915406e-01] [ 5.04426063e-03 8.21575532e-05 9.99987274e-01 1.93721415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.69, Y:0.50, Z:1.94 [[ 9.99916758e-01 1.18754493e-02 -5.04487530e-03 3.81686353e+02] [-1.18757185e-02 9.99929481e-01 -2.34100424e-05 4.96956408e-01] [ 5.04424154e-03 8.33196129e-05 9.99987274e-01 1.93702128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.71, Y:0.50, Z:1.94 [[ 9.99925908e-01 1.10782209e-02 -5.04487304e-03 3.81714501e+02] [-1.10784823e-02 9.99938631e-01 -2.38871123e-05 4.96198470e-01] [ 5.04429882e-03 7.97748794e-05 9.99987274e-01 1.93641914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914391418 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:381.74, Y:0.50, Z:1.94 [[ 9.99921333e-01 1.14837535e-02 -5.04487016e-03 3.81742622e+02] [-1.14840231e-02 9.99934056e-01 -2.44819866e-05 4.96289343e-01] [ 5.04425633e-03 8.24154661e-05 9.99987274e-01 1.93550333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:381.77, Y:0.50, Z:1.93 [[ 9.99907726e-01 1.26130174e-02 -5.04486720e-03 3.81770365e+02] [-1.26133044e-02 9.99920449e-01 -2.50762437e-05 4.96006243e-01] [ 5.04414959e-03 8.87063755e-05 9.99987274e-01 1.93447764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.80, Y:0.50, Z:1.93 [[ 9.99819027e-01 1.83429140e-02 -5.04486420e-03 3.81798259e+02] [-1.83432769e-02 9.99831748e-01 -2.56664131e-05 4.95147973e-01] [ 5.04354459e-03 1.18201109e-04 9.99987274e-01 1.93350376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.83, Y:0.50, Z:1.93 [[ 9.99745910e-01 2.19696258e-02 -5.04485570e-03 3.81826157e+02] [-2.19700428e-02 9.99758629e-01 -2.72398255e-05 4.95369759e-01] [ 5.04303957e-03 1.38068600e-04 9.99987274e-01 1.93380962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034391418 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:381.85, Y:0.50, Z:1.94 [[ 9.99517108e-01 3.06610563e-02 -5.04485242e-03 3.81853565e+02] [-3.06615868e-02 9.99529823e-01 -2.78355258e-05 4.96122734e-01] [ 5.04162697e-03 1.82505265e-04 9.99987274e-01 1.93629517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:381.88, Y:0.50, Z:1.94 [[ 9.99382404e-01 3.47758685e-02 -5.04484302e-03 3.81882623e+02] [-3.47764594e-02 9.99395116e-01 -2.94457832e-05 4.96437106e-01] [ 5.04076747e-03 2.04869376e-04 9.99987274e-01 1.93678712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.91, Y:0.50, Z:1.94 [[ 9.99246567e-01 3.84817850e-02 -5.04484066e-03 3.81910200e+02] [-3.84824252e-02 9.99259277e-01 -2.98449271e-05 4.96332960e-01] [ 5.03995534e-03 2.23960144e-04 9.99987274e-01 1.93763531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.94, Y:0.50, Z:1.94 [[ 9.99119851e-01 4.16422069e-02 -5.04483072e-03 3.81938378e+02] [-4.16428953e-02 9.99132558e-01 -3.14390636e-05 4.96253152e-01] [ 5.03914543e-03 2.41492750e-04 9.99987274e-01 1.93746631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:381.97, Y:0.50, Z:1.94 [[ 9.99005120e-01 4.43093594e-02 -5.04482009e-03 3.81965966e+02] [-4.43100899e-02 9.99017825e-01 -3.30607662e-05 4.96155942e-01] [ 5.03840030e-03 2.56564307e-04 9.99987274e-01 1.93689380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:381.99, Y:0.50, Z:1.93 [[ 9.98826155e-01 4.81753183e-02 -5.04481677e-03 3.81993666e+02] [-4.81761005e-02 9.98838857e-01 -3.35610148e-05 4.95336577e-01] [ 5.03734220e-03 2.76561219e-04 9.99987274e-01 1.93480102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.02, Y:0.50, Z:1.93 [[ 9.98788819e-01 4.89432836e-02 -5.04480568e-03 3.82021975e+02] [-4.89440835e-02 9.98801520e-01 -3.51527417e-05 4.95240396e-01] [ 5.03703908e-03 2.82023555e-04 9.99987274e-01 1.93464381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6516.39 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%| | 0/12601 [00:00